JPS58108902A - Motor driven vehicle - Google Patents

Abstract

PURPOSE:To prevent a vehicle from abruptly starting upon releasing of an operating brake by operating the brake of a motor when a malfunction occurs in the state that a speed instruction unit is set to travelling position, holding this state and releasing the holding of the operation when the instruction unit is set to a stop position. CONSTITUTION:When an operating lever is removed from a stop position and is inclined, the output of a stop detector D becomes ''L'', and the transistor Tr2 of a brake control circuit E becomes ON. Accordingly, the speeds of a right motor MR and a left motor ML are controlled by the oblique angle of the lever. When the output of a malfunction detector G becomes ''L'' in this state, the output of a holding circuit H becomes zero, thereby causing the transistor Tr2 to be turned OFF, and applying a brake. When the lever is returned to the stop position after the malfunction state is eliminated, the output of the stop detector D becomes ''H'', thereby causing the output of the holding circuit H to become ''H''.

Description

[Detailed Description of the Invention] This sliding electric vehicle 6, such as an electric wheelchair, detects various abnormalities in the positioning plate state, such as overcurrent of the wheel drive motor. A maintenance device is provided for operating brake IIv and maintaining this braking state.

However, in conventional electric vehicles, the reset of the safety device had to be done manually using the set switch or power switch (2. Especially for people with disabilities who operate electric wheelchairs).
=, Fta is difficult, and it is automatically a
There are automatic reset types, but they are dangerous because you don't know when they will reset and you may start suddenly. ' The present invention solves such problems: 1. Detection of the normal state 6. 2. Cancellation of the braking-operation retention associated with 6.2 is performed with a simple operation, and C. 2. The structure of the present invention is aimed at preventing the danger of
A drive control circuit that drives and controls the wheel drive motor when the speed command is in the running position, a stop detection circuit that outputs a stop signal when the speed command is at the stop position, a stop signal when it is in the travel position, and a stop detection circuit that outputs a stop signal when the speed command is at the stop position. The outputs of the abnormality detection circuit, the stop detection circuit, and the abnormality detection circuit output W, respectively, and the same inputs of the no stop signal and the abnormality signal are input from the above-mentioned The present invention is characterized in that it is equipped with a holding circuit that operates the brake of the motor and maintains this state at', and releases this operation holding by a stop signal 4.

With this configuration, when an abnormality in operation is detected by the abnormality detection port, the motor brake is activated by the holding circuit and this operating state is maintained, so safety is maintained and the motor is returned to the one-time guest command sv stop position. 1; Since the maintenance of the operating state is released, there is no need to operate a separate release switch, making the release operation easier. Since the signal is not output, there is no need for an express start after release, making it safe.

The present invention is constructed as described above, and since the braking-operation holding state release and speed commands are also carried out, there is no need to provide a release switch for operating the streetcar with an appropriate command aV, and the structure of the operating section is simplified. It has unique effects such as being able to

An embodiment of the present invention will be described below with reference to the drawings.

In Figures 1 to 15, (1) is a right drive wheel (SR) drive motor (hereinafter referred to as right motor) (MR ), the drive motor for the left drive wheel (!SL) (hereinafter referred to as the side motor) consists of a magnet motor, etc. (
ML), an operating section (4), and an electric wheelchair body that has t!
The operating section (4) has an operating lever (5) as a speed command device.
The rotational speed Kl of the motor (MR) (ML) can be changed by changing the inclination of this operating lever (51), and the rotational direction IQ can be changed.
Switching to 't', when the operating lever (5) is tilted directly in front, the wheelchair moves forward, when it is in front right, it moves forward and turns to the right, and when it is in front left, it moves forward m times to the left.
The system is structured so that when directly behind you, go straight backwards, when backwards to the right, go backwards and turn right, when backwards left, go backwards and turn left, and when it is neutral, it stops. It is of the same structure that automatically returns to the stop position (neutral) by an energizing means (not shown).

