TW201710134A - Baby carriage - Google Patents

Baby carriage Download PDF

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Publication number
TW201710134A
TW201710134A TW105129435A TW105129435A TW201710134A TW 201710134 A TW201710134 A TW 201710134A TW 105129435 A TW105129435 A TW 105129435A TW 105129435 A TW105129435 A TW 105129435A TW 201710134 A TW201710134 A TW 201710134A
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TW
Taiwan
Prior art keywords
handle
stroller
wheel
operating
driving force
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TW105129435A
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Chinese (zh)
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TWI690443B (en
Inventor
Junichi Asano
Isao Yamaguchi
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Combi Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B7/00—Carriages for children; Perambulators, e.g. dolls' perambulators
    • B62B7/04—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor
    • B62B7/06—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor collapsible or foldable
    • B62B7/08—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor collapsible or foldable in the direction of, or at right angles to, the wheel axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B7/00—Carriages for children; Perambulators, e.g. dolls' perambulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
    • B62B9/20—Handle bars; Handles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Carriages For Children, Sleds, And Other Hand-Operated Vehicles (AREA)
  • Handcart (AREA)

Abstract

This baby carriage 1 is equipped with: a baby carriage body 2 which has a frame body 10 that supports a plurality of wheels 4, and a handlebar 20 that is connected to the frame body 10; a drive source 5 which is supported by the baby carriage body 2 and drives at least one of the wheels 4; a detecting element 6 which is provided in the handlebar 20 and detects a load applied to the handlebar 20; an operating member 91 which is capable of switching between an operated state op and an unoperated state nop; and a control device 7 which controls the driving of the wheel 4 to be driven by the drive source 5 on the basis of the information detected by the detecting element 6. While the operating member 91 is in the operated state op, it is possible to transmit driving force from the drive source 5 to the wheel 4.

Description

嬰兒車Baby carriage

本發明關於一種利用驅動源驅動車輪的嬰兒車。The present invention relates to a stroller that uses a drive source to drive a wheel.

例如在日本專利JP2011-68336A中揭露了帶電動馬達的嬰兒車。在日本專利JP2011-68336A所記載的嬰兒車中，如果按壓把手，則與車輪連接的電動馬達被驅動。特別地，日本專利JP2011-68336A中記載的嬰兒車利用電動馬達自動行走。即，日本專利JP2011-68336A中記載的嬰兒車即使不藉由操作者推動，僅利用電動馬達的驅動力也能夠獨立地行走。A stroller with an electric motor is disclosed, for example, in Japanese Patent No. 2011-68336A. In the stroller described in Japanese Patent No. 2011-68336A, when the handle is pressed, the electric motor connected to the wheel is driven. In particular, the stroller described in Japanese Patent No. 2011-68336A uses an electric motor to automatically walk. In other words, the stroller described in Japanese Patent No. 2011-68336A can be independently driven by the driving force of the electric motor without being pushed by the operator.

技術問題technical problem

然而，由於日本專利JP2011-68336A中記載的嬰兒車藉由電動馬達的驅動力獨立地行走，所以難以按照操作者的意願操作嬰兒車。另外，在錯誤地按壓了把手的情況下，由於嬰兒車自動行走，可能引發嬰兒車意外的動作。However, since the stroller described in Japanese Patent No. 2011-68336A independently travels by the driving force of the electric motor, it is difficult to operate the stroller in accordance with the operator's intention. In addition, in the case where the handle is erroneously pressed, the stroller may cause an accidental movement due to the automatic walking of the stroller.

本發明是考慮到以上問題而完成的，目的在於提供一種能夠按照意願進行操作的利用驅動源驅動車輪的嬰兒車。The present invention has been made in view of the above problems, and an object thereof is to provide a stroller that can drive a wheel by a driving source that can be operated as intended.

技術方案Technical solutions

本發明的嬰兒車包含：The stroller of the present invention comprises:

複數個車輪；a plurality of wheels;

嬰兒車主體，其具有支撐複數個車輪的框架主體和與框架主體連接的手柄；a stroller body having a frame body supporting a plurality of wheels and a handle coupled to the frame body;

驅動源，其被框架主體支撐，向至少一個車輪提供驅動力；a drive source supported by the frame body to provide a driving force to the at least one wheel;

檢測元件，其設置於手柄，檢測與施加於該手柄的負荷相關的訊息；a detecting component disposed on the handle to detect a message related to a load applied to the handle;

操作部件，其與檢測元件分別地設置於手柄，能夠在操作狀態與非操作狀態之間進行切換；以及An operating member, which is separately disposed from the detecting element on the handle, capable of switching between an operating state and a non-operating state;

控制裝置，其基於檢測元件檢測到的訊息控制驅動源，調整從驅動源向車輪提供的驅動力，a control device that controls the driving source based on the information detected by the detecting component to adjust the driving force supplied from the driving source to the wheel,

在操作部件處於操作狀態的期間，能夠從驅動源向車輪傳遞驅動力。The driving force can be transmitted from the driving source to the wheel while the operating member is in the operating state.

在本發明的嬰兒車中，可以是在操作部件處於非操作狀態的期間，不會從驅動源向車輪傳遞驅動力。In the stroller of the present invention, the driving force may not be transmitted from the driving source to the wheel while the operating member is in the non-operating state.

在本發明的嬰兒車中，可以是手柄具有操作者的手抓握的把手和將把手與嬰兒車主體連結的手柄主體，操作部件和檢測元件設置於手柄主體。In the stroller of the present invention, the handle may have a handle that the operator's hand grips and a handle body that couples the handle to the stroller body, and the operating member and the detecting member are disposed on the handle body.

在本發明的嬰兒車中，操作部件可以包括設置於手柄主體的操作桿。In the stroller of the present invention, the operating member may include an operating lever provided to the handle body.

在本發明的嬰兒車中，可以是操作桿以與把手對置的方式配置，操作桿的基端部以能夠樞動的方式安裝於手柄主體，操作桿的前端部能夠與把手接觸和分離。In the stroller of the present invention, the operating lever may be disposed to face the handle, and the base end portion of the operating lever is pivotally mounted to the handle body, and the front end portion of the operating lever can be in contact with and separated from the handle.

在本發明的嬰兒車中，操作部件可以包括設置於手柄主體的操作按鈕。In the stroller of the present invention, the operating member may include an operation button provided to the handle body.

在本發明的嬰兒車中，操作按鈕可以設置於手柄主體中的比嬰兒車主體更接近把手的位置。In the stroller of the present invention, the operation button may be disposed at a position closer to the handle than the stroller body in the handle body.

在本發明的嬰兒車中，可以是在操作部件處於操作狀態的期間，如果利用檢測元件檢測到把手被推向了前方的訊息或者被按向了下方的訊息，則控制裝置使驅動源提供使車輪前進的驅動力，在操作部件處於操作狀態的期間，如果利用檢測元件檢測到把手被拉向了後方的訊息，則控制裝置使驅動源提供使車輪後退的驅動力。In the stroller of the present invention, the control device may cause the drive source to be provided if the detection member detects that the handle is pushed forward or the message is pressed downward while the operation member is in the operating state. When the driving member is in the operating state, if the detecting member detects that the handle is pulled rearward, the control device causes the driving source to provide the driving force for reversing the wheel.

在本發明的嬰兒車中，檢測元件可以包括安裝於手柄的手柄主體的複數個應變片，至少一個應變片當把手被推向前方或者被向下方按壓時伸長，並且當把手被拉向後方時縮短，或者，當把手被推向前方或者被按向下方時縮短，並且當把手被拉向後方時伸長。In the stroller of the present invention, the detecting member may include a plurality of strain gauges attached to the handle body of the handle, the at least one strain gauge being elongated when the handle is pushed forward or pressed downward, and when the handle is pulled rearward Shortened, or shortened when the handle is pushed forward or pressed down, and stretches when the handle is pulled back.

發明效果Effect of the invention

根據本發明的嬰兒車，能夠與利用檢測元件檢測到的施加於手柄的負荷配合地調整由驅動源產生的向車輪提供的驅動力，因此能夠按照意願操作嬰兒車。並且，如果在操作者將操作部件操作到操作狀態的狀態下，在手柄上未施加有負荷，則來自驅動源的驅動力不會傳遞到車輪。因此，能夠防止違背操作者意願而將來自驅動源的驅動力傳遞到車輪的情況，能夠避免嬰兒車產生非預期的動作。According to the stroller of the present invention, the driving force supplied to the wheel generated by the driving source can be adjusted in cooperation with the load applied to the handle detected by the detecting element, so that the stroller can be operated as desired. Further, if a load is not applied to the handle in a state where the operator operates the operating member to the operating state, the driving force from the driving source is not transmitted to the wheel. Therefore, it is possible to prevent the driving force from the driving source from being transmitted to the wheel against the will of the operator, and it is possible to prevent the baby carriage from generating an unexpected action.

以下，參照圖式對本發明的實施方式進行說明。圖1至圖18是用於說明一個實施方式的嬰兒車1的示意圖。其中，圖1是本發明從正面方向示出一個實施方式的嬰兒車1的示意圖。在圖1所示的嬰兒車1中，在嬰兒車主體2支撐有第一座位單元8a和第二座位單元8b。第一座位單元8a和第二座位單元8b是嬰幼兒所坐的位置，左右並列地配置。在各個座位單元8a、8b設有蓋篷9a、9b，以保護坐在座位單元8a、8b中的嬰幼兒免受日曬、風吹的影響。Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 18 are schematic views for explaining the stroller 1 of one embodiment. 1 is a schematic view showing the stroller 1 of one embodiment from the front side of the present invention. In the stroller 1 shown in Fig. 1, the first seat unit 8a and the second seat unit 8b are supported in the stroller body 2. The first seat unit 8a and the second seat unit 8b are positions where the infant sits, and are arranged side by side. Covers 9a, 9b are provided in each of the seating units 8a, 8b to protect the infants sitting in the seating units 8a, 8b from the sun and wind.

需要說明的是，在本發明說明書中，在沒有特別說明的情況下，針對嬰兒車1以及其構成要素的“前”、“後”、“上”、“下”、“前後方向”、“上下方向”和“左右方向”的用語，是指以對處於展開狀態的嬰兒車1一邊抓持手柄20一邊進行操作的操作者為基準的“前”、“後”、“上”、“下”、“前後方向”、“上下方向”和“左右方向”。更詳細地，“前後方向d1”相當於圖1中的紙面的內外方向。因此，只要沒有特別地說明，“前”是按壓手柄的操作者面對的一側，圖1中的紙面的外側為前。另一方面，“上下方向d3”是與前後方向垂直，並且與接地面垂直的方向。因此，在接地面為水平面的情況下，“上下方向d3”是指鉛垂方向。另外，“左右方向d2”為寬度方向，是與“前後方向d1”和“上下方向d3”均垂直的方向。It should be noted that, in the specification of the present invention, the "front", "back", "upper", "lower", "front and rear direction", "for the stroller 1 and its constituent elements are not specifically described. The terms "upper and lower direction" and "left and right direction" refer to "front", "back", "upper", and "lower" based on the operator who operates while holding the handle 20 on the stroller 1 in the unfolded state. ", "front and rear direction", "up and down direction" and "left and right direction". In more detail, the "front-rear direction d1" corresponds to the inner and outer directions of the paper surface in Fig. 1 . Therefore, unless otherwise specified, "front" is the side facing the operator who presses the handle, and the outer side of the paper surface in Fig. 1 is the front. On the other hand, the "up and down direction d3" is a direction perpendicular to the front-rear direction and perpendicular to the ground plane. Therefore, when the ground contact surface is a horizontal plane, the "up and down direction d3" means the vertical direction. In addition, the "left-right direction d2" is a width direction, and is a direction perpendicular to both the "front-back direction d1" and the "up-and-down direction d3".

在圖2中，從側面示出卸下了座位單元8a、8b的狀態下的嬰兒車1。圖2所示的嬰兒車主體2由框架主體10和連接到框架主體10的手柄20構成。In Fig. 2, the stroller 1 in a state in which the seat units 8a, 8b are removed is shown from the side. The stroller body 2 shown in FIG. 2 is composed of a frame main body 10 and a handle 20 connected to the frame main body 10.

在框架主體10中，支撐兩個座位單元8a、8b的上部框架12被連接到支撐有複數個車輪4的基座框架11。上部框架12以相對於基座框架11傾斜的狀態被支撐。上部框架12的前方部分與基座框架11的前方部分藉由前方連接部件13被連接，上部框架12的中間部分與基座框架11的後方部分藉由中間連接部件14被連接。前方連接部件13和中間連接部件14產生連接的作用，上部框架12能夠相對於基座框架11轉動。In the frame main body 10, the upper frame 12 supporting the two seating units 8a, 8b is connected to the base frame 11 supporting a plurality of wheels 4. The upper frame 12 is supported in a state of being inclined with respect to the base frame 11. The front portion of the upper frame 12 and the front portion of the base frame 11 are connected by the front connecting member 13, and the intermediate portion of the upper frame 12 and the rear portion of the base frame 11 are connected by the intermediate connecting member 14. The front connecting member 13 and the intermediate connecting member 14 function as a connection, and the upper frame 12 is rotatable relative to the base frame 11.

特別地，在基座框架11設置有在左右方向d2上分離地配置的左右的側基座框架11a、11b。左右的側基座框架11a、11b的後端藉由後方基座框架11c相連結。在本實施方式中，藉由將單根管材彎曲而成型，從而一體地形成左右的側基座框架11a、11b和後方基座框架11c。其中，左右的側基座框架11a、11b和後方基座框架11c也可以作為單獨的部件來形成。In particular, the base frame 11 is provided with left and right side base frames 11a and 11b which are disposed apart in the left-right direction d2. The rear ends of the left and right side base frames 11a and 11b are coupled by a rear base frame 11c. In the present embodiment, the left and right side base frames 11a and 11b and the rear base frame 11c are integrally formed by bending a single pipe. Among them, the left and right side base frames 11a and 11b and the rear base frame 11c may be formed as separate members.

