Running bogie device

Abstract

Providing a traveling bogie device powered by a Segway. 【Solution means】The traveling bogie device 1 of the present invention includes a bogie 10 provided with front casters 12a, 12b and rear casters 13a, 13b at the four corners of the lower surface portion of the bogie frame 11, and a vehicle body frame 21 is connected to the rear portion of the bogie frame 11. A user riding on the left and right pedals 22a, 22b steps on the front or rear portion of the left and right pedals 22a, 22b to keep the rotational speeds of the left and right drive wheels 23a, 23b the same or different, and can move forward, backward, and change direction. A Segway 20 that can travel, and a link mechanism 35 that changes the traveling direction of the left and right front casters 12a, 12b by a user riding on the pedals 22a, 22b operating a direction operation handle device 32 that is held at the center of the upper end of a steering shaft 31 erected at the center of the rear surface portion of the bogie frame 11 and extends in the left-right direction.

Description

Technical Field

[0001] The present invention relates to a traveling bogie device using a Segway as a power means.

Background Art

[0002] There are carts configured such that the left and right front wheels are swivel casters and the left and right rear wheels are fixed casters, and conversely, carts configured such that the left and right front wheels are fixed casters and the left and right rear wheels are swivel casters. These carts are turned by applying a lateral manual force to a handle (a part of the frame) at the upper part of the rear surface of the cart, and the rotation center of the cart during turning is at an intermediate position between the left and right casters. There is no means for defining the turning direction for the swivel casters.

[0003] There is an electric assist cart configured such that an electric unicycle is detachably mounted on the rear part of a cart in which the left and right front and rear wheels are swivel casters, and the electric unicycle power-assists pushing the cart manually (manufactured by Segway Japan Co., Ltd.; non-patent technology).

[0004] Patent Document 1 is an electric traveling bogie device that automatically follows a following object. In this electric traveling bogie device, the left and right rear wheels are fixed casters, the left and right front wheels are driving wheels arranged on a single axis line and each front wheel is driven by a servo motor, and when the servo motor rotationally drives so that a difference in the rotation speeds of the left and right front wheels occurs during automatic following, the direction of the cart can be changed.

[0005] Conventionally, there has been no cart that employs a Segway as a traveling drive means. A Segway is a two-wheeled vehicle with a configuration in which the left and right driving wheels are arranged on a single axis line and each driving wheel is driven to perform cooperative automatic inverted control by a servo motor, and a user can straddle the left and right pedals and can perform a stepping operation on the front or rear part of one or both of the left and right pedals to keep the rotation speeds of the left and right driving wheels the same or different to travel forward, backward, or change direction.

Prior Art Documents

Patent Document

[0006]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0007] The device of the present application is a two - wheeled vehicle with a Segway as a power means, which enables a user to step onto the left and right pedals and operate the pedals to step on them, maintaining or making different the rotational speeds of the left and right drive wheels, and enabling forward, backward, and turning driving. The purpose is to provide a traveling cart device using a Segway as a power means.

Means for Solving the Problems

[0008] The package according to the first inventive aspect of the present application includes a cart having front casters and rear casters at the four corners of the lower surface of the cart frame, a vehicle body frame is (integrally) connected to the rear part of the cart frame, and a user stepping on the left and right pedals can step on the front or rear part of the left and right pedals to maintain or make different the rotational speeds of the left and right drive wheels, and can drive forward, backward, and turn using a Segway. When the user stepping on the pedals operates a direction operation handle device whose center part is held at the upper end of a steering shaft erected at the center of the rear surface part of the cart frame and extends in the left - right direction, a link mechanism for changing the traveling direction of the left and right front casters is provided. By matching the conversion direction of the left and right front casters by the operation of the direction operation handle device by the user and the conversion direction of the Segway by the stepping operation of the pedals, the cart and the Segway can drive forward, backward, and turn. This is the feature.