The operation of the electric wheelchair is controlled by a control circuit a shown in FIGS. s2 to 4C. Figure 2-2 (AR) (
AL) is a 1 IfR resistor (1 IfR resistor (
Right motor, left motor speed command circuit consisting of VR) etc.
It outputs a signal as shown in (-) in the same figure. (BR)CBL) are stone motor and left motor command conversion circuits that convert the signal from the moderate command circuit (MUR] (AL) into a function using an absolute value circuit 1gmitter circuit and output a signal V1v such as tIOH. (OR) (OL) is the reference triangular wave and the command conversion circuit (IR) (II
This output signal v11 is compared with the output signal v1 of L);
A rectangular pulse signal with proportional on-duty @V is output, and this pulse signal is output from the right motor and the left motor (MR
)(ML) with a duty of mm C: One circuit controls the rotational speed of the right motor and the left motor to control the corresponding rotational speed of the operating lever (5).

In addition, ■tts command conversion circuit (]iiR) (1m,) output is manually input to the stop detection circuit that detects whether the operation lever [51] is at the stop position or not, as shown in Figure 5 (K). Potential V/setting resistor (R1) (In) and comparison 1B (
The comparator (OPI) is mainly composed of (OPI) (OPI) and
Inverting terminal 4 of (OPI): Inputs the right motor and left motor command conversion circuit (IR) (BL) outputs, respectively, and each non-inverting terminal 1: Inputs reference potential V. As shown, the command conversion circuit (mR) (!I!,
) When the output v1 is lower than the common potential V・! It assumes that the operating lever (5) is stopped (neutral) and outputs the five signals Z, and outputs the other IIL signals.

(The third motor is the right motor (MR) and the left motor (Ml) due to friction.
, 3ζ; Braking 11 (IFR) (FL) t'
In the braking control circuit to control, the S3 port;
4 ohd (DI), energized 11 with brake (F'R) (νL
) v off “41” (LR) (LL) etc.
Transistor (!T1) when the stop detection circuit output is the highest
On, transistor (?r!) off, coil (Ll)
(LL) turned off and left $-1--4 (MR) (Ml,
)i:@@ is multiplied and the output is L's [yyxri('
! 'rz) (Trt) is reversed and the coil (LR) (LL)
It becomes y and it becomes 1-off.

(The current abnormality detection &fi circuit detects motor (MR) (ML) overcurrent at' and outputs abnormality W and no damage signal.

II! 1m last night, Mj'l (ML)
), a detection resistor (r) with a low resistance value of about several tens of resistors ρ, an operational amplifier 111 (OPI), and a ff tube #lk@
711 boo yday? (Of), resistance (R@) CR4
)CRY), jt@II(OPm), resistance (R@) and 2'/fn? (Of) consists of Haruka Meikai 11 (6), @ anti (wing t) (II @), etc., motor (Ml) (ML
J electric #I is the detection resistor (r) t = The potential at the positive end of the flow detection resistor (r) is the non-inverting terminal input potential of the amplified $I (O1'l) 8 and the resistor (R4) (R1 *Non-inverting increase at the amplification factor -8 slow delay m*tett' comparator (OP
Input S resistor (1?) to non-inverting terminal of I block (true 1)
6.2 The potential to be set, *For example! The ink mark is the detection resistor (
1 mouth: d41L, when it is healed, it is compared with the potential applied to the inverted terminal - two people. Therefore, during normal operation on a flat ground, a current of about 4A flows through the detection resistor (r), and the capacitor (at) is charged by the specified amount, and in this state, the output of the comparator (OPl) is normal.

Immediately output the signal. And motor (MR) (ML)
When the current is in a capacitive state, about 52 A flows into the detection resistor (rl) and the resistor (R-) and the capacitor (delay time 1 due to zero). becomes higher than the reference potential and the comparator (OP
l) Outputs an abnormality % hitting L signal.