在各側基座框架11a、11b安裝有前輪41和後輪42。在本實施方式中，各前輪41藉由小腳輪（caster）3以可旋轉且可轉向的方式被側基座框架11a、11b支撐。小腳輪3以旋轉軸線Ar1為中心可旋轉地支撐前輪41，並且，能夠以與旋轉軸線Ar1不平行的轉向軸，在本實施方式中，是平行於與旋轉軸線Ar1垂直的方向的轉動軸線As1為中心轉向。即，前輪41以能夠自轉且能夠改變其方向的方式被小腳輪3支撐。A front wheel 41 and a rear wheel 42 are attached to the respective side base frames 11a and 11b. In the present embodiment, each of the front wheels 41 is supported by the side base frames 11a, 11b in a rotatable and steerable manner by a caster 3. The caster 3 rotatably supports the front wheel 41 around the rotation axis Ar1, and can be a steering shaft that is not parallel to the rotation axis Ar1, and in the present embodiment, is a rotation axis As1 parallel to a direction perpendicular to the rotation axis Ar1. Turn towards the center. That is, the front wheel 41 is supported by the caster 3 in such a manner as to be able to rotate and change its direction.

另一方面，位於比前輪41靠後方的位置的各後輪42沒有被小腳輪以可轉向的方式支撐。在本實施方式中，各後輪42能夠旋轉地被後述的驅動源5的驅動軸51a（參照圖5）支撐，但不能轉向。On the other hand, each of the rear wheels 42 located rearward of the front wheel 41 is not steerably supported by the casters. In the present embodiment, each of the rear wheels 42 is rotatably supported by the drive shaft 51a (see FIG. 5) of the drive source 5, which will be described later, but cannot be steered.

在上部框架12設置有在左右方向d2上分離地配置的左右的側上部框架12a、12b。在左右的側上部框架12a、12b之間配置有中間框架12c。在本實施方式中，在左側的側上部框架12a與中間框架12c之間配置有第一座位單元8a，在右側的側上部框架12b與中間框架12c之間配置有第二座位單元8b。The upper frame 12 is provided with left and right side upper frames 12a and 12b which are disposed apart in the left-right direction d2. An intermediate frame 12c is disposed between the left and right side upper frames 12a and 12b. In the present embodiment, the first seat unit 8a is disposed between the left side upper frame 12a and the intermediate frame 12c, and the second seat unit 8b is disposed between the right side upper frame 12b and the intermediate frame 12c.

左右的側上部框架12a、12b和中間框架12c的後端藉由後方上部框架12d連結。在後方上部框架12d安裝有手柄20。手柄20是用操作者的手操作的部分。關於手柄20，參照圖7至圖15在後面進行敘述。The left and right side upper frames 12a and 12b and the rear end of the intermediate frame 12c are coupled by a rear upper frame 12d. A handle 20 is attached to the rear upper frame 12d. The handle 20 is a portion that is operated by the operator's hand. The handle 20 will be described later with reference to Figs. 7 to 15 .

應予說明，在圖示的例子中，左右的側上部框架12a、12b與後方上部框架12d藉由將單根管材彎曲成型而一體地形成。但是，左右的側上部框架12a、12b與後方上部框架12d也可以作為單獨的部件來形成。In the illustrated example, the left and right side upper frames 12a and 12b and the rear upper frame 12d are integrally formed by bending a single pipe. However, the left and right side upper frames 12a and 12b and the rear upper frame 12d may be formed as separate members.

左右的側上部框架12a、12b的前端由橫向連桿12e和上部側連接框架13a連結。其中，橫向連桿12e沿左右方向d2形成為直線狀，中間框架12c的前端被連接到橫向連桿12e的中間部分。The front ends of the right and left side upper frames 12a and 12b are coupled by a transverse link 12e and an upper side connecting frame 13a. Among them, the lateral link 12e is formed linearly in the left-right direction d2, and the front end of the intermediate frame 12c is connected to the intermediate portion of the lateral link 12e.

上部側連接框架13a產生連接作用，具有突出到比橫向連桿12e更靠前方的區域的彎曲的形狀。因此，在上部側連接框架13a的前方部分與左右的側基座框架11a、11b的前端之間架設有基座側連接框架13b。基座側連接框架13b的前端固定於上部側連接框架13a，基座側連接框架13b的左右方向的後端藉由橫向連結連桿13c可轉動地連接到左右側基座框架11a、11b。橫向連結連桿13c沿左右方向d2形成為直線狀，可轉動地連接到左右的側基座框架11a、11b的前端。由上部側連接框架13a、基座側連接框架13b和橫向連結連桿13c構成產生連接作用的前方連接部件13。The upper side connecting frame 13a has a connecting effect and has a curved shape that protrudes to a region forward of the lateral link 12e. Therefore, the base side connecting frame 13b is placed between the front portion of the upper side connecting frame 13a and the front ends of the left and right side base frames 11a and 11b. The front end of the base side connecting frame 13b is fixed to the upper side connecting frame 13a, and the rear end of the base side connecting frame 13b in the left-right direction is rotatably connected to the left and right side base frames 11a and 11b by the lateral connecting link 13c. The lateral connection link 13c is formed linearly in the left-right direction d2, and is rotatably connected to the front ends of the left and right side base frames 11a and 11b. The front side connecting frame 13a, the base side connecting frame 13b, and the lateral connecting link 13c constitute a front connecting member 13 that generates a connecting action.

應予說明，左右的中間連接部件14被架設在左右的側上部框架12a、12b的中間部分與左右的側基座框架11a、11b的後方部分。各中間連接部件14產生連接作用，相對於側上部框架12a、12b和側基座框架11a、11b這兩者能夠轉動。Incidentally, the left and right intermediate connecting members 14 are stretched over the intermediate portions of the right and left side upper frames 12a and 12b and the rear portions of the left and right side base frames 11a and 11b. Each of the intermediate connecting members 14 is connected, and is rotatable with respect to both of the side upper frames 12a and 12b and the side base frames 11a and 11b.

具有以上這樣的框架構造的嬰兒車1能夠從圖1和圖2所示的展開狀態折疊到圖3所示的折疊狀態。圖3是從側面示出圖2所示的嬰兒車1在折疊狀態下的圖。The stroller 1 having the above-described frame configuration can be folded from the unfolded state shown in Figs. 1 and 2 to the folded state shown in Fig. 3. Fig. 3 is a side view showing the stroller 1 shown in Fig. 2 in a folded state.

首先，解除側上部框架12a、12b與上部側連接框架13a之間的鎖定，利用自重將手柄20向下方降下。根據該動作，上部側連接框架13a、基座側連接框架13b和中間連接部件14沿圖2中逆時針方向轉動，折疊為上部框架12與基座框架11重疊。First, the lock between the side upper frames 12a and 12b and the upper side connecting frame 13a is released, and the handle 20 is lowered downward by its own weight. According to this operation, the upper side connecting frame 13a, the base side connecting frame 13b, and the intermediate connecting member 14 are rotated counterclockwise in FIG. 2, and are folded so that the upper frame 12 overlaps with the base frame 11.

以上的折疊動作的結果是，如圖3所示，基座框架11與上部框架12在嬰兒車1的側面視圖中以接近且大致平行的方式配置。另一方面，為了使嬰兒車1從圖3所示的折疊狀態返回到圖2所示的展開狀態，按照與的折疊操作相反的順序進行即可。As a result of the above folding operation, as shown in FIG. 3, the base frame 11 and the upper frame 12 are disposed in a side view of the stroller 1 in a nearly parallel and substantially parallel manner. On the other hand, in order to return the stroller 1 from the folded state shown in FIG. 3 to the unfolded state shown in FIG. 2, it may be performed in the reverse order of the folding operation.

這裡，在本實施方式的嬰兒車1中，為了減少操作者的負擔，在車輪4連接有驅動源5。然而，像在先前技術部分中說明那樣，由於習知的嬰兒車構成為所謂的自走式的嬰兒車，所以難以按照操作者的意願操作嬰兒車。因此，本實施方式的嬰兒車1構成為按照操作者的行走操作而向車輪4提供驅動力的輔助驅動式的手推嬰兒車。Here, in the stroller 1 of the present embodiment, the drive source 5 is connected to the wheel 4 in order to reduce the burden on the operator. However, as explained in the prior art section, since the conventional stroller is constructed as a so-called self-propelled stroller, it is difficult to operate the stroller in accordance with the operator's wishes. Therefore, the stroller 1 of the present embodiment is configured as an auxiliary drive type stroller that supplies a driving force to the wheel 4 in accordance with the walking operation of the operator.

在圖4中，利用框圖示意性地示出對車輪4的驅動進行輔助的機構。如圖4所示，在複數個車輪4中的幾個連接有驅動元件51、52。驅動元件51、52是驅動車輪4的構成要素，即，是向車輪4提供驅動力的構成要素。在本實施方式中，設有兩個驅動元件，即第一驅動元件51和第二驅動元件52，第一驅動元件51對左側的後輪42進行驅動，第二驅動元件52對右側的後輪42進行驅動。In Fig. 4, a mechanism for assisting the driving of the wheel 4 is schematically illustrated by a block diagram. As shown in FIG. 4, a drive element 51, 52 is connected to several of the plurality of wheels 4. The drive elements 51 and 52 are components that drive the wheel 4, that is, components that provide driving force to the wheel 4. In the present embodiment, two driving elements, namely a first driving element 51 and a second driving element 52, are provided, the first driving element 51 driving the left rear wheel 42 and the second driving element 52 facing the right rear wheel 42 drive.

在圖5中示出驅動元件51、52的構成的一個例子。如圖5所示，各驅動元件51、52由與對應的一側的後輪42連接的驅動軸51a、52a和對驅動軸51a、52a進行驅動的直流馬達51b、52b構成。驅動軸51a、52a的一端與對應的一側的後輪42連接，以使該後輪42不可轉向，但以旋轉軸線Ar2為中心可旋轉的方式支撐。驅動軸51a、52a的另一端藉由未繪示的動力傳遞要素（例如齒輪）與直流馬達51b、52b的主軸連結。應予說明，驅動軸51a、52a可以與直流馬達51b、52b的主軸一體地構成，也可以作為單獨的部件構成。An example of the configuration of the drive elements 51, 52 is shown in FIG. As shown in Fig. 5, each of the drive elements 51, 52 is composed of drive shafts 51a, 52a connected to the corresponding rear wheel 42 and DC motors 51b, 52b for driving the drive shafts 51a, 52a. One end of the drive shafts 51a, 52a is coupled to the rear wheel 42 of the corresponding one side so that the rear wheel 42 is not steerable, but is rotatably supported about the rotation axis Ar2. The other ends of the drive shafts 51a and 52a are coupled to the main shafts of the DC motors 51b and 52b by power transmission elements (for example, gears) not shown. Incidentally, the drive shafts 51a and 52a may be integrally formed with the main shafts of the direct current motors 51b and 52b, or may be configured as separate members.

直流馬達51b、52b被配置在架設於左右的側基座框架11a、11b的收納盒70內，在該收納盒70內，被側基座框架11a、11b支撐。在圖6中，利用電路圖表示直流馬達51b、52b的連接關係。如圖6所示，兩個驅動元件51、52的直流馬達51b、52b與電源75串聯連接。藉由串聯連接兩個直流馬達51b、52b，從而有助於根據來自地面的負荷來調整驅動力，對於這一點，在後面進行敘述。The DC motors 51b and 52b are disposed in the storage case 70 that are stretched over the left and right side base frames 11a and 11b, and are supported by the side base frames 11a and 11b in the storage case 70. In Fig. 6, the connection relationship of the DC motors 51b, 52b is shown by a circuit diagram. As shown in FIG. 6, the DC motors 51b, 52b of the two drive elements 51, 52 are connected in series with the power source 75. By connecting the two DC motors 51b and 52b in series, it is helpful to adjust the driving force in accordance with the load from the ground, which will be described later.

返回到圖4，各驅動元件51、52與控制裝置7連接，藉由該控制裝置7進行控制。在該控制裝置7還連接有檢測元件6，獲取來自檢測元件6的訊息作為輸入訊息。並且，控制裝置7基於來自檢測元件6的訊息控制各驅動元件51、52，調整從各驅動元件51、52對車輪4施加的驅動力。另外，控制裝置7連接到拆卸自如地固定於收納盒70的電源75。這樣的控制裝置7例如可以以包含中央處理裝置（CPU）和紀錄器（REGISTER）的微控制器、可編程序控制器（PLC）的形態來實現。Returning to Fig. 4, each of the drive elements 51, 52 is connected to the control unit 7, and is controlled by the control unit 7. A detection element 6 is also connected to the control device 7, and a message from the detection element 6 is acquired as an input message. Further, the control device 7 controls the respective drive elements 51 and 52 based on the message from the detecting element 6, and adjusts the driving force applied to the wheel 4 from each of the driving elements 51 and 52. Further, the control device 7 is connected to a power source 75 that is detachably fixed to the storage case 70. Such a control device 7 can be realized, for example, in the form of a microcontroller including a central processing unit (CPU) and a recorder (REGISTER), and a programmable controller (PLC).

返回到圖2，檢測元件6檢測向嬰兒車主體2輸入的與行走操作相關的訊息。本實施方式的檢測元件6以如下方式構成：設置在手柄20上，檢測與施加到該手柄20的負荷相關的訊息，即，能夠確定出施加到手柄20的負荷的訊息。首先，對手柄20的構成進行說明，其後，對設置於手柄20的檢測元件6進行說明。Returning to Fig. 2, the detecting element 6 detects a message related to the walking operation input to the stroller body 2. The detecting element 6 of the present embodiment is configured to be disposed on the handle 20 to detect a message relating to a load applied to the handle 20, that is, a message capable of determining a load applied to the handle 20. First, the configuration of the handle 20 will be described. Next, the detecting element 6 provided on the handle 20 will be described.

