JPH09299412A - Electric vehicle with pedal - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable application for rehabilitation by a method wherein stepping forces of pedals are detected to be compared with target values, when the forces are above the target values, the driving force of a motor is increased and when the forces are below the values, the driving force of the motor is decreased. SOLUTION: When pedals 15 are stepped in to drive an electric vehicle, the stepping forces are detected by a load cell 20 as pressure sensor means and a stepping force signal (a) is inputted into a control means 11. A control section 40 of the control means 11 performs a PID control and outputs a drive signal (b) to control the driving force of the motor 10. In other words, set values (f) of the stepping forces of right and left pedals are read out to be compared with the detected stepping force signal (a) and a difference Mn is calculated at each passage of specified time. A target value Kn is calculated based on the difference Mn to determine a driving force command value of the driving motor 10. When the detected stepping force is larger than the set value (f) of the stepping force, the driving force is increased and when it is smaller than the set value, the driving force is decreased. As the result thereof changes in the stepping force of the pedals are eliminated, thereby enabling controlling of burden on feet and a waist.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle with a pedal that can restore the motor function of the legs and hips and can be applied to, for example, rehabilitation.

[0002]

2. Description of the Related Art There is an electric vehicle with a pedal for the purpose of maintaining the function by exercising the legs and hips as described in Japanese Patent Application Laid-Open No. 7-132878.

[0003] This prior art electric vehicle with a pedal includes a motor for rotating an axle, a driving unit for rotating the motor in accordance with an operation state of a speed setting unit for setting the speed of the vehicle, and a one-way clutch via a one-way clutch. A pedal for transmitting the rotation of the motor to the axle, a clutch for disconnecting and transmitting the rotation from the motor to the axle, and a control unit for controlling the disconnection and connection of the clutch. Then, the control unit compares and determines the speed corresponding to the rotation of the pedal, or the traveling speed and the set speed of the speed setting unit, and when it is determined that the speed by the pedal is substantially equal to or higher than the set speed,
By disengaging the motor and axle with the clutch, the vehicle can be run only by pedaling without being affected by the motor, and if it is determined that the pedal speed is almost equal to or less than the set speed, the clutch And the vehicle is driven by the motor.

That is, a conventional electric vehicle with a pedal has a configuration in which the clutch of the motor is turned on / off according to the rotation speed of the pedal, or the driving force of the motor is increased / decreased in accordance with the traveling speed. Elderly people, etc.
This is an electric vehicle that can exercise the legs and hips while giving the pleasure of running the vehicle.

[0005]

However, the electric vehicle with a pedal turns on and off the motor based on whether or not the speed corresponding to the rotation of the pedal or the running speed has reached a set speed. Because of this, the power applied to the pedal fluctuates due to the turning on and off of the motor, and it can not be applied to rehabilitation that is performed for the purpose of restoring the function of those who have reduced leg and hip motor function due to fracture or long-term hospitalization etc. There was a problem.

[0006] Further, in either one of a state in which the vehicle is driven only by driving the motor and the pedal is freely rotating, and a state in which the driving of the motor is cut off and the vehicle is driven only by rotation of the pedal, The force applied to the feet and hips when rotating the pedal cannot be taken into account, and thus cannot be applied to rehabilitation that is performed while taking into account the forces applied to the feet and hips.

The present invention has been made to solve this problem, and can propel the vehicle body without varying the force applied to the legs and waist regardless of the running state.
An object of the present invention is to provide an electric vehicle with a pedal that can be used for rehabilitation.