(6) is current abnormality detection port II (01 and stop detection circuit p)
The 51st holding path inputs the output from the brake control circuit (111) and outputs the signal to the right motor and left motor drive control circuits (OR) (OL) via the signal diode (DI).
As shown in fi1 digit 1 (two people can be F(Ml)()!), 8 terminal C: overcurrent detection port 119) output i input R
Terminal field: The output of the stop detection circuit Φ is passed through the inverter (Nl) t'. 'r)'s pace and transistor (tert)
Collector's letter: Consists of a transistor (T71) that is connected, and over-current R of 23A or more occurs when stopped or when driving on flat ground.
Perform operation 1 in the table below in IIl.

Therefore, if an overcurrent condition occurs while driving, the sea bream, 1ll (F R
)(yt,) is turned on and braking is applied, both right motor y and left t-y drive @ @ circuit (OR) (OL
) (D The terminal potential to which the roaring quasi-inner wave is input in the part 1 of the decoder collar is set to zero (: Pull-in motor Oy D A) The output of the drive control circuit (OR) (OL) is set to zero and the running is stopped. This braking state is maintained even if the 8-terminal input becomes H, and the operation lever (5) is at the stop position ε:I [Return R terminal 6:L signal is input 8. By inputting ts yys f('l'rl)
is oyy and the holding of (at the holding time wI) is released.

In addition, (JR) and (JL) are the right motor and left motor rotation abnormality detection circuits, respectively, and each time wI is detected as the rotation number yArusR wave number of the motor (MR) (ML) as shown in Figure 5. The rotation speed detection section (7: and this detection section ()) in the same order; the output Vll wave number - the '/X conversion section (8) that changes the voltage; )
111m34: Non-inverting terminal C: Input and output the divided voltage reference potential! ! II a)
The wheelchair starts to run out of control due to a failure in the control circuit, and the motor (
When the rotational speed of MR) (ML) exceeds a predetermined value, the comparator (O20) outputs an L signal, and when normal, it outputs an H signal.

In addition, (the sum is the constant voltage for the control circuit obtained from the constant voltage field circuit (not shown) in the power supply abnormality detection circuit, 12Vyjts, as shown in Figure (c) (resistance (R14) (Rts) t:). Inverts midpoint potential Terminal a: Large input.

1 battery (21 power supply voltage! 4Vt' resistance (R14) (11
1], input the midpoint potential to the non-inverting terminal, and output the R-8 flip-flop a (FF) of H1 in Figure 3.
If the comparator (OPS) is operated by 8 terminals and 2 people, v, then when the battery voltage becomes 1 and 5V or less, the comparator (OPS)
) outputs an L signal, and when the battery voltage is normal and the voltage of the 12V line rises abnormally, the voltage is 17.4, for example.
When the voltage exceeds V, the comparator (OPB) outputs an L signal sound,
When both the battery voltage and the control circuit voltage are normal, an H signal is output, which prevents loss of control and WA operation cut-off due to an abnormality in the power supply voltage.

(P) 11 motor drive control 8 circuits (OR) (Of,) no a
i-transistor (power system @m1) ('!'rR) (1
The temperature abnormality detection circuit outputs an abnormality signal when the temperature of 'rL) rises and inputs it to the 8 terminal of the R-8 flip-prop (FF) of the output signal d'lls. The transistor ('I'rl) (T
Temperature detection element (?h) consisting of a positive characteristic multi-mister for detecting the temperature W of the dead island plate (not shown) of rL).

Setting resistance (R1 port) (11?) (R20], hysteresis setting resistance (R value 1), resistance (Fur).

The midpoint of resistance (R1?) and (R1・) is an inverted terminal ship =,
The middle point of the detection element ('!'h) and the resistor (R1.) is connected to the non-inverting terminal (OR4), respectively. 1For example, the detection temperature of the detection element ('I'h) is 80°C or higher. When this happens, the comparator (OR4) is configured to output an L signal v, and when the temperature falls below 70° C., an H signal is output.