在圖7中放大地示出手柄20。如圖7所示，在手柄20配置有操作者的手抓握的把手21，將把手21和嬰兒車主體2與手柄主體22連結。手柄主體22在與上部框架12的連結位置c1，與該上部框架12固定連結。The handle 20 is shown enlarged in FIG. As shown in FIG. 7, the handle 20 is provided with the handle 21 gripped by the operator's hand, and the handle 21 and the stroller body 2 are coupled to the handle main body 22. The handle body 22 is fixedly coupled to the upper frame 12 at a connection position c1 to the upper frame 12.

特別地，作為構成手柄主體22的要素，從後方上部框架12d伸出有圓柱22a，在圓柱22a的兩側配置有側桿22b、22c。把手21構成為在左右方向d2隔開間隔且並列排列的兩個把手部分21a、21b，左側的把手部分21a架設在左側的側桿22b與圓柱22a之間，右側的把手部分21b架設在右側的側桿22c與圓柱22a之間。In particular, as an element constituting the handle body 22, a column 22a is protruded from the rear upper frame 12d, and side bars 22b and 22c are disposed on both sides of the column 22a. The handle 21 is configured as two handle portions 21a, 21b which are spaced apart from each other in the left-right direction d2, and the handle portion 21a on the left side is stretched between the side bar 22b on the left side and the column 22a, and the handle portion 21b on the right side is placed on the right side. Between the side bar 22c and the cylinder 22a.

在圖8中放大地示出設置於圓柱22a的檢測元件6，在圖9中示出檢測元件6的電路圖。如圖8和圖9所示，作為檢測元件6的複數個應變片61貼附於圓柱22a內的內方材22d。複數個應變片61構成橋式電路，以測量手柄主體22的形變。在圖8所示的例子中，在方型的內方材22d的上側的面配置有兩個應變片61，在內方材22d的下側的面配置有兩個應變片61，這四個應變片61彼此構成相同。應予說明，圖示的內方材22d是中空的，但也可以是實心的。The detecting element 6 provided on the cylinder 22a is shown enlarged in Fig. 8, and the circuit diagram of the detecting element 6 is shown in Fig. 9. As shown in FIGS. 8 and 9, a plurality of strain gauges 61 as the detecting elements 6 are attached to the inner square 22d in the cylinder 22a. A plurality of strain gauges 61 constitute a bridge circuit to measure the deformation of the handle body 22. In the example shown in FIG. 8, two strain gauges 61 are disposed on the upper surface of the square inner square 22d, and two strain gauges 61 are disposed on the lower surface of the inner square 22d. The strain gauges 61 are identical to each other. It should be noted that the illustrated inner square 22d is hollow, but may be solid.

本實施方式的嬰兒車1藉由用應變片61測量施加於手柄20的負荷，根據該負荷的大小調整從驅動源5向車輪4提供的驅動力的大小，從而能夠配合行走操作地調整驅動力。這裡，在違背操作者的意願而錯誤地將負荷施加到手柄20的情況下，也應當能夠防止來自驅動源5的驅動力傳遞到車輪4。因此，在本實施方式中，如圖7所示，將在行走前切換到能夠向車輪4提供來自驅動源5的驅動力的狀態的驅動輔助開關81，和為了向車輪4提供來自驅動源5的驅動力的在行走中操作的操作部件91設置於手柄20，雙重地防止與從驅動源5向車輪4違背意願地傳遞驅動力。以下，首先對操作部件91進行說明，其後，對驅動輔助開關81進行說明。The stroller 1 of the present embodiment measures the load applied to the handle 20 by the strain gauge 61, and adjusts the magnitude of the driving force supplied from the drive source 5 to the wheel 4 in accordance with the magnitude of the load, thereby adjusting the driving force in accordance with the walking operation. . Here, in the case where the load is erroneously applied to the handle 20 against the will of the operator, it should also be possible to prevent the driving force from the drive source 5 from being transmitted to the wheel 4. Therefore, in the present embodiment, as shown in FIG. 7, the drive assist switch 81 that switches to the state in which the driving force from the drive source 5 can be supplied to the wheel 4 before traveling, and the drive source 5 from the drive wheel 5 are provided. The driving member 91 that is operated while traveling is disposed on the handle 20 to doublely prevent the driving force from being transmitted in opposition to the driving from the driving source 5 to the wheel 4. Hereinafter, the operation member 91 will be described first, and then the drive assist switch 81 will be described.

操作部件91是由操作者操作的部件。如圖7所示，操作部件91可以在未進行操作的非操作狀態nop，即，未受到負荷的非操作狀態nop和進行操作的操作狀態op，即，受到負荷的操作狀態op之間切換。在操作部件91處於非操作狀態nop的情況下，即使對把手21施加負荷，也不會從驅動源5向車輪4傳遞驅動力。與此相對地，在操作部件91處於操作狀態op的情況下，成為能夠根據施加於把手21的來自手的負荷，將來自驅動源5的驅動力傳遞到車輪4的狀態。換言之，對於嬰兒車1而言，如果不使操作部件91處於操作狀態op，則無法將來自驅動源5的驅動力傳遞到車輪4。The operating member 91 is a member that is operated by an operator. As shown in FIG. 7, the operating member 91 can be switched between the non-operating state nop that is not operated, that is, the non-operating state nop that is not subjected to the load and the operating state op that is operated, that is, the operating state op that is subjected to the load. When the operation member 91 is in the non-operating state nop, even if a load is applied to the handle 21, the driving force is not transmitted from the drive source 5 to the wheel 4. On the other hand, when the operation member 91 is in the operation state op, the driving force from the drive source 5 can be transmitted to the wheel 4 in accordance with the load from the hand applied to the handle 21. In other words, with the stroller 1, if the operating member 91 is not in the operating state op, the driving force from the driving source 5 cannot be transmitted to the wheel 4.

特別地，圖7所示的操作部件91作為設置於圓柱22a的操作桿構成。作為操作桿的操作部件91以與把手21對置的方式配置。在本實施方式中，在左右各設置一個操作部件91，左右的操作部件91與左右的把手部分21a、21b分別對置。各操作部件91的長軸以在非操作狀態nop下沿著對應的一側的把手部分21a、21b的長軸的方式設置。In particular, the operating member 91 shown in Fig. 7 is constructed as an operating lever provided to the cylinder 22a. The operation member 91 as the operation lever is disposed to face the handle 21. In the present embodiment, one operation member 91 is provided on each of the left and right sides, and the left and right operation members 91 and the left and right handle portions 21a and 21b are opposed to each other. The long axis of each of the operating members 91 is disposed along the long axis of the handle portions 21a, 21b on the corresponding one side in the non-operating state nop.

各操作部件91的基端部91a能夠樞動地安裝於側桿22b、22c，前端部91b能夠與把手21接觸和分離。在圖7所示的例子中，左側的操作部件91的基端部91a能夠樞動地安裝於左側的側桿22b，右側的操作部件91的基端部91a能夠樞動地安裝於右側的側桿22c。The base end portion 91a of each of the operation members 91 is pivotally attached to the side bars 22b and 22c, and the front end portion 91b can be in contact with and separated from the handle 21. In the example shown in Fig. 7, the base end portion 91a of the left operation member 91 is pivotally attached to the left side bar 22b, and the base end portion 91a of the right operation member 91 is pivotally attached to the right side. Rod 22c.

各操作部件91在非操作狀態nop下，其前端部91b與把手21分離，在操作狀態op下，其前端部91b接近把手21。即，藉由以操作部件91的前端部91b接近把手21的方式進行抓握，從而能夠將操作部件91從非操作狀態nop切換到操作狀態op。In the non-operating state nop, each of the operation members 91 is separated from the handle 21 by the front end portion 91b, and the front end portion 91b is close to the handle 21 in the operation state op. That is, by grasping the front end portion 91b of the operation member 91 so as to approach the handle 21, the operation member 91 can be switched from the non-operation state nop to the operation state op.

特別地，在本實施方式中，各把手部分21a、21b的長軸和各操作部件91的長軸沿著左右方向d2。並且，各操作部件91配置在對應的把手部分21a、21b的靠下方且靠前方的位置。此時，操作者在手抓握把手部分21a、21b的狀態下，手也容易抓握操作部件91。In particular, in the present embodiment, the major axis of each of the handle portions 21a and 21b and the long axis of each of the operation members 91 are along the left-right direction d2. Further, each of the operation members 91 is disposed at a position below and corresponding to the front of the corresponding handle portions 21a and 21b. At this time, the operator can easily grasp the operation member 91 in a state where the operator grips the handle portions 21a, 21b with the hand.

各操作部件91處於操作狀態op或非操作狀態nop中的哪種狀態，藉由控制裝置7來監視。本實施方式的控制裝置7在操作部件91都處於操作狀態op的情況下，以能夠從電源75向串聯連接有兩個直流馬達51b、52b的電路供給電流的方式進行控制，在操作部件91中的任一個處於非操作狀態nop的情況下，以不會從電源75向串聯連接有兩個直流馬達51b、52b的電路供給電流的方式進行控制。Which of the operating state op or the non-operating state nop is used by each of the operating members 91 is monitored by the control device 7. When the operation member 91 is in the operation state op, the control device 7 of the present embodiment controls the supply of current from the power source 75 to the circuits in which the two DC motors 51b and 52b are connected in series, and is operated in the operation member 91. When any one of the non-operating states nop is provided, the current is supplied from the power source 75 to the circuit in which the two DC motors 51b and 52b are connected in series.

接下來，對設置於手柄20的驅動輔助開關81進行說明。驅動輔助開關81是為了將來自驅動源5的驅動力傳遞到車輪4，在使嬰兒車1行走前預先進行操作的輸入元件。操作部件91與驅動輔助開關81的不同之處是，操作部件91是在嬰兒車1的行走中操作的桿，與此相對，驅動輔助開關81是在使嬰兒車1行走前預先進行操作的開關。圖7所示的驅動輔助開關81作為所謂的按鈕開關而構成，藉由按壓，可以在輸入狀態on與非輸入狀態off之間進行切換。Next, the drive assist switch 81 provided on the handle 20 will be described. The drive assist switch 81 is an input element for transmitting the driving force from the drive source 5 to the wheel 4 before the stroller 1 is moved. The operation member 91 is different from the drive assist switch 81 in that the operation member 91 is a lever that operates during walking of the stroller 1, whereas the drive assist switch 81 is a switch that operates in advance before the stroller 1 is moved. . The drive assist switch 81 shown in Fig. 7 is configured as a so-called push button switch, and can be switched between the input state on and the non-input state off by pressing.

驅動輔助開關81與控制裝置7連接，驅動輔助開關81檢測到的訊息被控制裝置7獲取。控制裝置7基於操作驅動輔助開關81的訊息，在不會將來自驅動源5的驅動力傳遞到車輪4的非輔助模式nas與能夠將來自驅動源5的驅動力傳遞到車輪4的輔助模式as之間進行切換。特別地，在維持了非輔助模式nas的情況下，成為即使檢測元件6檢測到形變，也不會從驅動源5向車輪4提供驅動力的狀態。另一方面，在切換到輔助模式as的情況下，成為能夠基於檢測元件6檢測到的形變從驅動源5向車輪4提供驅動力的狀態。The drive assist switch 81 is connected to the control device 7, and the message detected by the drive assist switch 81 is acquired by the control device 7. The control device 7 is based on the operation of driving the auxiliary switch 81, in the non-assist mode nas that does not transmit the driving force from the drive source 5 to the wheel 4, and the assist mode capable of transmitting the driving force from the drive source 5 to the wheel 4 as Switch between. In particular, when the non-assist mode nas is maintained, the driving force is not supplied from the drive source 5 to the wheel 4 even if the detecting element 6 detects the deformation. On the other hand, when switching to the assist mode as, the driving force can be supplied from the drive source 5 to the wheel 4 based on the deformation detected by the detecting element 6.

圖10是表示利用控制裝置7進行的控制的一個例子的流程圖。在初始狀態中，驅動輔助開關81維持在非輸入狀態off，操作部件91維持在非操作狀態nop，控制裝置7維持在非輔助模式nas。FIG. 10 is a flowchart showing an example of control performed by the control device 7. In the initial state, the drive assist switch 81 is maintained in the non-input state off, the operating member 91 is maintained in the non-operating state nop, and the control device 7 is maintained in the non-assisted mode nas.

如圖10所示，在使嬰兒車1行走時，首先以短時間按壓驅動輔助開關81而從非輸入狀態off暫時切換到輸入狀態on（STEP1）。接著，如果使驅動輔助開關81處於輸入狀態on，則控制裝置7對檢測元件6檢測到的形變α的大小進行檢查（STEP2）。As shown in FIG. 10, when the stroller 1 is moved, the drive assist switch 81 is first pressed for a short time, and the non-input state off is temporarily switched to the input state on (STEP 1). Next, if the drive assist switch 81 is placed in the input state on, the control device 7 checks the magnitude of the deformation α detected by the detecting element 6 (STEP 2).

在驅動輔助開關81處於輸入狀態on的狀態下，當檢測元件6檢測到的形變α的大小為預先決定的設定值α0以上時，如果來自驅動源5的驅動力傳遞到車輪4，則嬰兒車1有突然移動的隱患。因此，控制裝置7在檢測元件6檢測到的形變α的大小為設定值α0以上時，維持驅動力不傳遞到車輪4的非輔助模式nas（STEP3-1）。應予說明，設定值α0設定為來自驅動源5的驅動力即使傳遞到車輪4，也判斷為嬰兒車1不可能突然移動的值，基於經驗而預先確定。In a state where the drive assist switch 81 is in the input state on, when the magnitude of the deformation α detected by the detecting element 6 is equal to or greater than a predetermined set value α0, if the driving force from the drive source 5 is transmitted to the wheel 4, the stroller 1 There is a hidden danger of sudden movement. Therefore, when the magnitude of the deformation α detected by the detecting element 6 is equal to or greater than the set value α0, the control device 7 maintains the non-assisted mode nas (STEP3-1) in which the driving force is not transmitted to the wheel 4. In addition, the set value α0 is set such that the driving force from the drive source 5 is determined to be a value that the stroller 1 cannot suddenly move, even if it is transmitted to the wheel 4, and is determined in advance based on experience.