[0008]

In order to solve the above problems, in the electric vehicle with a pedal according to the present invention, a pair of pedals on which the feet of the vehicle occupant are mounted and which are reciprocally movable are provided. Reciprocating motion transmitting means for connecting the one pedal and the other pedal and moving these pedals in directions opposite to each other, and connected to the reciprocating motion transmitting means, and in one direction of the pedal A clutch means for transmitting the motion of the drive shaft to the drive shaft, a drive wheel attached to the drive shaft and propelling the vehicle in conjunction with the reciprocating motion of the pedal, and a reciprocating motion transmitting means or the drive shaft. A motor means provided on any one of the driving wheels for applying a driving force in the rotational movement direction to the driving wheel; a pressure sensor means provided on the pedal to detect a pedaling force; and a target as the pedaling force. And a control unit that receives a detection value from the pressure sensor unit and controls the driving force of the motor unit by comparing the target value with the detection value. On the other hand, when the detected value is large, the driving force of the motor means is increased, and when the detected value is smaller than the target value, the driving force of the motor means is reduced. As described above, the reciprocating motion transmitting means for moving the pair of pedals in directions opposite to each other, the clutch means for transmitting the motion of the pedal in one direction to the drive shaft as the rotational motion, and the vehicle in conjunction with the reciprocating motion of the pedal. Motor means for applying a driving force in the direction of rotational movement to the driving wheel for propelling, pressure sensor means for detecting the pedaling force of the pedal, and motor means by comparing a target value as the pedaling force and a detection value from the pressure sensor means. And the control means for controlling the driving force of the motor is transmitted to the pedal from the drive shaft via the clutch means and the reciprocating motion transmitting means from the drive shaft to move the pedal. Help. On the other hand, the control means increases or decreases the driving force of the motor means by comparing a target value predetermined as the pedaling force with the detection value of the pressure sensor means. Therefore, when a change in the running state occurs, for example, even when the running resistance increases and the necessary pedaling force increases, the force can be supplemented by the driving force of the motor means. In addition, the vehicle body can be propelled, and it can be used for rehabilitation that can be advanced in consideration of the force applied to the legs and hips.

[0009] In the second aspect, the first aspect has the following features.
The pedal is mounted on a deck portion extending linearly from the vehicle body toward the ground, and reciprocates on the deck portion. Thus, by making the reciprocating movement of the pedal a linear movement, the burden on the legs and feet due to the depression of the pedal can be minimized, and the burden on other body parts caused by using the vehicle can be minimized.

[0010] In the third aspect, there is provided the following.
The vehicle body is engaged with a wheelchair frame to position the wheelchair body above the vehicle body. This allows the wheelchair user to exercise his / her legs and hips without having to transfer to the electric vehicle with pedals.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an electric vehicle with a pedal according to the present invention will be described with reference to FIGS.

FIGS. 1 and 2 show a state in which an electric vehicle X with a pedal according to the present invention (hereinafter referred to as “electric vehicle X”) is connected to a wheelchair Y. 1 and 2,
The wheelchair Y is a chair 62 with a backrest attached along the periphery of a frame 61 having a pair of left and right handles 60.
And large left and right wheels 63 rotatably supported on the left and right sides of the frame 61 and left and right casters 64 on the front side. The wheelchair Y is located at the top in the space between the frame 61 and the ground A. In this state, the vehicle body 1 of the electric vehicle X is inserted. The electric vehicle X is connected to the wheelchair Y by locking the vehicle body 1 and the frame 61 of the wheelchair Y with a plurality of connecting members 65 including bolts and nuts.

The vehicle body 1 of the electric vehicle X includes left and right casters 3 rotatably supported on the front side B in addition to the drive wheels 2.
The steering wheel 4 is rotated by a left and right tilt operation of a steering lever 5 provided on the right side of the vehicle body 1 to change the traveling direction. As shown, the drive wheel 2 has a clutch function of being lifted from the ground A or installed on the ground A by a vertical tilt operation of a clutch lever 6 protruding to the front side B of the vehicle body 1. As shown in FIG. 3, the vehicle body 1 also has a deck 7 extending linearly from the front side B of the wheelchair Y toward the ground side A, and a reciprocating motion transmitting means 8. , A clutch means 9, a motor means 10 (shown in FIG. 7) for driving the drive wheels 2, a control means 11 (shown in FIG. 8) for controlling the driving of the motor means 10, and the like.