The present invention is configured as described above, and 11? Operation lever (
5) When removed from the V stop position and tilted, the stop detection circuit (D
Brake control times l with J output FtL! The transistor 'I'rl) of Shu is turned off, and on the other hand, the threshold output of the holding circuit does not become zero, so the brake (F
R) (DeL) Turns off. Therefore, depending on the degree of inclination of the operating lever (5), the right motor (MR) and the left motor (ML)
) The wheelchair runs under rotational drive while being controlled by mtk degrees.

Some kind of abnormality has occurred and abnormality detection time 1i! (Gl～(P)
At least one outputs an L signal &, the 8 terminals of the R-8 frisive flop (yy) become L, the transistor (Trl) turns on and the holding circuit @) output becomes zero, and this causes the braking control 1 Circuit (I!1 transistor (Tr
l) When the brake is off, the brake (1113 (FL)) is activated and braking is applied, and the motor
) (OL) Output $0 Tona s) Wheelchair car stops for 1 line.

This braking stop condition m is maintained by the abnormality detection circuit (01 to I1 even if the output returns to the wing, the action 6 of the R-8 flip-flop a-tub ('IIν) is activated. (5) Returns to the stop position (automatically done by hand) Stop detection circuit p) The output becomes a wing and the terminal input becomes a wing, and the terminal input becomes a wing. At this time, the transistor (Tri) is turned off.Then, the brake control 1 is activated from the stop detection path p) output 1142.
When the transistor (yrl) of the circuit (7) is turned on and the transistor (terl) is turned off, the brakes (PR) and (FL) are turned on and the brake remains applied. If you press the lever (5B!) from the brake hold release C2 mentioned above, you will be able to perform the nose running.

Note that the present invention is not limited to the above embodiment C; for example, it may be applied to an electric vehicle other than an electric wheelchair; 8 lids 1) Abnormality detected in the wing terminal input of a tube (PF)! (9) ~ (force output and stop detection circuit p) output and vNAMD circuit (14) HAND obtained through t'
It can be used as A force, in this case stop detection port 1! (D) and the abnormality detection circuit (G) to I) When both outputs are CM, the R terminal input becomes L and the holding of the holding circuit (3) is released. Also, I
The t-8 flip-flop a tube (Fy) may also have a 10B configuration, and in this case, the stop detection times 1i! It is assumed that the output characteristics of (D) and the abnormality detection circuits m to (P) are reversed from those of the above embodiment.

[Brief explanation of the drawing]

Fig. 1 U) is the flat aim of this example, Fig. 1 is a side view of the same, Fig. 112 is a block diagram of the control circuit of the same embodiment,
No. sl! I B) (-(C)) is the same electrical circuit diagram, Figure 4) is the same main part electrical circuit diagram, and the same figure-(C) is the same I! I
Potential-Leper inclination angle characteristic diagram of different parts of Bi1, 5th
The figure is a ridge electrical circuit diagram of the present embodiment. Through 5 to... Operation lever (moderate command device), (OR) (OL
) ---Drive l1al! ! IK, (MR) (
M L ) -4-4゜p)...Stop detection-road, @
)--Holding circuit, (G) (,711) (JL) (K)
(P)...Abnormality detection circuit, (νR)CνL)-brake device.

Claims (1)

[Claims] (11) Drive control 5Iiii which controls the drive of the wheel drive motor W when the speed command is in the running position, and a stop signal 41v when the speed command is in the stop position. The outputs of the cardiac arrest detection circuit, the abnormality detection aS circuit that outputs an abnormality signal when the operating status is abnormal, and the outputs of the stop detection circuit and the abnormality detection circuit, respectively, and the outputs of the stop detection circuit and the abnormality detection circuit are input to detect no stop signal and abnormality. An electric vehicle is equipped with a holding circuit that activates the brake i of the motor when simultaneously input with a signal, maintains this state Y, and stops this operation and is released from the signal 6. (2) An abnormality detection circuit is connected to the wheel. An electric vehicle according to claim 11m1t, which detects an overcurrent in a drive motor. Range 5l111
Xiang Feizai's dynamic army.