接著，為了向操作者通知不能切換到能夠傳遞驅動力的輔助模式as而發出警報（STEP4-1）。藉此，發出的警報只要是能夠向操作者通知不能切換到輔助模式as就沒有特別限定。典型的是，發出警報音，或者點亮警報燈，或者在顯示畫面中顯示預定的文字等來執行向操作者的警報。Next, an alarm is issued in order to notify the operator that it is not possible to switch to the assist mode as that can transmit the driving force (STEP4-1). Thereby, the issued alarm is not particularly limited as long as it can notify the operator that it is not possible to switch to the assist mode as. Typically, an alarm sound is emitted, or an alarm light is turned on, or a predetermined character or the like is displayed on the display screen to perform an alarm to the operator.

另一方面，在驅動輔助開關81處於輸入狀態on的狀態下，在檢測元件6檢測到的形變α的大小比設定值α0小時，沒有嬰兒車1突然移動的隱患。因此，控制裝置7切換到能夠將驅動力傳遞到車輪4的輔助模式as（STEP3-2）。On the other hand, in a state where the drive assist switch 81 is in the input state on, the magnitude of the deformation α detected by the detecting element 6 is smaller than the set value α0, and there is no risk that the stroller 1 suddenly moves. Therefore, the control device 7 is switched to the assist mode as that can transmit the driving force to the wheel 4 (STEP 3-2).

接著，在輔助模式as中，檢測操作桿91-1處於操作狀態op和非操作狀態nop中的哪一個（STEP4-2）。在操作桿91-1處於非操作狀態nop的情況下，即使向手柄20施加來自手的負荷，也以不從驅動源5向車輪4提供驅動力的方式控制驅動源5（STEP5-1）。此時，如果該狀態連續經過設定時間Ta（STEP6），則控制裝置7切換到不會向驅動力傳遞車輪4的非輔助模式nas（STEP7）。應予說明，設定時間Ta設定為對能夠判斷為操作者沒有使嬰兒車1行走的意願來說充分的時間，是基於經驗而預先確定的數值。Next, in the assist mode as, it is detected which of the operation state op and the non-operation state nop the operation lever 91-1 is (STEP 4-2). When the operation lever 91-1 is in the non-operating state nop, even if the load from the hand is applied to the handle 20, the drive source 5 is controlled so as not to supply the driving force from the drive source 5 to the wheel 4. (STEP5-1). At this time, if the state continuously passes the set time Ta (STEP 6), the control device 7 switches to the non-assist mode nas (Step 7) in which the wheel 4 is not transmitted to the driving force. In addition, the set time Ta is set to a time sufficient for determining that the operator does not want to drive the stroller 1 , and is a value that is predetermined based on experience.

另一方面，在操作桿91-1處於操作狀態op的情況下，按照圖11的圖表，並根據檢測元件6檢測到的形變α的大小，從驅動源5向車輪4提供驅動力（STEP5-2）。藉此，減少操作者向前方推嬰兒車1的負擔。On the other hand, in the case where the operating lever 91-1 is in the operating state op, according to the graph of Fig. 11, and based on the magnitude of the deformation α detected by the detecting element 6, the driving force is supplied from the driving source 5 to the wheel 4 (STEP5- 2). Thereby, the burden on the operator to push the stroller 1 forward is reduced.

圖11是表示根據檢測元件6檢測到的形變α，確定由驅動元件51、52提供的驅動力的控制的一個例子的圖表。在圖11的圖表中，橫軸表示作為檢測元件6的應變片61檢測到的形變，將貼附於內方材22d的上側的面的應變片61伸長的情況以及貼附到內方材22d的下側的面的應變片61縮短的情況設為正的值，將貼附於內方材22d的上側的面的應變片61縮短的情況以及貼附於內方材22d的下側的面的應變片61伸長的情況設為負的值。縱軸表示驅動車輪4的驅動力，將使車輪4向前進方向旋轉的驅動力設為正的值，將車輪4向後退方向旋轉的驅動力設為負的值。FIG. 11 is a graph showing an example of control for determining the driving force supplied from the driving elements 51 and 52 based on the deformation α detected by the detecting element 6. In the graph of Fig. 11, the horizontal axis represents the deformation detected by the strain gauge 61 as the detecting element 6, and the strain gauge 61 attached to the upper surface of the inner square 22d is extended and attached to the inner square 22d. When the strain gauge 61 on the lower surface is shortened, it is a positive value, and the strain gauge 61 attached to the upper surface of the inner square 22d is shortened and the lower surface of the inner square 22d is attached. The case where the strain gauge 61 is elongated is set to a negative value. The vertical axis indicates the driving force for driving the wheel 4, and the driving force for rotating the wheel 4 in the forward direction is set to a positive value, and the driving force for rotating the wheel 4 in the backward direction is set to a negative value.

如圖11所示，在應變片61檢測到的形變α的大小比下限值α1小的情況下，控制裝置7以不向驅動元件51、52的驅動力提供到車輪4的方式進行控制。藉此，即使有干擾、無意識的操作施加於嬰兒車1，也能夠防止嬰兒車1意外地發生移動。As shown in FIG. 11, when the magnitude of the deformation α detected by the strain gauge 61 is smaller than the lower limit value α1, the control device 7 performs control so as not to supply the driving force to the driving elements 51 and 52 to the wheel 4. Thereby, even if an interference or unintentional operation is applied to the stroller 1, it is possible to prevent the stroller 1 from accidentally moving.

如果應變片61檢測到的形變α的大小比下限值α1大，則控制裝置7以與應變片61檢測到的形變的大小成比例地向車輪4提供由驅動元件51、52產生的驅動力的方式進行控制。在圖11的圖表中，在作為對象的應變片61伸長的情況下，提供使車輪4向前進方向旋轉的驅動力，在作為對象的應變片61縮短的情況下，提供使車輪4向後退方向旋轉的驅動力。If the magnitude of the deformation α detected by the strain gauge 61 is larger than the lower limit value α1, the control device 7 supplies the driving force generated by the driving elements 51, 52 to the wheel 4 in proportion to the magnitude of the deformation detected by the strain gauge 61. The way to control. In the graph of FIG. 11 , when the target strain gauge 61 is extended, a driving force for rotating the wheel 4 in the forward direction is provided, and when the target strain gauge 61 is shortened, the wheel 4 is provided in the backward direction. The driving force of rotation.

另一方面，如果施加於手柄20的形變α的大小比上限值α2大，則控制裝置7以將由驅動元件51、52產生的驅動力設定為上限驅動力F，並向車輛4提供的方式進行控制。On the other hand, if the magnitude of the deformation α applied to the handle 20 is larger than the upper limit value α2, the control device 7 sets the driving force generated by the driving elements 51, 52 to the upper limit driving force F and supplies it to the vehicle 4. Take control.

接下來，對包括如上的構成的本實施方式的作用進行說明。Next, the operation of the present embodiment including the above configuration will be described.

如圖10的流程圖所示，在使嬰兒車1行走時，首先，操作者在未對把手21施加負荷的狀態下按壓驅動輔助開關81。此時，控制裝置7在檢測元件6檢測到的形變α的大小比設定值α0小的狀態下，判斷為驅動輔助開關81已被變更到輸入狀態on（STEP1，2），因此接收該操作而切換到能夠向車輪4傳遞驅動力的輔助模式as（STEP3-2）。As shown in the flowchart of FIG. 10, when the stroller 1 is moved, first, the operator presses the drive assist switch 81 without applying a load to the handle 21. At this time, the control device 7 determines that the drive assist switch 81 has been changed to the input state on (STEP1, 2) in a state where the magnitude of the distortion α detected by the detecting element 6 is smaller than the set value α0, and thus receives the operation. The mode is switched to the assist mode as (FIG. 3-2) capable of transmitting the driving force to the wheel 4.

接下來，操作者握住操作桿91-1並接近把手21，將該操作部件91維持在操作狀態op（STEP4-2）。在該狀態下進行使嬰兒車1行走的各種操作。嬰兒車1在行走中施加於把手21的來自手的負荷利用檢測元件6檢測，並發送到控制裝置7。其後，控制裝置7以根據由檢測元件6檢測到的形變α的大小，從驅動源5向車輪4提供驅動力的方式進行控制（STEP5）。藉此，減少操作者向前方推動嬰兒車1的負擔。Next, the operator holds the operating lever 91-1 and approaches the handle 21, and maintains the operating member 91 in the operating state op (STEP 4-2). In this state, various operations for walking the stroller 1 are performed. The load from the hand applied to the handle 21 by the stroller 1 is detected by the detecting element 6 and transmitted to the control device 7. Thereafter, the control device 7 controls the driving force from the drive source 5 to the wheel 4 in accordance with the magnitude of the deformation α detected by the detecting element 6 (STEP 5). Thereby, the burden on the operator to push the stroller 1 forward is reduced.

特別地，使嬰兒車1行走的操作能夠分類為前進、跨越臺階、後退和轉向。以下，對各操作進行說明。In particular, the operation of walking the stroller 1 can be classified into advancement, stepping, retreat, and steering. Hereinafter, each operation will be described.

這裡，作為前提，構成檢測元件6的4個應變片61位於比把手21更靠近上下方向d3上的上方的位置，把手21位於比連結位置c1更靠後方且更靠下方的位置（參照圖2）。根據這樣的配置，應變片61如以下的圖12至圖15所示那樣發揮作用。圖12至圖15是用於說明對手柄20進行各操作時的應變片61的作用。應予說明，在以下的說明中，內方材22d被與其長度方向平行的平面劃分成兩個部分時，將成為上側的部分記為上部區域A1，將成為下側的部分記為下部區域A2（參照圖8）。Here, as a premise, the four strain gauges 61 constituting the detecting element 6 are located above the handle 21 in the up-and-down direction d3, and the handle 21 is located further rearward than the joint position c1 (see FIG. 2). ). According to such an arrangement, the strain gauge 61 functions as shown in FIGS. 12 to 15 below. 12 to 15 are views for explaining the action of the strain gauge 61 when the handle 20 is operated. In the following description, when the inner square 22d is divided into two portions by a plane parallel to the longitudinal direction thereof, the upper portion is referred to as the upper region A1, and the lower portion is referred to as the lower region A2. (Refer to Figure 8).

如圖12所示，在操作者將操作桿91-1拉向把手21的狀態（STEP4-2）下，將把手21向前後方向d1上的前方推動時，內方材22d的上部區域A1伸長且下部區域A2縮短。上部區域A1伸長且下部區域A2縮短的訊息利用4個應變片61進行測量。由應變片61測量到的訊息被輸送到控制裝置7。接收了訊息的控制裝置7識別為把手21被推向了前方或者被按向了下方，根據應變片61測量到的值向串聯連接有兩個驅動元件51、52的直流馬達51b、52b的電路提供電流（STEP5-2）。藉此，直流馬達51b、52b旋轉，與直流馬達51b、52b連接的驅動軸51a、52a使後輪42向前進方向旋轉。這樣，藉由驅動軸51a、52a輔助後輪42的旋轉，從而減少操作者向前方推動嬰兒車1的負擔。As shown in FIG. 12, when the operator pushes the operating lever 91-1 toward the handle 21 (STEP 4-2), when the handle 21 is pushed forward in the front-rear direction d1, the upper region A1 of the inner square 22d is elongated. And the lower area A2 is shortened. The information that the upper region A1 is elongated and the lower region A2 is shortened is measured using four strain gauges 61. The message measured by the strain gauge 61 is sent to the control device 7. The control device 7 that has received the message recognizes that the handle 21 is pushed forward or is pressed downward, and the circuit of the DC motors 51b, 52b in which the two drive elements 51, 52 are connected in series according to the value measured by the strain gauge 61 is connected. Current is supplied (STEP5-2). Thereby, the DC motors 51b and 52b rotate, and the drive shafts 51a and 52a connected to the DC motors 51b and 52b rotate the rear wheel 42 in the forward direction. Thus, the rotation of the rear wheel 42 is assisted by the drive shafts 51a and 52a, thereby reducing the burden on the operator to push the stroller 1 forward.

在行走路面有臺階的情況下，操作者在將操作桿91-1拉向把手21的狀態（STEP4-2）下，將把手21向上下方向d3上的下方按壓，欲使前輪41抬起。如圖13所示，在操作者向下方按壓嬰兒車1的情況下，與圖12的情況同樣，內方材22d的上部區域A1伸長且下部區域A2縮短。上部區域A1伸長且下部區域A2縮短的訊息利用4個應變片61測量並發送到控制裝置7。接收了訊息的控制裝置7識別為把手被推向了前方或者被按向了下方，向串聯連接有兩個直流馬達51b、52b的電路提供與應變片61測量到的值對應的電流（STEP5-2）。藉此，使直流馬達51b、52b旋轉，與直流馬達51b、52b連接的驅動軸51a、52a使後輪42向前進方向旋轉。即，在把手21被按向下方的情況與把手被向前方推進的情況同樣，使後輪42向前進方向旋轉。作為結果，即使在越過臺階的動作中，也能夠接受由驅動源5進行的驅動力的輔助，能夠沒有過多負擔地推動嬰兒車1。When there is a step on the road surface, the operator presses the handle 21 downward in the up-down direction d3 in a state where the operation lever 91-1 is pulled toward the handle 21 (STEP 4-2), and the front wheel 41 is to be lifted. As shown in FIG. 13, when the operator presses the stroller 1 downward, as in the case of FIG. 12, the upper region A1 of the inner square 22d is elongated and the lower region A2 is shortened. The message in which the upper region A1 is elongated and the lower region A2 is shortened is measured by the four strain gauges 61 and sent to the control device 7. The control device 7 that has received the message recognizes that the handle is pushed forward or is pressed downward, and supplies a current corresponding to the value measured by the strain gauge 61 to the circuit in which the two DC motors 51b, 52b are connected in series (STEP5- 2). Thereby, the DC motors 51b and 52b are rotated, and the drive shafts 51a and 52a connected to the DC motors 51b and 52b rotate the rear wheels 42 in the forward direction. In other words, the rear wheel 42 is rotated in the forward direction similarly to the case where the handle 21 is pushed downward and the handle is pushed forward. As a result, even in the operation of overstepping the step, the driving force by the drive source 5 can be received, and the stroller 1 can be pushed without excessive load.