As shown in FIGS. 4 and 5, the reciprocating motion transmitting means 9 has a pair of left and right pedals 15 on which the right and left feet of the occupant of the wheelchair Y are mounted. The main body 1 is provided so as to be able to reciprocate in the extending direction of the deck portion 7. Each of the pedals 15 is formed in an L-shape including a stepping plate portion 15A extending upward and orthogonal to the deck portion 7 and a mounting plate portion 15B extending in parallel with the deck portion 7, and extends in the extending direction of the deck portion 7. By connecting the mounting plate portion 15B to the plurality of linear guide mechanisms 16 extending over the same, the reciprocating movement is enabled. Reference numeral 17 denotes a stopper member attached to the distal end side of the deck portion 7 so that each pedal 15 does not come off from the deck portion 7.

A transmission belt 18 for connecting the pedals 15 to each other is attached to the mounting plate portion 15B of each pedal 15, and the transmission belt 18 is connected to the front side B and the rear side C of the vehicle body 1 from left and right. 4 rotatably supported on each
It is stretched around the outer circumference of the two transmission pulleys 19. In addition, a pressure sensor means 20 for detecting the pedaling force of both feet of the occupant is provided on the stepping plate portion 15A of each pedal 15,
This pressure sensor means 20 is connected to a control means 11 (shown in FIG. 8) for controlling the driving of the driving wheels 2 using, for example, a load cell.

When the occupant of the wheelchair Y extends, for example, the right foot and depresses the right pedal 15 toward the distal end of the deck 7, the left pedal 15 is transmitted via the transmission belt 18 to the right pedal. The occupant is moved in a direction opposite to the movement of 15, and the left foot of the occupant is bent. In this way, the occupant alternately expands and contracts both feet to linearly move each pedal 15, thereby minimizing the burden on the legs and hips caused by depressing each pedal 15 and minimizing the burden on other body parts. Thus, each pedal 15 is reciprocated in opposite directions. When each of the pedals 15 is depressed by the occupant, the treading force acting on the treading plate portion 15A is detected by the pressure sensor means 20 at predetermined time intervals, and is detected as a detection value (pedaling force signal a) by the control means 11 (FIG. 8). ). The pressure sensor means 20 is provided for each pedal 1.
5 may be provided over the entire surface of the stepping plate portion 15A.

The transmission belt 18 of the reciprocating motion transmission means 8
4 and 6, the clutch means 9 is connected. The clutch means 9 is a one-way clutch rotatably provided on the vehicle body 1 with a pinion 22 meshing with a timing belt 21 provided at two places in the middle of the transmission belt 18. 7 has a function of transmitting only the driving force of the motor means 10 to be moved to the distal end side to each pedal 15 via the transmission belt 18.

As shown in FIGS. 6 and 7, each clutch means 9 has a bevel gear 23 for clutch on the side opposite to the pinion 22.
Each of the clutch bevel gears 23 meshes with each of the transmission bevel gears 25 fixed to both ends of a first transmission shaft 24 pivotally supported across the vehicle body 1. . A large transmission spur gear 26 is fixed to one end of the first transmission shaft 24, and the spur gear 26 is rotatably supported by the vehicle body 1 in parallel with the first transmission shaft 24. It engages with one interlocking spur gear 28 of the second transmission shaft 27. Then, the other interlocking spur gear 28 of the second transmission shaft 27 is rotatably supported by the vehicle body 1 on the drive shaft 3.
Connected to 0. A wheel 31 for holding the drive wheel 2 is externally fitted and fixed to the drive shaft 30, and is fixed to the other interlocking spur gear 28 of the second transmission shaft 27 and one end of an output shaft 36 of the speed reducer 35. The driving spur gear 32 meshing with the reduced gear 37 is fixed.