[0009] In addition to the configuration of the first inventive aspect, the package according to the second inventive aspect of the present application is such that the link mechanism is of a flexible type in which the front caster can change its traveling direction, and the left and right end portions of a first arm having its central portion fixed to the lower end of the steering shaft and projecting left and right are connected to the left and right front casters by two connecting links that cross in an X shape with a second arm fixed to the caster brackets of the left and right front casters.

[0010] In addition to the configuration of the first inventive aspect, the package according to the third inventive aspect of the present application is such that the cart has left and right brake handles attached to the direction operation handle device, left and right brake pads for braking the rotation of the left and right drive wheels, and left and right brake wires connecting the left and right brake handles and the left and right brake pads.

[0011] In addition to the configuration of the first inventive aspect, the package according to the fourth inventive aspect of the present application is such that the cart has a mounting shelf provided on the cart frame in two or three levels up and down, and the Segway described in claim 1 that serves as a traveling power means.

Advantages of the Invention

[0012] According to the present invention, there is provided a traveling cart device using a Segway, which is a two-wheeled vehicle capable of allowing a user to stand on the left and right pedals and operate the pedals to step on them to keep the rotational speeds of the left and right drive wheels the same or different to move forward, backward, and change direction while traveling.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying out the Invention

[0014] Hereinafter, an embodiment of a traveling bogie device using a Segway as a power means according to the present invention will be described with reference to the drawings.

[0015] The present invention is a traveling bogie device using a Segway as a power means. As shown in FIGS. 1 and 2, this traveling bogie device 1 includes a bogie 10 and a Segway 20 for pushing the bogie 10 backward. The bogie 10 and the Segway 20 are detachably connected to the side surface portion of the vehicle body frame 21 by bolts by left and right connecting bars 36a, 36b extending rearward from the side surface portion of the bogie frame 11.

[0016] As shown in FIGS. 3(A) and (B), the bogie 10 includes a bogie frame 11 composed of a lower mounting plate 11a, an upper mounting plate 11b, and a pipe frame 11c, and front casters 12a, 12b and rear casters 13a, 13b are provided at the four corners of the lower surface portion of the bogie frame 11. The cardboard box P containing the articles is placed on the upper mounting plate 13b, but it may also be placed on the lower mounting plate 13a.

[0017] The Segway 20 has left and right drive wheels 23a, 23b that incorporate in-wheel motors pivotally supported coaxially on the vehicle body frame 21, and left and right pedals 22a, 22b that can swing in a seesaw-like manner in the front-rear direction and can return to the horizontal by front and rear lifting springs for the user M to stand on. It also has a secondary battery (large-capacity lithium battery) 24a that is the power source of the in-wheel motor and a control unit 24b (including a motor driver) that controls the rotation of the in-wheel motor (servo motor). There is a power switch on the rear part of the vehicle body frame 21. When the power switch is pressed once, the adjacent LED lamp lights up, power is supplied from the secondary battery 24a to the control unit 24b, and the control unit 24b operates the software. When the power switch is pressed one more time, the adjacent LED lamp goes out, the power supply from the secondary battery 24a stops, and the control unit 24b stops the operation of the software. Note that the motor may be provided on the lower surface of the vehicle body frame 21 instead of an in-wheel motor.

[0018] When powered, the control unit 24b executes automatic inversion control but does not start running. Even if the user M stands on the left and right pedals 22a, 22b, running does not start immediately. There are pressure sensors (not shown) on the front and rear sides of the lower surface parts of the left and right pedals 22a, 22b. When the user M presses the front or rear part of the left and right pedals 22a, 22b by shifting their weight, the pressure sensors turn on. The control unit 24b is configured to output a rotation control signal for the in-wheel motors of the left and right drive wheels 23a, 23b after a required delay time (for example, 1 second) has elapsed when it receives this ON signal. Note that in the present invention, since the Segway 20 is integrally connected to the trolley 10, the control unit 24b does not necessarily have a configuration to execute automatic inversion control.