另一方面，當在下坡處推動嬰兒車1時，如圖14所示，操作者在將操作桿91-1拉向把手21的狀態（STEP4-2）下，將把手21拉向前後方向d1上的後方。此時，與圖12和圖13的情況相反，內方材22d的上部區域A1縮短且下部區域A2伸長。上部區域A1縮短且下部區域A2伸長的訊息利用4個應變片61測量並發送到控制裝置7。接收了訊息的控制裝置7識別為把手21被拉向了後方，將與應變片61測量到的值對應的電流，與圖12和圖13的情況反向地，提供到串聯連接有兩個直流馬達51b、52b的電路（STEP5-2）。藉此，使直流馬達51b、52b旋轉，與直流馬達51b、52b連接的驅動軸51a、52a使後輪42向後退方向旋轉。這樣，藉由驅動軸51a、52a輔助後輪42的旋轉，從而減少操作者向後方拉嬰兒車1的負擔。On the other hand, when the stroller 1 is pushed downhill, as shown in Fig. 14, the operator pulls the handle 21 forward and backward in the state of pulling the operating lever 91-1 toward the handle 21 (STEP 4-2). On the rear. At this time, contrary to the case of FIGS. 12 and 13, the upper region A1 of the inner square 22d is shortened and the lower region A2 is elongated. The information that the upper region A1 is shortened and the lower region A2 is elongated is measured by the four strain gauges 61 and sent to the control device 7. The control device 7 that has received the message recognizes that the handle 21 is pulled rearward, and the current corresponding to the value measured by the strain gauge 61 is reversed to the case of FIGS. 12 and 13 to provide two direct currents connected in series. Circuit of the motors 51b, 52b (STEP 5-2). Thereby, the DC motors 51b and 52b are rotated, and the drive shafts 51a and 52a connected to the DC motors 51b and 52b rotate the rear wheel 42 in the backward direction. Thus, the rotation of the rear wheel 42 is assisted by the drive shafts 51a and 52a, thereby reducing the burden on the operator to pull the stroller 1 rearward.

接下來，在使嬰兒車1轉向時，如圖15所示，在將操作桿91-1拉向把手21的狀態（STEP4-2）下，藉由使向前方推兩個把手部分21a、21b的力產生差異，從而能夠使嬰兒車1轉向。在圖15所示的例子中，藉由使施加於右側的把手部分21b的力比施加於左側的把手部分21a的力大，從而能夠使嬰兒車1向左（逆時針）轉向。即使對兩個把手部分21a、21b施加不同的力，也與圖12的情況同樣，內方材22d的上部區域A1伸長且下部區域A2縮短。上部區域A1伸長且下部區域A2縮短的訊息利用4個應變片61測量並發送到控制裝置7。接收了訊息的控制裝置7識別為把手21被推向了前方或者被按向了下方，向串聯連接有兩個直流馬達51b、52b的電路提供與應變片61測量到的值對應的電流（STEP5-2）。在圖6所示的串聯電路中，在兩個直流馬達51b、52b為相同構成的情況下，由於在兩個直流馬達51b、52b中流通的電流的大小也相等，所以認為兩個直流馬達51b、52b向車輪4提供的驅動力也相等。Next, when the stroller 1 is turned, as shown in FIG. 15, in a state where the operating lever 91-1 is pulled toward the handle 21 (STEP 4-2), the two handle portions 21a, 21b are pushed forward by the front. The force produces a difference that enables the stroller 1 to turn. In the example shown in Fig. 15, the force applied to the handle portion 21b on the right side is made larger than the force applied to the handle portion 21a on the left side, so that the stroller 1 can be turned to the left (counterclockwise). Even if different forces are applied to the two handle portions 21a, 21b, as in the case of Fig. 12, the upper region A1 of the inner square 22d is elongated and the lower region A2 is shortened. The message in which the upper region A1 is elongated and the lower region A2 is shortened is measured by the four strain gauges 61 and sent to the control device 7. The control device 7 that has received the message recognizes that the handle 21 is pushed forward or is pressed downward, and supplies a current corresponding to the value measured by the strain gauge 61 to the circuit in which the two DC motors 51b and 52b are connected in series (STEP5) -2). In the series circuit shown in FIG. 6, when the two DC motors 51b and 52b have the same configuration, since the magnitudes of the currents flowing through the two DC motors 51b and 52b are also equal, the two DC motors 51b are considered to be equal. The driving force provided by the 52b to the wheel 4 is also equal.

然而，如果嬰兒車1向左轉向，則與成為外輪的右側的車輪4相比，成為內輪的左側的車輪4承受的來自地面的阻力較大，與成為內輪的左側的車輪4連接的直流馬達51b變得難以旋轉。如果與成為內輪的左側的車輪4連接的直流馬達51b的轉速降低，則該直流馬達51b產生的反電動勢降低，容易使串聯電路流通更多的電流。作為結果，在與成為外輪的右側的車輪4連接的直流馬達52b中流通的電流相對變大，能夠對成為外輪的右側的車輪4提供較大的驅動力。藉此，容易使成為外輪的右側的車輪4旋轉，其結果，能夠平穩地進行轉向動作。However, if the stroller 1 is turned to the left, the wheel 4 on the left side of the inner wheel receives a larger resistance from the ground than the wheel 4 on the right side of the outer wheel, and is connected to the wheel 4 which becomes the left side of the inner wheel. The DC motor 51b becomes difficult to rotate. When the number of revolutions of the direct current motor 51b connected to the wheel 4 on the left side of the inner wheel is lowered, the counter electromotive force generated by the direct current motor 51b is lowered, and it is easy to cause a larger current to flow through the series circuit. As a result, the current flowing through the DC motor 52b connected to the wheel 4 on the right side of the outer wheel is relatively large, and it is possible to provide a large driving force to the wheel 4 that is the right side of the outer wheel. Thereby, it is easy to rotate the wheel 4 which becomes the right side of an outer wheel, and as a result, a steering operation can be performed smoothly.

然後，返回到圖10，如果嬰兒車1的行走操作結束而使嬰兒車1停止，則手離開把手21和操作桿91-1。藉由該動作，將操作桿91-1從操作狀態op切換到非操作狀態nop。如果在該狀態連續經過設定時間Ta（STEP6），則控制裝置7從輔助模式as切換到非輔助模式nas（STEP7）。如果切換到非輔助模式nas，則即使操作者無意識地對手柄20施加負荷，只要驅動輔助開關81不***作為輸入狀態on，就能夠防止從驅動源5向車輪4傳遞驅動力。Then, returning to Fig. 10, if the stroller 1 is stopped and the stroller 1 is stopped, the hand is separated from the handle 21 and the operating lever 91-1. By this action, the operating lever 91-1 is switched from the operating state op to the non-operating state nop. When the set time Ta (STEP 6) is continuously passed in this state, the control device 7 switches from the assist mode as to the non-assist mode nas (STEP 7). If switching to the non-assist mode nas, even if the operator unintentionally applies a load to the handle 20, as long as the drive assist switch 81 is not operated as the input state on, it is possible to prevent the driving force from being transmitted from the drive source 5 to the wheel 4.

如上所述，本實施方式的嬰兒車1包含：複數個車輪4；嬰兒車主體2，其具有支撐複數個車輪4的框架主體10和與框架主體10連接的手柄20；驅動源5，其被框架主體10支撐，向至少一個車輪4提供驅動力；檢測元件6，其設置於手柄20，檢測與施加於該手柄20的負荷相關的訊息；操作部件91，其與檢測元件6分別地設置於手柄20，能夠在操作狀態op與非操作狀態nop之間進行切換；以及控制裝置7，其基於檢測元件6檢測到的訊息控制驅動源5，調整從驅動源5向車輪4提供的驅動力，在操作部件91處於操作狀態op的期間，能夠從驅動源5向車輪4傳遞驅動力。根據這樣的形態，由於能夠與利用檢測元件6檢測到的施加於手柄20的負荷配合而調整由驅動源5產生的對於車輪4的驅動力，從而能夠按照意願操作嬰兒車1。並且，在操作者將操作部件91操作到操作狀態op的狀態下，如果不對手柄20施加負荷，則不會將來自驅動源5的驅動力傳遞到車輪4。因此，能夠防止與違背操作者意願而使來自驅動源5的驅動力傳遞到車輪4的情況，能夠避免嬰兒車1產生非預期的動作。As described above, the stroller 1 of the present embodiment includes: a plurality of wheels 4; a stroller body 2 having a frame main body 10 supporting a plurality of wheels 4 and a handle 20 connected to the frame main body 10; and a drive source 5 The frame body 10 supports to provide a driving force to at least one of the wheels 4; the detecting element 6 is disposed at the handle 20 to detect a message related to the load applied to the handle 20; and the operating member 91 is disposed separately from the detecting element 6 The handle 20 is switchable between the operating state op and the non-operating state nop; and the control device 7 controls the driving source 5 based on the message detected by the detecting component 6, and adjusts the driving force supplied from the driving source 5 to the wheel 4. While the operating member 91 is in the operating state op, the driving force can be transmitted from the driving source 5 to the wheel 4. According to this aspect, since the driving force with respect to the wheel 4 generated by the driving source 5 can be adjusted in accordance with the load applied to the handle 20 detected by the detecting element 6, the stroller 1 can be operated as desired. Further, in a state where the operator operates the operating member 91 to the operating state op, if a load is not applied to the handle 20, the driving force from the driving source 5 is not transmitted to the wheel 4. Therefore, it is possible to prevent the driving force from the driving source 5 from being transmitted to the wheel 4 against the will of the operator, and it is possible to prevent the baby carriage 1 from generating an unexpected operation.

另外，根據本實施方式，在操作部件91處於非操作狀態nop的期間，不會從驅動源5向車輪4傳遞驅動力。此時，能夠進一步有效地防止違背操作者意願而使來自驅動源5的驅動力傳遞到車輪4的情況。Further, according to the present embodiment, the driving force is not transmitted from the drive source 5 to the wheel 4 while the operation member 91 is in the non-operating state nop. At this time, it is possible to further effectively prevent the driving force from the drive source 5 from being transmitted to the wheel 4 against the will of the operator.

另外，根據本實施方式，手柄20具有：操作者的手抓握的把手21；以及將把手21與嬰兒車主體2連結的手柄主體22，操作部件91和檢測元件6設置於手柄主體22，操作部件91和檢測元件6設置於手柄主體22。藉由在將把手21與嬰兒車主體2連結的手柄主體22設置操作部件91，從而在操作者將手放在把手21上進行操作時，手也容易放在操作部件91上。Further, according to the present embodiment, the handle 20 has a handle 21 that is grasped by the operator's hand, and a handle body 22 that couples the handle 21 to the stroller body 2, and the operation member 91 and the detecting member 6 are provided to the handle body 22, and are operated. The member 91 and the detecting element 6 are provided to the handle body 22. By providing the operation member 91 at the handle main body 22 that connects the handle 21 and the stroller body 2, when the operator places the hand on the handle 21, the hand is easily placed on the operation member 91.

另外，根據本實施方式，操作部件91包括設置於手柄主體22的操作桿91-1。此時，藉由握住操作桿91-1，從而能夠在操作狀態op與非操作狀態nop之間進行切換，因此容易與用手操作把手21的動作聯動地操作操作部件91。Further, according to the present embodiment, the operating member 91 includes the operating lever 91-1 provided to the handle body 22. At this time, by holding the operation lever 91-1, it is possible to switch between the operation state op and the non-operation state nop, and thus it is easy to operate the operation member 91 in conjunction with the operation of manually operating the handle 21.

另外，根據本實施方式，操作桿91-1以與把手21對置的方式配置，操作桿91-1的基端部91a-1以能夠樞動的方式安裝於手柄主體22，前端部91b-1可以與把手21接觸和分離。此時，藉由握住操作桿91-1以接近把手21，從而能夠在操作狀態op與非操作狀態nop之間進行切換，因此與用手操作把手21的動作聯動而使操作部件91變得更容易操作。Further, according to the present embodiment, the operation lever 91-1 is disposed to face the handle 21, and the base end portion 91a-1 of the operation lever 91-1 is pivotally attached to the handle body 22, and the front end portion 91b- 1 can be in contact with and separated from the handle 21. At this time, by holding the operation lever 91-1 to approach the handle 21, it is possible to switch between the operation state op and the non-operation state nop, so that the operation member 91 becomes interlocked with the operation of manually operating the handle 21. Easier to operate.