As shown in FIG. 7, a drive pulley 38 is fixed to the other end of the output shaft 36 of the speed reducer 35, and the drive pulley 38 and the output of the drive motor serving as the motor means 10 are output. A drive belt 41 is stretched between the drive pulley 40 and the drive pulley 40 fixed to the shaft 39, and rotates the drive shaft 30 by reducing the rotation caused by the drive force transmitted from the drive motor 10. The drive motor 10 is connected to a battery (not shown) and is driven or stopped based on a drive signal b from a control unit 11 (shown in FIG. 8).

As a result, when the drive motor 10 is driven, the rotation by the drive force is applied to the respective drive pulleys 40, 38.
The driving force transmitted to the drive shaft 30 after being decelerated by the speed reducer 35 via the drive belt 41 and the drive force transmitted to the drive shaft 30 is the second transmission shaft 27-the first transmission shaft 24-the respective clutch means 9. It is transmitted to each pedal 15 via the transmission belt 18 and the pedals 15 are alternately moved toward the tip end side of the deck portion 7.

Further, as shown in FIG. 8, the control means 11 sets the pedaling force value f of each pedal 15 which is preset.
And a control unit 4 for sending a drive signal b to the drive motor 10 in a comparison / calculation of the tread force signal a output from the pressure sensor means 20 (load cell) at regular intervals.
It has 0.

When an occupant of the electric vehicle X depresses each pedal 15 by alternately expanding and contracting both legs in order to restore the function of the legs and waist, the pedal 15 linearly reciprocates. , Each pressure sensor means 20 (load cell) provided on each pedal 15 corresponds to each stepping plate portion 15
A treading force acting on A is detected and output to the control means 11 as a detected value (treading force signal a).

When the control means 9 receives the pedaling force signal a from each of the pressure sensor means 20, the control section 40 performs a generally known PID control in accordance with the following procedure, so that the PID control is always performed based on the foot and waist of the occupant. The drive signal b for the drive motor 10 is determined so that the pedaling force of each pedal 15 is set to a constant load state.

(1) Differences ± M0, ± M1, ± M2,... Between the set treading force value f and the treading force signal a inputted every predetermined time.
(Step A shown in FIG. 8),
The target values K0, K1,
(Step B shown in FIG. 8). Specifically, first, when each pedal 15 is depressed and the first pedaling force signal a is input, the set pedaling force value f and the pedaling force signal a And calculating the difference ± M0 with respect to the set pedal force value f.
The target value K0 is set by adding or subtracting 0, and the target value K0 is stored. That is, when the pedaling force signal a of each pressure sensor means 20 is larger than the set pedaling force value f (when the stepping force of each pedal 15 by the occupant is larger than the set pedaling force value f), the target value K0 = the set pedaling force value f + The driving force of the driving motor is increased as the difference M, and when the pedaling force signal a of each pressure sensor 20 is smaller than the set pedaling force value f (the pedaling force of each pedal 15 by the occupant is smaller than the set pedaling force value f) Case), target value K0 = set pedal force value f−
A target value K0 is calculated as the difference M so as to decrease the driving force of the driving motor. Thereafter, the pedaling force signal a from each pressure sensor means 20 is again obtained.
Is input, the difference between the set pedal effort value f and the pedal effort signal a ± M
After calculating 1, the difference ± M1 is added to or subtracted from the previous target value K0, and the current target value K1 (K1 = K0 + M1, or K
1 = K0−M1) and the next target value K2
This target value K1 is stored for the calculation of. In this way, the current target value Kn is set to the previous target value K (n-1).
Is sequentially calculated by adding and subtracting the current difference ± Mn.

