Human-powered rickshaw traction device.

Abstract

By employing a twin-wheel drive towing system, it eliminates the need for a turning mechanism, making it easy to attach to wheelchairs and other rickshaws. It features forward and reverse correction bearings to maintain a constant towing state, and a lock-up brake mechanism to prevent 180-degree rotation when towing in reverse. It maintains balance between the drive unit and the vehicle body in four states: electric forward, electric reverse, manual push forward, and manual pull reverse. The steering angle follows the user's center of gravity shift using XYZ acceleration sensors, a turning angle sensor, and a piezoelectric sensor-type ladder pedal, allowing for driving and turning. [Solution] The towing device body (10) is equipped with a forward / reverse correction bearing (2) to maintain the towing state and a brake device (5) to prevent self-rotation. Independent in-wheel motors (1) on the left and right sides generate steering angles, and gravity movement is detected by signals from an acceleration sensor (6), a rotation angle sensor (8), and a rudder pedal (7) to perform driving and turning.

Description

Technical Field

[0001] In-wheel motors that rotate independently on the left and right, for electric driving and manual driving, according to forward and reverse movement, a forward and reverse correction bearing that moves the rotation axis of the in-wheel motor to a position where it is always pulled with respect to the rotation axis of the traction connecting device (connected fixed pivot axis), and in case of traction back, a brake that locks up the connecting rotation axis. With an XYZ acceleration sensor, an absolute angle sensor, and ladder pedals, regardless of the presence or absence of a steering angle motor, the steering angle is controlled by the rotation amounts of the left and right in-wheel motors, and driving and turning can be performed without using a joystick. Technical Background

[0002] When connecting a driving device to a manual vehicle such as a wheelchair, there are four states: electric forward, electric reverse, push forward manually, and pull back manually. In all states, the traction device always maintains a traction state with respect to the vehicle body, and follows the user's center of gravity movement to perform driving and turning.

Summary of the Invention

[0003] During electric reverse and push forward manually, the traction device rotates in a full circle in the 180-degree direction. In the four states of electric forward, electric reverse, push forward manually, and pull back manually, it is necessary to always maintain the traction position relationship, follow the center of gravity movement, and perform driving and turning without using a handle mechanism. Means for Solving the Problems

[0004] In the four states of electric forward, electric reverse, push forward manually, and pull back manually, in order to always maintain the traction position relationship, it is equipped with a forward and reverse correction bearing and a brake that locks up the connected fixed pivot axis, follows the center of gravity direction with an XYZ acceleration, turning angle sensor, and left and right piezoelectric sensor type ladder pedals, and performs driving and turning without using a handle.

[0005] This system can be easily attached to wheelchairs, pushcarts, and other rickshaws to convert them to electric vehicles. Equipped with XYZ acceleration sensors, a turning angle sensor, ladder pedals, forward / reverse correction bearings, and twin-wheel independent drive in-wheel motors, it enables driving and turning by following the shift in the center of gravity, allowing for handleless driving and electric assistance for both pushing and pulling. [Brief explanation of the drawing]

[0006] [Figure 1] This is a diagram illustrating the principle of first implementation of the invention related to this application. [Figure 2] This is a diagram showing the configuration of the first embodiment of the invention related to this application. [Figure 3] This is a diagram illustrating the operation of the first embodiment of the invention described in this application. [Modes for carrying out the invention]

[0007] The forward / reverse correction bearing (2) is attached to the towing device body (10), the in-wheel motor (1) is fixed, the slewing fixing shaft (9) and rotation brake (5) are attached, and the XYZ acceleration sensor (6), rotation angle sensor (8) and ladder pedal (7) are attached. [Explanation of symbols]

[0008] 1 In-wheel motor 2. Forward / reverse correction bearing 3 wheels 4 Push handle 5-rotation break 6 XYZ accelerometers 7. Rudder pedals 8 Rotation Angle Sensor 9. Traction and Swivel Fixed Axle 10 Traction device body

Claims

1. A rickshaw towing device that uses a drive system to pull wheelchairs and other rickshaws, equipped with independently driven twin-wheel motors, a coupling pivot prevention brake, forward / reverse correcting movable bearings, a three-dimensional gravity sensor, and ladder pedals.

2. A rickshaw towing device equipped with bearings that move the axle in the towing direction relative to the connecting pivot axis, for manual pushing, manual pulling, electric forward, and electric reverse operation.

3. A rickshaw towing device that controls the steering angle using the rotation amount of the left and right motors, and therefore may turn around when towing in reverse, is equipped with a coupling fixed slewing axis brake to maintain a constant steering angle.

4. A rickshaw towing device equipped with XYZ acceleration sensors on a fixed pivot axis, allowing for arbitrary movement based on the user's weight shift.

5. A rickshaw towing device equipped with ladder pedals on both sides, allowing for arbitrary movement depending on the pedal load.

6. A rickshaw towing device equipped with angle sensors on a fixed pivot axis that feeds back the steering angle to control the rotation amount of the left and right in-wheel motors.

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