另外，根據本實施方式，提供一種嬰兒車1，包含：複數個車輪4；嬰兒車主體2，其具有支撐複數個車輪4的框架主體10和與框架主體10連接的手柄20；驅動源5，其被框架主體10支撐，至少向1個車輪4提供驅動力；檢測元件6，其設置於手柄20，檢測與施加於該手柄20的負荷相關的訊息；驅動輔助開關81，其與檢測元件6分別地設置於手柄20，藉由操作者進行操作；以及控制裝置7，其基於檢測元件6檢測到的訊息和對驅動輔助開關81進行了操作的訊息來控制驅動源5，控制裝置7基於對驅動輔助開關81進行了操作的訊息，在能夠將來自驅動源5的驅動力傳遞到車輪4的輔助模式as與不會將來自驅動源5的驅動力傳遞到車輪4的非輔助模式nas之間進行切換，控制裝置7在輔助模式as中，基於檢測元件6檢測到的訊息控制驅動源5，調整從驅動源5向車輪4提供的驅動力。根據這樣的形態，在輔助模式as中，能夠配合由檢測元件6檢測到的施加於手柄20的負荷而調整從驅動源5向車輪4提供的驅動力。這樣，有助於按照意願操作嬰兒車1。並且，即使錯誤地將負荷施加於手柄20，如果不是在操作動輔助開關81而設定為輔助模式as之後，就不能將來自驅動源5的驅動力傳遞到車輪4。因此，能夠防止違背操作者意願地將來自驅動源5的驅動力傳遞到車輪4的情況，能夠避免嬰兒車1產生非預期的動作。In addition, according to the present embodiment, there is provided a stroller 1 comprising: a plurality of wheels 4; a stroller body 2 having a frame body 10 supporting a plurality of wheels 4 and a handle 20 coupled to the frame body 10; a drive source 5, It is supported by the frame main body 10 to provide at least one driving force to the wheel 4; the detecting element 6 is disposed on the handle 20, detects a message related to the load applied to the handle 20; and drives the auxiliary switch 81, which is coupled to the detecting element 6. Separately disposed on the handle 20, operated by an operator; and the control device 7 controls the drive source 5 based on the message detected by the detecting element 6 and the message that the drive assist switch 81 is operated, the control device 7 is based on the pair The message that the drive assist switch 81 is operated is between the assist mode as that capable of transmitting the driving force from the drive source 5 to the wheel 4 and the non-assisted mode nas which does not transmit the drive force from the drive source 5 to the wheel 4. In the assist mode as, the control device 7 controls the drive source 5 based on the message detected by the detecting element 6, and adjusts the driving force supplied from the drive source 5 to the wheel 4. According to such an aspect, in the assist mode as, the driving force supplied from the drive source 5 to the wheel 4 can be adjusted in accordance with the load applied to the handle 20 detected by the detecting element 6. In this way, it is helpful to operate the stroller 1 as desired. Further, even if the load is erroneously applied to the handle 20, the driving force from the drive source 5 cannot be transmitted to the wheel 4 unless the auxiliary mode is set after the operation of the auxiliary switch 81 is operated. Therefore, it is possible to prevent the driving force from the driving source 5 from being transmitted to the wheel 4 against the will of the operator, and it is possible to prevent the stroller 1 from generating an unexpected action.

另外，根據本實施方式，驅動輔助開關81能夠在輸入狀態on與非輸入狀態off之間進行切換，如果驅動輔助開關81***作到輸入狀態on，則控制裝置7能夠從非輔助模式nas切換到輔助模式as。此時，藉由將驅動輔助開關81操作到輸入狀態on，從而能夠從非輔助模式nas切換到輔助模式as，因此容易進行向輔助模式as的切換。Further, according to the present embodiment, the drive assist switch 81 can switch between the input state on and the non-input state off, and if the drive assist switch 81 is operated to the input state on, the control device 7 can switch from the non-assist mode nas to Auxiliary mode as. At this time, by operating the drive assist switch 81 to the input state on, it is possible to switch from the non-assist mode nas to the assist mode as, so that switching to the assist mode as is easy.

另外，如果在檢測元件6檢測到的負荷的大小為預先決定的大小以上的狀態下切換到輔助模式as，則來自驅動源5的驅動力突然傳遞到車輪4，結果嬰兒車1可能突然移動。因此，根據本實施方式，控制裝置7在檢測元件6檢測到預先決定的大小（與設定值α0對應的負荷的大小）以上的負荷的狀態下操作驅動輔助開關81時，不會從非輔助模式nas切換到輔助模式as。藉此，能夠防止來自驅動源5的驅動力突然傳遞到車輪4，能夠降低嬰兒車1突然移動的可能性。In addition, if the mode is switched to the assist mode as in a state where the magnitude of the load detected by the detecting element 6 is equal to or greater than a predetermined magnitude, the driving force from the driving source 5 is suddenly transmitted to the wheel 4, and as a result, the stroller 1 may suddenly move. Therefore, according to the present embodiment, the control device 7 does not operate from the non-assisted mode when the drive device 8 is operated in a state where the detection element 6 detects a load having a predetermined size (the magnitude of the load corresponding to the set value α0) or more. Nas switches to assist mode as. Thereby, it is possible to prevent the driving force from the driving source 5 from being suddenly transmitted to the wheel 4, and it is possible to reduce the possibility that the stroller 1 suddenly moves.

另外，根據本實施方式，控制裝置7在檢測元件6檢測到上述預先決定的大小以上的負荷的狀態下操作驅動輔助開關81時，發出警報。此時，能夠向操作者通知控制裝置7沒有從非輔助模式nas切換到輔助模式as的情況。藉此，操作者能夠識別嬰兒車1的狀態，容易按照意願操作嬰兒車1。Further, according to the present embodiment, the control device 7 issues an alarm when the drive assist switch 81 is operated while the detecting element 6 detects the load of the predetermined magnitude or more. At this time, it is possible to notify the operator that the control device 7 has not switched from the non-assist mode nas to the assist mode as. Thereby, the operator can recognize the state of the stroller 1, and it is easy to operate the stroller 1 as desired.

另外，根據本實施方式，驅動輔助開關81設置於手柄主體22。藉由在將把手21與嬰兒車主體2連結的手柄主體22設有驅動輔助開關81，從而能夠容易地用手指按動驅動輔助開關81。Further, according to the present embodiment, the drive assist switch 81 is provided to the handle body 22. By providing the drive assist switch 81 to the handle main body 22 that connects the handle 21 and the stroller body 2, the auxiliary switch 81 can be easily driven by a finger.

另外，根據本實施方式，在複數個車輪4中，從驅動源5接收驅動力的車輪為後輪42，複數個車輪4中的前輪41藉由小腳輪3被嬰兒車主體2支撐。由於前輪41藉由小腳輪3被嬰兒車主體2支撐，因此能夠平穩地進行嬰兒車1的轉向操作。另外，如果考慮到操作者操作的手柄20位於後方，以及乘坐在嬰兒車1中的嬰幼兒的重心，則認為後輪42容易承受負荷並穩定地接觸地面。藉由向穩定地接地的後輪42提供來自驅動源5的驅動力，從而能夠穩定地實現由驅動源5進行的驅動輔助。Further, according to the present embodiment, among the plurality of wheels 4, the wheel that receives the driving force from the driving source 5 is the rear wheel 42, and the front wheel 41 of the plurality of wheels 4 is supported by the stroller body 2 by the caster 3. Since the front wheel 41 is supported by the stroller body 2 by the caster 3, the steering operation of the stroller 1 can be smoothly performed. Further, if it is considered that the handle 20 operated by the operator is located at the rear and the center of gravity of the infant seated in the stroller 1, it is considered that the rear wheel 42 is easily subjected to the load and stably contacts the ground. By providing the driving force from the driving source 5 to the stably grounded rear wheel 42, the driving assistance by the driving source 5 can be stably realized.

另外，根據本實施方式，驅動源5具有：第一驅動元件51，其向複數個車輪4中的至少一個提供驅動力；以及第二驅動元件52，其向複數個車輪4中的與從第一驅動元件51接收驅動力的車輪4不同的車輪4提供驅動力，且與第一驅動元件51分別地設置。根據這樣的形態，藉由向不同的車輪4提供不同的驅動力，從而有助於實現根據嬰兒車1的行走狀態的適當的驅動力的分配。Further, according to the present embodiment, the drive source 5 has: a first drive element 51 that supplies a driving force to at least one of the plurality of wheels 4; and a second drive element 52 that is directed to the plurality of wheels 4 A wheel 4, to which the driving member 51 receives the driving force, different driving wheels 4, and is provided separately from the first driving member 51. According to such a form, by providing different driving forces to the different wheels 4, it is possible to contribute to the distribution of an appropriate driving force according to the running state of the stroller 1.

另外，根據本實施方式，從第一驅動元件51接收驅動力的車輪4與從第二驅動元件52接收驅動力的車輪4在左右方向d2上的位置不同，第一驅動元件51和第二驅動元件52分別包括直流馬達，第一驅動元件51的直流馬達51b與第二驅動元件52的直流馬達52b相對於電源75串聯連接。在使嬰兒車1轉向的情況下，與成為外輪的車輪4相比，成為內輪的車輪4承受來自地面的更大的阻力。因此，在串聯連接兩個驅動元件51、52的直流馬達51b、52b的情況下，與成為內輪的車輪4連接的直流馬達51b變得難以旋轉。如果與成為內輪的車輪4連接的直流馬達51b的轉速降低，則直流馬達51b產生的反電動勢降低，容易在串聯電路中流通更大的電流。作為結果，在與成為外輪的車輪4連接的直流馬達52b中流通的電流相對變大，能夠對成為外輪的車輪4提供大的驅動力。如上所述，在串聯連接了兩個驅動元件51、52的直流馬達51b、52b的情況下，能夠在轉向動作中使成為外輪的車輪4容易地旋轉，能夠平穩地進行轉向動作。Further, according to the present embodiment, the position of the wheel 4 that receives the driving force from the first driving element 51 and the wheel 4 that receives the driving force from the second driving element 52 are different in the left-right direction d2, the first driving element 51 and the second driving The elements 52 each include a direct current motor, and the direct current motor 51b of the first drive element 51 and the direct current motor 52b of the second drive element 52 are connected in series with respect to the power source 75. When the stroller 1 is steered, the wheel 4 that becomes the inner wheel receives more resistance from the ground than the wheel 4 that becomes the outer wheel. Therefore, when the DC motors 51b and 52b of the two drive elements 51 and 52 are connected in series, the DC motor 51b connected to the wheel 4 that becomes the inner wheel becomes difficult to rotate. When the number of revolutions of the direct current motor 51b connected to the wheel 4 that becomes the inner wheel is lowered, the counter electromotive force generated by the direct current motor 51b is lowered, and it is easy to flow a larger current in the series circuit. As a result, the current flowing through the DC motor 52b connected to the wheel 4 that becomes the outer wheel is relatively large, and it is possible to provide a large driving force to the wheel 4 that becomes the outer wheel. As described above, when the DC motors 51b and 52b of the two drive elements 51 and 52 are connected in series, the wheel 4 that becomes the outer wheel can be easily rotated in the steering operation, and the steering operation can be smoothly performed.

另外，根據本實施方式，在輔助模式as下使操作部件91處於操作狀態op的期間，如果利用檢測元件6檢測到把手21被推向了前方的訊息或被按向了下方的訊息，則使驅動源5提供使車輪4前進的驅動力，如果利用檢測元件6檢測到把手21被拉向了後方的訊息，則控制裝置7使驅動源5提供使車輪4後退的驅動力。根據這樣的形態，能夠與藉由操作者進行的把手21的操作配合地調整由驅動源5產生的向車輪4提供的驅動力。特別地，根據本實施方式，為了跨越接地面的臺階等，即使在為了抬起前輪41而向下方按壓了把手21的情況下，也能夠以驅動源5使車輪4前進的方式進行驅動。因此，即使在跨越臺階的動作中，也能夠接受由驅動源5進行的驅動力的輔助，並且沒有過多負擔地推進嬰兒車1。Further, according to the present embodiment, when the operation member 91 is in the operation state op in the assist mode as, if the detection element 6 detects that the handle 21 is pushed forward or the message is pressed downward, The drive source 5 provides a driving force for advancing the wheel 4, and if the detection element 6 detects that the handle 21 is pulled rearward, the control device 7 causes the drive source 5 to provide a driving force for retracting the wheel 4. According to such an aspect, the driving force supplied to the wheel 4 generated by the driving source 5 can be adjusted in cooperation with the operation of the handle 21 by the operator. In particular, according to the present embodiment, even when the handle 21 is pressed downward in order to lift the front wheel 41 in order to cross the step of the ground contact surface or the like, the drive wheel 5 can be driven to advance the wheel 4 . Therefore, even in the operation of crossing the step, the assistance of the driving force by the driving source 5 can be received, and the stroller 1 can be pushed without excessive burden.

另外，根據本實施方式，檢測元件6包括在手柄20的手柄主體22安裝的複數個應變片61，至少一個應變片61當把手21被推向前方或被按向下方時伸長，當把手21被拉向後方時縮短，或者，當把手21被推向前方或被按向下方時縮短，當把手21被拉向後方時伸長。根據這樣的形態，由於由應變片61形成檢測元件6，所以能夠避免複雜的結構並且能夠穩定地檢測操作者操作把手21的訊息。從進一步穩定地檢測操作者操作把手21的訊息的觀點考慮，把手21可以位於比手柄主體22與框架主體10的連結位置c1更靠後方且更靠下方的位置，或者更靠前方且更靠上方的位置。Further, according to the present embodiment, the detecting element 6 includes a plurality of strain gauges 61 mounted on the handle body 22 of the handle 20, and at least one strain gauge 61 is elongated when the handle 21 is pushed forward or pressed downward, when the handle 21 is Shortened when pulled rearward, or shortened when the handle 21 is pushed forward or pressed downward, and elongated when the handle 21 is pulled rearward. According to such a configuration, since the detecting element 6 is formed by the strain gauge 61, it is possible to avoid a complicated structure and to stably detect an operator's operation of the operation of the handle 21. From the viewpoint of further stably detecting the operator's operation of the operation of the handle 21, the handle 21 may be located further rearward and lower than the joint position c1 of the handle main body 22 and the frame main body 10, or more forwardly and more The position above.

特別地，根據本實施方式，把手21位於比連結位置c1更靠後方且更靠下方的位置，應變片61安裝在手柄主體22中的與把手21連接的連接位置和連結位置c1之間的部分。此時，與從操作者施加於把手21的負荷聯動而手柄主體22中的貼附有應變片61的部分靈敏度良好地伸縮。因此，藉由應變片61，能夠進一步精度良好地檢測操作者操作把手21的訊息。In particular, according to the present embodiment, the handle 21 is located further rearward and lower than the joint position c1, and the strain gauge 61 is attached to a portion between the joint position of the handle body 22 and the joint position c1 and the joint position c1. . At this time, the portion of the handle main body 22 to which the strain gauge 61 is attached in conjunction with the load applied from the operator to the handle 21 is stretched with good sensitivity. Therefore, the strain gauge 61 can further accurately detect the operator's operation of the handle 21 information.