[0019] Furthermore, the control unit 24b controls the left and right drive wheels 23a and 23b to rotate forward or backward at the same and specified rotational speed by cooperating with pressing down the front or rear end of both the left and right pedals 22a and 22b with the toes or heels. Also, the control unit 24b controls the drive wheel on the side where the pedal is pressed down to rotate forward or backward at a specified rotational speed + increased rotational speed and the drive wheel on the opposite side to rotate forward or backward at the specified rotational speed by cooperating with pressing down the front or rear end of one of the steps of the left and right pedals 22a and 22b with the toes or heels. This will be described in detail with reference to FIGS. 4(A)-(C) and FIGS. 5(A)-(F).

[0020] FIGS. 4(A)-(C) are diagrams for explaining the common operation of the pedals 22a and 22b.

[0021] FIG. 4(A) shows a state where the user is straddling the pedals 22a and 22b without applying weight to either the front or rear side as a whole. In this case, the control unit 24b does not output a control signal for rotating the drive wheels 23a and 23b.

[0022] FIG. 4(B) shows a state where the user is straddling the pedals 22a and 22b and applying weight to the front side. In this case, the control unit 24b outputs a control signal for rotating the drive wheels 23a and 23b forward.

[0023] FIG. 4(C) shows a state where the user is straddling the pedals 22a and 22b and applying weight to the rear side through the bottom surface of the shoes S being worn. In this case, the control unit 24b outputs a control signal for rotating the drive wheels 23a and 23b backward.

[0024] FIGS. 5(A)-(F) are diagrams for explaining the operation of the pedals 22a and 22b.

[0025] Figure 5(A) shows a state where the pedals 22a and 22b are depressed by applying body weight to the front parts (toes) of the right and left feet while stepping on the pedals 22a and 22b. In this case, the control unit 24b outputs a control signal for rotating the drive wheels 23a and 23b at the same rotational speed. Therefore, both drive wheels 23a and 23b rotate forward at the same specified rotation. Here, the specified rotation during forward movement is set, for example, in the range of 0.4 - 1.0 m / sec.

[0026] Figure 5(B) shows a state where the pedals 22a and 22b are depressed by applying body weight to the rear parts (heels) of the right and left feet while stepping on the pedals 22a and 22b. In this case, the control unit 24b rotates the drive wheels 23a and 23b backward at the same specified rotation. Here, the specified rotation during backward movement is set, for example, in the range of 0.2 - 0.5 m / sec.

[0027] Figure 5(C) shows a state where the front part (toe) of the left foot is stepped on the pedals 22a and 22b and the front side of the pedal 22b is depressed. In this case, the control unit 24b outputs a control signal for rotating the right drive wheel 23a forward at the specified rotational speed, and at the same time, outputs a control signal for rotating the left drive wheel 23b forward at a rotational speed that is required to be larger than the specified rotational speed (+ increased rotational speed). Therefore, the drive wheels 23a and 23b generate a rotational difference and travel so as to turn to the right (clockwise).

[0028] Figure 5(D) shows a state where the front part (toe) of the right foot is stepped on the pedals 22a and 22b and the front side of the pedal 22a is depressed. In this case, the control unit 24b outputs a control signal for rotating the left drive wheel 23b forward at the specified rotational speed, and at the same time, outputs a control signal for rotating the right drive wheel 23a forward at a rotational speed that is required to be larger than the specified rotational speed (+ increased rotational speed). Therefore, the drive wheels 23a and 23b generate a rotational difference and travel so as to turn to the left (counterclockwise).

[0029] Figure 5(E) shows a state where the user is stepping on the pedals 22a and 22b, applying body weight to the rear part (heel) of the left foot to push down the rear side of the pedal 22b. In this case, the control unit 24b outputs a control signal to reverse-rotate the right drive wheel 23a at a specified rotational speed, and also outputs a control signal to reverse-rotate the left drive wheel 23b at a rotational speed that is required to be larger than the specified rotational speed (+ increased rotational speed). Therefore, the drive wheels 23a and 23b generate a rotational difference and travel in a counterclockwise reverse turn.