(2) Then, the target values K0, K1, K2,
Are calculated (Step D shown in FIG. 8), the command value S0 is converted and input to the driver 41, and then the drive signal b (Step E shown in FIG. 8) and these command values S0, S1, S2... Are fed back (Step C shown in FIG. 8). Specifically, first, a target value K0 is calculated. Then, this is set to the command value S0
And sends the drive signal b corresponding to the command value S0 to the drive motor 10 and feeds back the drive signal b as the converted value R0, thereby obtaining the drive motor 1
0 is controlled to be driven by the drive signal b corresponding to the command value S0. Thereafter, when the target value K1 is calculated, the target value K1 is calculated.
± P from the previous conversion value R0 that is fed back
After calculating 1, the difference ± P1 is added to or subtracted from the previous command value S0, and the current command value S1 (S1 = S0 + P1, or S1
1 = S0-P1), and the next command value S2
This command value S1 is stored for the calculation of. In this way, the command value Sn of this time is the command value S (n-1) of the previous time.
, The current difference ± Pn is added to and subtracted from the current command value, and the feedback is performed so that the drive motor 10 is driven by a drive signal b based on the calculated command values S0, S1, S2,. .

(3) As described above, the driving motor 1 is calculated based on the driving signal b calculated by the control means 9 and sequentially transmitted.
When 0 is driven, the rotation by the driving force is reduced by the reduction gear 35 via the respective drive pulleys 40 and 38 and the drive belt 41 and transmitted to the drive shaft 30, so that the electric vehicle X is propelled (runs). . When the driving force of the driving motor 10 is transmitted to the driving shaft 30, the driving force is transmitted to the second transmission shaft 27-
First transmission shaft 24-each clutch means 9 and transmission belt 1
8 is transmitted to each pedal 15 via the
Reference numeral 5 denotes a driving force of the driving motor 10 driven by the driving signal b sent from the control means 9 and a speed reducer 35 and each gear 2
The deck 7 is alternately moved toward the front end side at a speed reduced by 5, 26, 28 or the like.

As described above, the control means 11 determines that the treading force acting on each pedal 15 (the treading force signal a detected by each pressure sensor means 20) due to the stepping on of the rider's foot is accompanied by the running resistance of the vehicle body 1. Is greater than the set pedal force value f,
By increasing the drive signal b to the drive motor 10 to increase the drive force and reciprocating each pedal 15 quickly, the pedaling force of the occupant exceeding the set treading force value f is complemented, and the occupant's depression is reduced. The operation can be performed with the set pedal force value f, and conversely, the pedal force (the pedal force signal a detected by each pressure sensor means 20) acting on each pedal 15 when the rider steps on the foot is smaller than the set pedal force value f. Then, the drive motor 1
0, the driving force is reduced to reduce the driving force, and each pedal 15 is reciprocated slowly so that each of the pedals 15 can be depressed by the occupant at the set depressing force value f. The pedaling force caused by the flexion and extension of the legs can always be in a constant load state. The driving of the driving wheel 2 by driving of the driving motor 10 based on the input of the driving signal b.
Can be rotated to propel (run) the vehicle body 1.

In the electric vehicle X with a pedal according to the present invention,
Although the state in which the chair is connected to the wheelchair Y is shown, the invention is not limited to this. The chair may be fixed directly on the vehicle body 1 of the electric vehicle X.

Further, in the electric vehicle with a pedal X of the present invention, the driving force of the drive motor 10 as the motor means is reduced by the reduction gear 35, the drive shaft 10, the various gears 25, 26, 28, etc., the clutch means 9 and the reciprocating motion. Although the configuration in which the power is transmitted to each pedal 15 via the transmission means 8 is shown, the invention is not limited to this. The drive motor 10 serving as the motor means is directly meshed with the transmission belt 18 of the reciprocating motion transmission means 8. Thus, each pedal 15 may be moved based on the drive signal b from the control means 11. Thereby, the clutch means 9 and the clutch means 9 and the drive shaft 3
It is possible to prevent a delay in response of the various gears 25, 26, 28, etc. that transmit 0, thereby improving controllability.