應予說明，可以對上述的實施方式進行各種改變。以下，對變形的一個例子進行說明。It should be noted that various changes can be made to the above-described embodiments. Hereinafter, an example of the deformation will be described.

例如，在上述的實施方式中，示出左右並列設有兩個座位單元8a、8b的例子，但座位單元8a、8b的數目不限於這樣的例子。例如，可以設置單個的座位單元，也可以設置兩個以上的座位單元，並使該兩個以上的座位單元在前後並列。For example, in the above-described embodiment, an example in which two seat units 8a and 8b are provided side by side is shown, but the number of the seat units 8a and 8b is not limited to such an example. For example, a single seating unit may be provided, or more than two seating units may be provided, and the two or more seating units may be juxtaposed in front and rear.

另外，在上述的實施方式中，示出了兩個驅動元件51、52的直流馬達51b、52b相對於電源75串聯連接的例子，但有關直流馬達51b、52b的電路設計不限於上述的例子。兩個驅動元件51、52的直流馬達51b、52b可以相對於電源75並聯連接。Further, in the above-described embodiment, the examples in which the DC motors 51b and 52b of the two drive elements 51 and 52 are connected in series with respect to the power source 75 are shown. However, the circuit design of the DC motors 51b and 52b is not limited to the above example. The DC motors 51b, 52b of the two drive elements 51, 52 can be connected in parallel with respect to the power source 75.

另外，在上述的實施方式中，示出了檢測元件6由應變片61構成的例子，但檢測元件6的形態不限於上述的例子。檢測元件6只要能夠檢測出與施加於手柄20的負荷相關的訊息即可，可以是任意的構成，作為其它例，可以作為安裝於手柄主體22的扭矩感測器、壓力感測器或磁致伸縮感測器或其組合等而構成。例如，作為壓力感測器，可以是捕捉施加於手柄20的負荷作為工作流體的壓力的變化，藉由隔膜(diaphragm)，用感壓元件測量該壓力的變化之後，作為電訊號輸出的類型。Further, in the above-described embodiment, the example in which the detecting element 6 is constituted by the strain gauge 61 is shown, but the form of the detecting element 6 is not limited to the above example. The detecting element 6 may have any configuration as long as it can detect a load related to the load applied to the handle 20. As another example, it can be used as a torque sensor, a pressure sensor or a magnetism attached to the handle body 22. A telescopic sensor or a combination thereof is used. For example, as the pressure sensor, a load applied to the handle 20 may be captured as a change in the pressure of the working fluid, and a change in the pressure may be measured by a pressure sensitive element by a diaphragm as a type of electrical signal output.

另外，在上述的實施方式中，示出了用單個支柱構成的圓柱22a將後方上部框架12d與把手21連結的例子，但圓柱22a的形態不限於上述的例子。圓柱22a也可以由複數個支柱構成，將後方上部框架12d與把手21連結。Further, in the above-described embodiment, the example in which the rear upper frame 12d and the handle 21 are coupled to each other by the column 22a formed of a single column is shown, but the form of the column 22a is not limited to the above example. The column 22a may be composed of a plurality of pillars, and the rear upper frame 12d is coupled to the handle 21.

另外，在上述的實施方式中，示出了把手21位於比連結位置c1更靠後方且更靠下方的位置的例子，但把手21的配置不限於上述的例子。只要至少一個應變片61當把手被推向前方或者被按向下方時伸長，當把手21被拉向後方時縮短，或者，當把手21被推向前方或者被按向下方時縮短，當把手21被拉向後方時伸長，則把手21的配置是任意的。例如，可以是把手21位於比連結位置c1更靠前方且更靠上方的位置，應變片61安裝在手柄主體22中的與把手21連接的連接位置和連結位置c1之間的部分。Moreover, in the above-described embodiment, the example in which the handle 21 is located further rearward than the connection position c1 is shown, but the arrangement of the handle 21 is not limited to the above example. As long as at least one strain gauge 61 is elongated when the handle is pushed forward or pressed downward, shortened when the handle 21 is pulled rearward, or shortened when the handle 21 is pushed forward or pressed downward, when the handle 21 is When it is stretched toward the rear, the arrangement of the handle 21 is arbitrary. For example, the handle 21 may be located further forward and above the joint position c1, and the strain gauge 61 is attached to a portion of the handle body 22 that is connected between the joint position of the handle 21 and the joint position c1.

另外，在上述的實施方式中，示出了操作部件91由操作桿構成的例子，但操作部件91的形態不限於上述的例子。在圖16和圖17中示出了操作部件91的其他例。在圖16和圖17所示的例子中，在手柄20配置操作者的手抓握的把手21，手柄主體22連結把手21與嬰兒車主體2。如圖16和圖17所示的操作部件91構成為操作按鈕。操作按鈕91-2例如藉由用手指按壓，從而能夠在操作狀態op與非操作狀態nop之間進行切換。Further, in the above-described embodiment, the example in which the operation member 91 is constituted by the operation lever is shown, but the form of the operation member 91 is not limited to the above example. Other examples of the operating member 91 are shown in Figs. 16 and 17 . In the example shown in FIGS. 16 and 17, the handle 20 is disposed on the handle 20, and the handle main body 22 connects the handle 21 and the stroller body 2. The operation member 91 shown in FIGS. 16 and 17 is configured as an operation button. The operation button 91-2 can be switched between the operation state op and the non-operation state nop by, for example, pressing with a finger.

其中，在圖16所示的例子中，把手21作為在左右方向d2隔開間隔且並列的兩個把手部分21a、21b而構成。在成為手柄主體22的兩個把手部分21a、21b之間的部分設有單個操作按鈕91-2。In the example shown in FIG. 16, the handle 21 is configured as two handle portions 21a and 21b which are spaced apart in the left-right direction d2 and are arranged in parallel. A single operation button 91-2 is provided at a portion between the two handle portions 21a, 21b which becomes the handle main body 22.

根據圖16所示的方式，藉由按壓操作按鈕91-2，從而能夠在操作狀態op與非操作狀態nop之間進行切換，因此容易與用手操作把手21的動作聯動地操作操作按鈕91-2。並且，在圖16所示的方式中，單個操作按鈕91-2設置在兩個把手部分21a、21b之間。此時，在手抓握把手21的狀態下，操作者以沒有負擔的姿勢就能夠用手指按壓操作按鈕91-2。According to the mode shown in FIG. 16, by pressing the operation button 91-2, it is possible to switch between the operation state op and the non-operation state nop, and thus it is easy to operate the operation button 91 in conjunction with the operation of manually operating the handle 21. 2. Also, in the mode shown in Fig. 16, a single operation button 91-2 is provided between the two handle portions 21a, 21b. At this time, in a state where the handle 21 is gripped by the hand, the operator can press the operation button 91-2 with a finger in a posture without an burden.

另一方面，圖17所示的例子中，在左右方向d2具有長軸的單個把手21被手柄主體22支撐。在單個把手21的兩端附近各配置有1個被手柄主體22支撐的操作按鈕91-2。On the other hand, in the example shown in FIG. 17, the single handle 21 having the long axis in the left-right direction d2 is supported by the handle main body 22. One operation button 91-2 supported by the handle body 22 is disposed in the vicinity of both ends of the single handle 21.

根據圖17所示的方式，藉由按壓操作按鈕91-2，從而能夠在操作狀態op與非操作狀態nop之間進行切換，因此容易與用手操作把手21的動作聯動地操作操作按鈕91-2。並且，在圖17所示的方式中，兩個操作按鈕91-2以在左右方向d2隔開間隔的方式配置。此時，如果不將左右的操作按鈕91-2均變更為操作狀態op，則不會向車輪4傳遞來自驅動源5的驅動力。因此，能夠進一步有效地防止違背操作者意願地向車輪4傳遞來自驅動源5的驅動力的情況。According to the mode shown in FIG. 17, by pressing the operation button 91-2, it is possible to switch between the operation state op and the non-operation state nop, so that it is easy to operate the operation button 91 in conjunction with the operation of manually operating the handle 21. 2. Further, in the mode shown in Fig. 17, the two operation buttons 91-2 are arranged at intervals in the left-right direction d2. At this time, if the left and right operation buttons 91-2 are not changed to the operation state op, the driving force from the drive source 5 is not transmitted to the wheel 4. Therefore, it is possible to further effectively prevent the case where the driving force from the drive source 5 is transmitted to the wheel 4 against the will of the operator.

另外，在圖16和圖17所示任一方式中，操作按鈕91-2設置在手柄主體22中的比嬰兒車主體2更靠近把手21的位置。此時，在用手抓握把手21的狀態下，操作者進一步以沒有負擔的姿勢就能夠用手指按壓操作按鈕91-2。Further, in any of the modes shown in FIGS. 16 and 17, the operation button 91-2 is provided at a position closer to the handle 21 than the stroller body 2 in the handle main body 22. At this time, in a state where the handle 21 is gripped by the hand, the operator can further press the operation button 91-2 with the finger in a posture without an burden.

另外，在上述的實施方式中，示出了操作部件91由沿著左右方向d2具有長軸的橫握式的操作桿91-1構成的例子，但操作部件91的形態不限於上述的例子。在圖18中示出了操作桿91-1的另一例。在圖18所示的例子中，在手柄20配置有操作者的手能夠握住的把手21，手柄主體22連結把手21與嬰兒車主體2。圖18所示的操作部件91作為縱握式的操作桿91-1而構成。In the above-described embodiment, the operation member 91 is configured by a horizontally held operation lever 91-1 having a long axis along the left-right direction d2. However, the form of the operation member 91 is not limited to the above example. Another example of the operating lever 91-1 is shown in FIG. In the example shown in FIG. 18, the handle 20 is provided with a handle 21 that can be gripped by an operator's hand, and the handle main body 22 connects the handle 21 and the stroller body 2. The operation member 91 shown in Fig. 18 is configured as a vertical grip type operation lever 91-1.

在本實施方式中，以在左右的把手部分21a、21b分別對置的方式設置有左右的操作部件91。各操作部件91的長軸以在非操作狀態nop下沿著對應一側的把手部分21a、21b的長軸的方式設置。在圖18所示的例子中，各操作部件91的長軸和各把手部分21a、21b的長軸沿著前後方向d1。In the present embodiment, the left and right operating members 91 are provided so as to face the left and right handle portions 21a and 21b, respectively. The long axis of each of the operating members 91 is disposed along the long axis of the handle portions 21a, 21b on the corresponding side in the non-operating state nop. In the example shown in Fig. 18, the long axis of each operation member 91 and the long axis of each of the handle portions 21a, 21b are along the front-rear direction d1.

各操作部件91的基端部91a以能夠樞動的方式安裝於手柄主體22，前端部91b能夠與把手21接觸和分離。在圖18所示的例子中，各操作部件91的基端部91a在前後方向d1上的前方以能夠樞動的方式安裝於手柄主體22，各操作部件91的前端部91b位於前後方向d1上的後方。The base end portion 91a of each of the operation members 91 is pivotally attached to the handle body 22, and the front end portion 91b can be in contact with and separated from the handle 21. In the example shown in Fig. 18, the base end portion 91a of each operation member 91 is pivotally attached to the handle body 22 in front of the front-rear direction d1, and the front end portion 91b of each operation member 91 is located in the front-rear direction d1. The rear.

藉由使各操作部件91的前端部91b相對於把手21接觸和分離，從而能夠使操作部件91在操作狀態op與非操作狀態nop之間進行切換。By bringing the front end portion 91b of each operation member 91 into contact with and separating from the handle 21, the operation member 91 can be switched between the operation state op and the non-operation state nop.

如上所述，根據圖18所示的方式，操作桿91-1以與把手21對置的方式配置，操作桿91-1的基端部91a-1以能夠樞動的方式安裝於手柄主體22，前端部91b能夠與把手21接觸和分離。此時，藉由握住操作桿91-1以接近把手21，從而能夠在操作狀態op與非操作狀態nop之間進行切換，因此與用手操作把手21的動作聯動而更容易地操作操作部件91。As described above, according to the mode shown in FIG. 18, the operation lever 91-1 is disposed to face the handle 21, and the base end portion 91a-1 of the operation lever 91-1 is pivotally attached to the handle body 22 as shown in FIG. The front end portion 91b can be in contact with and separated from the handle 21. At this time, by holding the operation lever 91-1 to approach the handle 21, it is possible to switch between the operation state op and the non-operation state nop, so that the operation member can be more easily operated in conjunction with the operation of manually operating the handle 21. 91.

應予說明，以上對上述的實施方式的多個變形例進行了說明，當然也可以將多個變形例進行適當地組合來應用。Incidentally, a plurality of modifications of the above-described embodiment have been described above, and of course, a plurality of modifications may be combined as appropriate.