[0030] Figure 5(F) shows a state where the user is stepping on the pedals 22a and 22b, applying body weight to the front part (heel) of the right foot to push down the rear side of the pedal 22a. In this case, the control unit 24b outputs a control signal to reverse-rotate the left drive wheel 23b at a specified rotational speed, and also outputs a control signal to reverse-rotate the right drive wheel 23a at a rotational speed that is required to be larger than the specified rotational speed (+ increased rotational speed). Therefore, the drive wheels 23a and 23b generate a rotational difference and travel in a clockwise turn.

[0031] The traveling bogie device 1 enables the bogie 10 and the Segway 20 to move forward, backward, and change direction by aligning the conversion direction of the left and right front casters 12a and 12b by the user's operation of the direction operation handle device 32 and the conversion direction of the Segway 20 by the stepping operation of the pedals 22a and 22b.

[0032] Figures 6(A)-(C) are diagrams for explaining the orientation of the handle frame 32a.

[0033] Figure 6(A) shows the orientation of the handle frame 32a when the Segway 20 is moving forward by the pedal operation shown in Figure 5(A) and when the Segway 20 is moving backward by the pedal operation shown in Figure 5(B). At this time, the orientation of the left and right front casters 12a and 12b shown in Figure 3(B) is the straight-ahead traveling direction.

[0034] FIG. 6(B) shows the state in which the direction of the handle frame 32a is turned to the right during the forward right turn of the Segway 20 by the pedal operation shown in FIG. 5(C) and during the backward right turn of the Segway 20 by the pedal operation shown in FIG. 5(F). At this time, the directions of the left and right front casters 12a and 12b shown in FIG. 3(B) are in the right turn direction.

[0035] FIG. 6(C) shows the state in which the direction of the handle frame 32a is turned to the right during the forward left turn of the Segway 20 by the pedal operation shown in FIG. 5(D) and during the backward left turn of the Segway 20 by the pedal operation shown in FIG. 5(E). At this time, the directions of the left and right front casters 12a and 12b shown in FIG. 3(B) are in the left turn direction.

[0036] As shown in FIG. 1, in this traveling bogie device 1, when the user M is on the left and right pedals 22a and 22b, as shown in FIGS. 4 and 5, the front or rear portions of both or one of the left and right pedals 22a and 22b are stepped on to rotate the left and right drive wheels 23a and 23b so that the rotational speeds are kept the same or different, and at the same time, the direction operation handle device 32 is operated forward, rightward, and leftward in accordance with the pedal operation, thereby enabling forward, backward, and direction-changing travel. The rightward and leftward travel can be realized by the cooperation of the pedal operation of the Segway 20 and the operation of changing the traveling directions of the left and right front casters 12a and 12b by the direction operation of the direction operation handle device 32, as shown in FIGS. 5 and 6.

[0037] As shown in FIGS. 2 and 3, this traveling bogie device 1 is provided with a direction operation handle device 32. The direction operation handle device 32 includes a handle frame 32a having grips 32a1 and 32a2 at both ends, a steering shaft 31, and a link mechanism 35 for changing the traveling directions of the left and right front casters 12a and 12b.

[0038] The steering shaft 31 is held by brackets 31a, 31b, and 31c provided at the lower, middle, and upper parts of the rear surface of the bogie frame 11, and the upper end thereof fixedly supports the lower surface of the center part of the handle frame 32a. The steering shaft 31 is rotatably supported at the lower, middle, and upper parts of the pipe frame 11c which is the rear surface part of the bogie frame 11, thereby holding the handle frame 32a so as to be rotatable left and right. Note that the lower part of the steering shaft 31 may be erected from a part that projects from the center of the front part of the bogie frame 11 of the Segway 20 to the rear part of the bogie frame 11, and the upper part of the shaft may be rotatably supported at the upper part of the rear surface part of the bogie frame 11.