[0030]

As described above, according to the electric vehicle with a pedal of the present invention, in the first aspect, the reciprocating motion transmitting means for moving the pair of pedals in directions opposite to each other, and rotating the pedal in one direction. Clutch means for transmitting the movement to the drive shaft, motor means for applying a driving force in the direction of rotational movement to driving wheels for propelling the vehicle in conjunction with reciprocating movement of the pedal, and pressure sensor means for detecting pedaling force of the pedal. And control means for controlling the driving force of the motor means by comparing the target value as the treading force and the detection value from the pressure sensor means. Is transmitted to the pedal via the clutch means and the reciprocating motion transmitting means, and serves as a force for moving the pedal. On the other hand, the control means increases or decreases the driving force of the motor means by comparing a target value predetermined as the pedaling force with the detection value of the pressure sensor means. Therefore, even when the driving state changes due to an increase in running resistance, the force can be complemented by the driving force of the motor means, so that the vehicle body can be propelled without changing the pedaling force on the pedal, It can also be used for rehabilitation, which takes into consideration the force applied to the legs and waist.

According to claim 2, in addition to the effect of claim 1,
By making the reciprocating motion of the pedal a linear motion, the burden on the legs and feet due to the depression of the pedal can be minimized, and the burden on other body parts caused by using the vehicle can be minimized.

According to claim 3, in addition to the effect of claim 2,
The wheelchair user can perform leg and hip exercises while sitting in the wheelchair without having to transfer to the electric vehicle with pedals.

[Brief description of drawings]

FIG. 1 is a side view showing an overall configuration of an electric vehicle with a pedal according to the present invention, showing a state of being locked in a wheelchair.

FIG. 2 is a rear view showing the entire configuration of the electric vehicle with a pedal according to the present invention, which is in a state of being locked on a wheelchair.

FIG. 3 is a sectional side view of the electric vehicle with a pedal according to the present invention.

FIG. 4 is a top view showing a configuration of a reciprocating motion transmitting means of the electric vehicle with a pedal according to the present invention.

FIG. 5 is an enlarged front view showing the configuration of the reciprocating motion transmission means of the electric vehicle with a pedal according to the present invention.

FIG. 6 is a cross-sectional view showing a configuration of clutch means of the electric vehicle with a pedal according to the present invention.

FIG. 7 is a sectional view showing a transmission mechanism between a clutch means and a drive shaft of a motor means of the electric vehicle with a pedal according to the present invention.

FIG. 8 is a block diagram showing a control procedure in control means of the electric vehicle with a pedal according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vehicle main body 2 Drive wheel 8 Reciprocating motion transmission means 9 Clutch means 10 Motor means 11 Control means 15 Pedal 20 Pressure sensor means 30 Drive shaft

Claims (3)

[Claims] 1. A pair of pedals on which the feet of a vehicle occupant are mounted and which are reciprocally movable. The one pedal and the other pedal are connected, and these pedals are moved in opposite directions. Reciprocating motion transmitting means, which is connected to the reciprocating motion transmitting means, and clutch means for transmitting a motion in one direction of the pedal to the drive shaft as a rotational motion; and a reciprocating motion of the pedal mounted on the drive shaft. A drive wheel for propelling the vehicle in conjunction with the movement, a motor means provided on one of the reciprocating motion transmission means or the drive shaft, and applying a driving force to the drive wheel in the rotational movement direction; A pressure sensor provided on the pedal and detecting a pedaling force; a target value as the pedaling force is input, a detection value from the pressure sensor is input, and a comparison between the target value and the detection value is performed. Control means for controlling the driving force of the motor means, the control means increases the driving force of the motor means when the detected value is larger than the target value, and when the detected value is smaller than the target value. An electric vehicle with a pedal for reducing the driving force of a motor means. 2. The pedal according to claim 1, wherein the pedal is mounted on a deck portion extending linearly from the vehicle body toward the ground, and is reciprocated on the deck portion. With electric vehicle. 3. The electric vehicle with a pedal according to claim 2, wherein the vehicle main body is engaged with a frame of a wheelchair to position the wheelchair main body above the vehicle main body.