1‧‧‧嬰兒車
10‧‧‧框架主體
11‧‧‧基座框架
11a、11b‧‧‧側基座框架
11c‧‧‧後方基座框架
12‧‧‧上部框架
12a、12b‧‧‧側上部框架
12c‧‧‧中間框架
12d‧‧‧後方上部框架
12e‧‧‧橫向連桿
13‧‧‧前方連接部件
13a‧‧‧上部側連接框架
13b‧‧‧基座側連接框架
13c‧‧‧橫向連結連桿
14‧‧‧中間連接部件
2‧‧‧嬰兒車主體
20‧‧‧手柄
21‧‧‧把手
21a、21b‧‧‧把手部分
22‧‧‧手柄主體
22a‧‧‧圓柱
22b、22c‧‧‧側桿
22d‧‧‧內方材
3‧‧‧小腳輪
4‧‧‧車輪
41‧‧‧前輪
42‧‧‧後輪
5‧‧‧驅動源
51、52‧‧‧驅動元件
51a、52a‧‧‧驅動軸
51b、52b‧‧‧直流馬達
6‧‧‧檢測元件
61‧‧‧應變片
7‧‧‧控制裝置
70‧‧‧收納盒
75‧‧‧電源
8a、8b‧‧‧座位單元
81‧‧‧輔助開關
9a、9b‧‧‧蓋篷
91‧‧‧操作部件
91-1‧‧‧操作桿
91-2‧‧‧操作按鈕
91a‧‧‧基端部
91a-1‧‧‧基端部
91b‧‧‧前端部
91b-1‧‧‧前端部
A1‧‧‧上部區域
A2‧‧‧下部區域
Ar1、Ar2‧‧‧旋轉軸線
As1‧‧‧轉動軸線
c1‧‧‧連結位置
d1‧‧‧前後方向
d2‧‧‧左右方向
d3‧‧‧上下方向
F‧‧‧上限驅動力
op‧‧‧操作狀態
α‧‧‧形變
α1‧‧‧下限值
α2‧‧‧上限值1‧‧‧ baby carriage
10‧‧‧Framework body
11‧‧‧Base frame
11a, 11b‧‧‧ side base frame
11c‧‧‧ rear base frame
12‧‧‧ upper frame
12a, 12b‧‧‧ side upper frame
12c‧‧‧Intermediate framework
12d‧‧‧ Rear upper frame
12e‧‧‧Transverse link
13‧‧‧ Front connecting parts
13a‧‧‧Upper side connection frame
13b‧‧‧Base side connection frame
13c‧‧‧Horizontal link
14‧‧‧Intermediate connecting parts
2‧‧‧ baby stroller body
20‧‧‧handle
21‧‧‧Hands
21a, 21b‧‧‧Handle section
22‧‧‧Handle body
22a‧‧‧Cylinder
22b, 22c‧‧‧ sidebar
22d‧‧‧inside square
3‧‧‧Small casters
4‧‧‧ Wheels
41‧‧‧ Front wheel
42‧‧‧ Rear wheel
5‧‧‧ drive source
51, 52‧‧‧ drive components
51a, 52a‧‧‧ drive shaft
51b, 52b‧‧‧ DC motor
6‧‧‧Detection components
61‧‧‧ strain gauges
7‧‧‧Control device
70‧‧‧ storage box
75‧‧‧Power supply
8a, 8b‧‧‧ seating unit
81‧‧‧Auxiliary switch
9a, 9b‧‧‧canopy
91‧‧‧Operating parts
91-1‧‧‧Operation lever
91-2‧‧‧ operation buttons
91a‧‧‧ base end
91a-1‧‧‧ base end
91b‧‧‧ front end
91b-1‧‧‧ front end
A1‧‧‧ upper area
A2‧‧‧ lower area
Ar1, Ar2‧‧‧ rotation axis
As1‧‧‧ axis of rotation
C1‧‧‧ link location
D1‧‧‧ direction
D2‧‧‧ direction
D3‧‧‧Up and down direction
F‧‧‧Upper driving force
Op‧‧‧Operating state α‧‧‧ deformation α1‧‧‧ lower limit α2‧‧‧ upper limit

圖1是本發明從正面示出一個實施方式的嬰兒車處於展開狀態的示意圖。 圖2是本發明從側面示出處於展開狀態的嬰兒車在取下了座位單元的狀態的示意圖。 圖3是從側面示出圖2所示的嬰兒車處於折疊狀態的示意圖。 圖4是示意地表示圖1所示的嬰兒車的構成的方塊圖。 圖5是從後側示出圖1所示的嬰兒車的驅動元件和車輪的立體圖。 圖6是本發明表示構成驅動元件的直流馬達的連接關係的電路圖。 圖7是放大地表示圖1所示的嬰兒車的手柄的俯視圖。 圖8是用於說明設置於圖1所示的嬰兒車的手柄的檢測元件的構成的示意圖。 圖9是圖8所示的檢測元件的電路圖。 圖10是表示利用構成圖1所示的嬰兒車的控制裝置進行的控制的一個例子的流程圖。 圖11是表示基於來自檢測元件的訊息調整由驅動元件產生的驅動力的例子的示意圖。 圖12是用於說明向前方推進圖1所示的嬰兒車的手柄時的檢測元件的作用的示意圖。 圖13是用於說明向下方按壓圖1所示的嬰兒車的手柄時的檢測元件的作用的示意圖。 圖14是用於說明向後方拉圖1所示的嬰兒車的手柄和下坡時的檢測元件的作用的示意圖。 圖15是用於說明使圖1所示的嬰兒車轉向時的狀態的立體圖。 圖16是表示配置於圖7所示的手柄的操作部件的另一個構成例的立體圖。 圖17是表示配置於圖7所示的手柄的操作部件的又一個構成例的立體圖。 圖18是表示配置於圖7所示的手柄的操作部件的又一個構成例的立體圖。BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing the baby carriage of an embodiment in an unfolded state from the front. Fig. 2 is a schematic view showing the state in which the stroller in the unfolded state is removed from the seat unit according to the present invention. Fig. 3 is a schematic view showing the stroller shown in Fig. 2 in a folded state from the side. Fig. 4 is a block diagram schematically showing the configuration of the stroller shown in Fig. 1; Fig. 5 is a perspective view showing the driving element and the wheel of the stroller shown in Fig. 1 from the rear side. Fig. 6 is a circuit diagram showing a connection relationship of a direct current motor constituting a drive element in the present invention. Fig. 7 is a plan view showing, in an enlarged manner, a handle of the stroller shown in Fig. 1; Fig. 8 is a schematic view for explaining a configuration of a detecting element provided in a handle of the stroller shown in Fig. 1; Fig. 9 is a circuit diagram of the detecting element shown in Fig. 8. Fig. 10 is a flowchart showing an example of control performed by a control device constituting the stroller shown in Fig. 1. Fig. 11 is a schematic diagram showing an example of adjusting a driving force generated by a driving element based on a message from a detecting element. Fig. 12 is a schematic view for explaining the action of the detecting element when the handle of the stroller shown in Fig. 1 is advanced forward. Fig. 13 is a schematic view for explaining the action of the detecting element when the handle of the stroller shown in Fig. 1 is pressed downward. Fig. 14 is a schematic view for explaining the action of the detecting element when the handle of the stroller shown in Fig. 1 and the downhill slope are pulled rearward. Fig. 15 is a perspective view for explaining a state in which the stroller shown in Fig. 1 is turned. Fig. 16 is a perspective view showing another configuration example of an operation member disposed on the handle shown in Fig. 7; Fig. 17 is a perspective view showing still another configuration example of an operation member disposed on the handle shown in Fig. 7; Fig. 18 is a perspective view showing still another configuration example of an operation member disposed on the handle shown in Fig. 7;

10‧‧‧框架主體 10‧‧‧Framework body

11‧‧‧基座框架 11‧‧‧Base frame

11a、11b‧‧‧側基座框架 11a, 11b‧‧‧ side base frame

11c‧‧‧後方基座框架 11c‧‧‧ rear base frame

12‧‧‧上部框架 12‧‧‧ upper frame

12a、12b‧‧‧側上部框架 12a, 12b‧‧‧ side upper frame

12c‧‧‧中間框架 12c‧‧‧Intermediate framework

12d‧‧‧後方上部框架 12d‧‧‧ Rear upper frame

12e‧‧‧橫向連桿 12e‧‧‧Transverse link

13‧‧‧前方連接部件 13‧‧‧ Front connecting parts

13a‧‧‧上部側連接框架 13a‧‧‧Upper side connection frame

13b‧‧‧基座側連接框架 13b‧‧‧Base side connection frame

13c‧‧‧橫向連結連桿 13c‧‧‧Horizontal link

14‧‧‧中間連接部件 14‧‧‧Intermediate connecting parts

2‧‧‧嬰兒車主體 2‧‧‧ baby stroller body

20‧‧‧手柄 20‧‧‧handle

21‧‧‧把手 21‧‧‧Hands

22‧‧‧手柄主體 22‧‧‧Handle body

22a‧‧‧圓柱 22a‧‧‧Cylinder

22b、22c‧‧‧側桿 22b, 22c‧‧‧ sidebar

3‧‧‧小腳輪 3‧‧‧Small casters

4‧‧‧車輪 4‧‧‧ Wheels

41‧‧‧前輪 41‧‧‧ Front wheel

42‧‧‧後輪 42‧‧‧ Rear wheel

5‧‧‧驅動源 5‧‧‧ drive source

51、52‧‧‧驅動元件 51, 52‧‧‧ drive components

6‧‧‧檢測元件 6‧‧‧Detection components

61‧‧‧應變片 61‧‧‧ strain gauges

7‧‧‧控制裝置 7‧‧‧Control device

70‧‧‧收納盒 70‧‧‧ storage box

75‧‧‧電源 75‧‧‧Power supply

81‧‧‧輔助開關 81‧‧‧Auxiliary switch

91‧‧‧操作部件 91‧‧‧Operating parts

Ar1、Ar2‧‧‧旋轉軸線 Ar1, Ar2‧‧‧ rotation axis

As1‧‧‧轉動軸線 As1‧‧‧ axis of rotation

c1‧‧‧連結位置 C1‧‧‧ link location

d1‧‧‧前後方向 D1‧‧‧ direction

d2‧‧‧左右方向 D2‧‧‧ direction

d3‧‧‧上下方向 D3‧‧‧Up and down direction

Claims (9)

一種嬰兒車，其特徵在於，包含： 複數個車輪； 嬰兒車主體，其具有支撐該複數個車輪的框架主體和與該框架主體連接的手柄； 驅動源，其被該框架主體支撐，向至少一個該車輪提供驅動力； 檢測元件，其設置於該手柄，檢測與施加到該手柄的負荷相關的訊息； 操作部件，其與該檢測元件分別地設置於該手柄，能夠在操作狀態與非操作狀態之間進行切換；以及 控制裝置，其基於該檢測元件檢測到的訊息控制該驅動源，調整從該驅動源向該車輪提供的驅動力； 其中，在該操作部件處於該操作狀態的期間，能夠從該驅動源向該車輪傳遞驅動力。A baby carriage, comprising: a plurality of wheels; a baby carriage body having a frame body supporting the plurality of wheels and a handle connected to the frame body; a driving source supported by the frame body to at least one The wheel provides a driving force; a detecting component is disposed on the handle to detect a message related to a load applied to the handle; and an operating component disposed separately from the detecting component on the handle, capable of being in an operating state and a non-operating state Switching between; and a control device that controls the driving source based on a message detected by the detecting element to adjust a driving force supplied from the driving source to the wheel; wherein, during the operating state of the operating member, A driving force is transmitted from the driving source to the wheel. 如申請專利範圍第1項所述之嬰兒車，其中在該操作部件處於該非操作狀態的期間，不會從該驅動源向該車輪傳遞驅動力。The stroller of claim 1, wherein the driving force is not transmitted from the driving source to the wheel while the operating member is in the non-operating state. 如申請專利範圍第1項所述之嬰兒車，其中該手柄具有操作者的手抓握的把手以及將該把手與該嬰兒車主體連結的手柄主體； 該操作部件和該檢測元件設置於該手柄主體。The stroller of claim 1, wherein the handle has a handle gripped by an operator's hand and a handle body that couples the handle to the stroller body; the operating member and the detecting member are disposed on the handle main body. 如申請專利範圍第3項所述之嬰兒車，其中該操作部件包括設置於該手柄主體的操作桿。The stroller of claim 3, wherein the operating component comprises an operating lever disposed on the handle body. 如申請專利範圍第4項所述之嬰兒車，其中該操作桿以與該把手對置的方式配置； 該操作桿的基端部以能夠樞動的方式安裝於該手柄主體，該操作桿的前端部能夠與該把手接觸和分離。The stroller of claim 4, wherein the operating lever is disposed opposite the handle; the base end of the operating lever is pivotally mounted to the handle body, the lever The front end portion can be in contact with and separated from the handle. 如申請專利範圍第3項所述之嬰兒車，其中該操作部件包括設置於該手柄主體的操作按鈕。The stroller of claim 3, wherein the operating component comprises an operating button disposed on the handle body. 如申請專利範圍第6項所述之嬰兒車，其中該操作按鈕設置於該手柄主體中的比該嬰兒車主體更接近該把手的位置。The stroller of claim 6, wherein the operating button is disposed in the handle body at a position closer to the handle than the stroller body. 如申請專利範圍第3項所述之嬰兒車，其中如果在該操作部件處於該操作狀態的期間利用該檢測元件檢測到該把手被推向了前方的訊息或者被按向了下方的訊息，則該控制裝置使該驅動源提供使該車輪前進的驅動力；如果在該操作部件處於該操作狀態的期間利用該檢測元件檢測到該把手被拉向了後方的訊息，則該控制裝置使該驅動源提供使該車輪後退的驅動力。The stroller of claim 3, wherein if the detecting element detects that the handle is pushed to the front or is pressed to the lower side while the operating member is in the operating state, The control device causes the drive source to provide a driving force for advancing the wheel; if the detecting member detects that the handle is pulled rearward during the operation of the operating member, the control device causes the driving The source provides a driving force that causes the wheel to retreat. 如申請專利範圍第3項所述之嬰兒車，其中該檢測元件包括在該手柄的該手柄主體安裝的複數個應變片； 至少一個應變片當該把手被推向前方或者被按向下方時伸長，並且當該把手被拉向後方時縮短，或者，當該把手被推向前方或者被按向下方時縮短，並且當該把手被拉向後方時伸長。The stroller of claim 3, wherein the detecting element comprises a plurality of strain gauges mounted on the handle body of the handle; at least one strain gauge is elongated when the handle is pushed forward or pressed downward And shortens when the handle is pulled rearward, or shortens when the handle is pushed forward or pressed downward, and elongates when the handle is pulled rearward.
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