[0039] The link mechanism 35 is of a swivel type in which the front casters 12a and 12b can change the traveling direction. The left and right end portions of the first arm 35a, which has its center fixed to the lower end of the steering shaft 31 and projects left and right, and the second arms 35b and 35c fixed to the caster brackets 12c of the left and right front casters 12a and 12b are connected by two intersecting connecting links 35d and 35e in an X shape. By operating the direction operation handle device 32, the traveling directions of the left and right front casters 12a and 12b can be changed.

[0040] The bogie 10 includes left and right brake handles 32b and 32c attached to the direction operation handle device 32, left and right brake pads 33a and 33b for braking the rotation of the left and right drive wheels 23a and 23b, and left and right brake wires 34a and 34b connecting the left and right brake handles 32b and 32c and the left and right brake pads 33a and 33b. The brake pads 33a and 33b are provided to press the tires of the drive wheels 23a and 23b, but may be configured to press the rim of the wheel.

[0041] The traveling bogie device 1 using the Segway configured as described above allows the cart 10 and the Segway 20 to move forward, backward, and change direction by aligning the turning direction of the left and right front casters 12a, 12b by the operation of the direction operation handle device 32 by the user with the turning direction of the Segway 20 by the stepping operation of the pedals 22a, 22b.

[0042] According to the traveling bogie device using the Segway of the present invention as a power means, it is possible to provide a traveling bogie device using a Segway, which is a two-wheeled vehicle capable of moving forward, backward, and changing direction by having the user stand on the left and right pedals and having the user step on the front or rear part of the left and right pedals, either both or one of them, to keep the rotational speeds of the left and right drive wheels the same or different.

Explanation of Signs

[0043] 1…Traveling bogie device, 10…Cart, 11…Cart frame, 11a, 11b…Mounting plates, 11c…Pipe frame, 12a, 12b…Front casters, 12c, 12d…Caster brackets, 13a, 13b…Rear casters, 20…Segway, 21…Vehicle body frame, 22a, 22b…Pedals, 23a, 23b…Drive wheels, 24a…Secondary battery, 24b…Control unit, 31…Steering shaft, 31a, 31b, 31c…Brackets, 32…Direction operation handle device, 32a…Handle frame, 32a1, 32a2…Grips, 32b, 32c…Brake handles, 33a, 33b…Brake pads, 34a, 34b…Brake wires, 35…Link mechanism, 35a…the first arm, 35b, 35c…the second arm, 35d, 35e…connecting links 36a, 36b…connecting bars, M…user, P…corrugated box, S…shoe.

Claims

1. A dolly having front casters and rear casters at four corners of a bottom surface of the dolly frame; A Segway in which a body frame is (integrally) connected to the rear of the carriage frame, and a user standing on the left and right pedals can step on the front or rear parts of both or either of the left and right pedals to keep the rotation speed of the left and right drive wheels the same or different to move forward, backward, or change direction; a link mechanism for changing the traveling direction of the left and right front casters by operating a direction operation handle device whose center portion is held by an upper end of a steering shaft erected in the center of the rear surface portion of the cart frame and extends in the left and right direction, A traveling cart device using a Segway as a traveling power means, characterized in that the cart and the Segway can move forward, backward, and change direction by matching the direction of change of the front casters to the left and right by the user's operation of the direction control handle device with the direction of change of the Segway by stepping on the pedal.

2. 2. The traveling cart device using a Segway as a traveling power means as described in claim 1, wherein the link mechanism is configured such that the front casters are of a free-form type that allows the direction of travel to be changed, and the left and right ends of a first arm that is fixed at its center to the lower end of the steering shaft and extends to the left and right are connected to a second arm that is fixed to the caster brackets of the left and right front casters by two connecting links that intersect in an X shape.

3. 2. A traveling cart device using a Segway as a traveling power means as described in claim 1, wherein the cart has left and right brake handles attached to the directional control handle device, left and right brake pads for braking the rotation of the left and right drive wheels, and left and right brake wires connecting the left and right brake handles and the left and right brake pads.

4. 2. The traveling cart device according to claim 1, wherein the cart is provided with storage shelves in two or three upper and lower stages on the cart frame, and the Segway as described in claim 1 is used as a traveling power means.

Images