Mobile

Abstract

A moving body is provided that has a main body that contributes to stabilizing the riding posture. [Solution] The mobility M comprises a main body part 1 having a seat 11a as a seating portion on which an occupant can straddle and ride, and a main body support part 2 having a rim part 2L arranged on the side of the main body part 1 and supporting the main body part 1 so that it can swing. The main body part 1 has an axle part 3 that swingably connects the main body part 1 and the rim part 2L, a footrest 15 on which an occupant riding in the seat 11a places their feet, an operating part 12 that can be grasped and operated by an occupant riding in the seat 11a, and a support part 51 that spans between the seat 11a and the axle part 3. The support part 51 is arranged at a height position between the seat 11a and the footrest 15 in a front view, and connects the front part of the main body part to the axle part 3 that is arranged in the area between the center of the seat 11a and the operating part 12 in a fore-and-aft position so that it passes in front of the legs of an occupant riding in the seat 11a and placing their feet on the footrest 15 in a plan view.

Description

[Technical Field]

[0001] The present invention relates to a moving object. [Background technology]

[0002] Mobility vehicles with interchangeable main bodies are known. For example, several interchangeable main body variations have been proposed, including a saddle-type vehicle in which the occupant sits astride, a chair-type vehicle in which the occupant sits with their knees together, and a standing-type vehicle in which the occupant can ride while standing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2025-58434 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional mobility vehicles have room for improvement in terms of the riding position of the occupant. Mobility vehicles are equipped with a link shaft that swingably connects the main body and the rim. For example, in mobility vehicles equipped with a saddle-type main body, this link shaft may come into contact with the legs, specifically the knees, of the occupant sitting astride the main body, hindering the stability of the riding position of the occupant.

[0005] Therefore, an object of the present invention is to provide a vehicle having a main body that contributes to stabilizing the riding posture. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, the mobile body of the present invention comprises a main body having a seat on which an occupant can straddle and ride, and a main body support having a rim portion arranged on the side of the main body and supporting the main body in a swingable manner, the main body having an axle portion that swingably connects the main body and the rim portion, a footrest on which the occupant sitting on the seat places their feet, an operating portion that can be grasped and operated by the occupant sitting on the seat, and a support portion that spans between the seat and the axle portion, the support portion being arranged at a height position between the seat and the footrest in a front-to-back direction and connecting the front of the main body to the axle portion that is arranged in the area between the center of the seat and the operating portion in a front-to-back direction so as to pass in front of the legs of the occupant sitting on the seat and placing their feet on the footrest in a plan view. [Effects of the Invention]

[0007] According to the present invention, a moving body having a main body portion that contributes to stabilizing the riding posture can be provided. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view of a moving body according to an embodiment of the present invention, as viewed from the left side relative to the direction of travel (the right side when viewed from the front). FIG. [Figure 2] 1 is a plan view of a moving body according to an embodiment of the present invention; [Figure 3] 1 is a front view of a moving body according to an embodiment of the present invention; [Figure 4] FIG. 2 is a rear view of a moving body according to an embodiment of the present invention. [Figure 5] 1 is a schematic diagram showing the arrangement of actuators provided in a moving body according to an embodiment of the present invention; [Figure 6] 1 is a plan view of the main body of a mobility device according to a first embodiment of the present invention; [Figure 7] 1 is a front view of a main body of a mobility device according to a first embodiment of the present invention; [Figure 8] 1 is a side view of the main body of a mobility device according to a first embodiment of the present invention; [Figure 9] FIG. 4 is a plan view of the main body of a mobility device according to a second embodiment of the present invention. [Figure 10] FIG. 6 is a front view of the main body of a mobility device according to a second embodiment of the present invention. [Figure 11] FIG. 6 is a side view of the main body of a mobility device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

[0010] In the following description, the front-to-rear direction TL, the left-to-right direction BL, and the up-to-down direction WL each indicate the directions of the moving body M in use, and the left-to-right direction on the plane of FIG. 1 is the front-to-rear direction TL of the moving body M. The left direction on the plane of FIG. 1 is the front. The front-to-rear direction TL corresponds to the direction of the occupant riding on the moving body M, and the left-to-right direction BL and the up-to-down direction WL of the moving body M are all directions from the occupant facing forward and are perpendicular to the front-to-rear direction TL. When the moving body M is upright on a horizontal ground or floor, the front-to-rear direction TL and the left-to-right direction BL are defined as horizontal directions, and the up-to-down direction WL is defined as vertical directions.

[0011] The overall configuration of a moving body (hereinafter referred to as "multipurpose mobility" or simply "mobility") M according to one embodiment of the present invention will be described with reference to FIGS.

[0012] The mobility M according to this embodiment is used for transporting people (hereinafter referred to as "occupants"). However, the mobility M is not limited to this, and can also be used to transport luggage other than people by replacing the main body 1.

[0013] 2, the mobility M includes a main body 1 located in the center of the left and right, and main body support parts 2 (2L, 2R) disposed on the left and right of the main body 1. The main body support parts 2 support the main body 1 from the ground or floor.

[0014] The main body 1 has a living space 11 in which an occupant can sit. The living space 11 is provided with a seat 11a on which the occupant sits when the mobility M is moving, and the occupant sitting on the seat 11a sits facing upward in the plane of FIG. 2. In other words, the upward side in the plane of FIG. 2 (the left side in the plane of FIG. 1) is the forward direction of the mobility M, and is the front of the mobility M. In this embodiment, the living space 11 is a so-called saddle-type living space in which the occupant can sit in a straddling position.

[0015] The main body 1 includes a sitting section 11, an operating section 12, a detecting section 13, and a footrest 15.

[0016] The operating unit 12 is a handle-type operating unit, and the occupant operates the operating unit 12 to increase or decrease the movement speed of the mobility M, and when moving by wheels 23f, 23r (i.e., when running), generates braking force on wheels 23f, 23r as necessary.

[0017] 1, a detection unit 13 is disposed on the front surface of the main body 1 in front of the operation unit 12, and on the side surface of the main body 1 below the operation unit 12. The detection unit 13 includes an external sensor 131. The external sensor 131 acquires information about the surrounding environment of the moving object M.

[0018] In this embodiment, a camera for monitoring the front is adopted as the external sensor 131. The external sensor 131 is placed in a position on the main body 1 where it can view the route ahead of the mobility M, analyzes the captured image, and detects information about the shape of the route, such as the width, gradient, steps, and undulations of the route (hereinafter referred to as "route information").

[0019] The detection unit 13 further includes an acceleration sensor 132 .

[0020] The acceleration sensor 132 is a six-axis inertial sensor (IMU) that detects translational acceleration along three mutually orthogonal axes and angular velocities about each of these three axes. Based on these translational accelerations and angular velocities, the acceleration sensor 132 detects the forward / backward acceleration αT, left / right acceleration αB, up / down acceleration αW, pitching angular velocity θp, yawing angular velocity θy, and rolling angular velocity θr of the moving object M.

[0021] The footrest 15 is disposed below the seat 11a of the living area 11, specifically the seat 11a, and supports the feet of an occupant seated on the seat 11a when the mobility M is moving. Here, the "feet" of a human occupant refers to the part of the occupant's body from the ankle to the toes, and is distinguished from the "legs" which are the body parts from the hip joint to the ankle. In other words, the footrest 15 supports the occupant's legs from below, with the knees bent and forward.

[0022] In addition to the above, the main body 1 includes a control unit (not shown) and a power supply unit such as a secondary battery or a fuel cell.

[0023] The control unit is configured by a microcomputer equipped with a central processing unit (CPU) and various storage devices such as ROM and RAM, and receives operation instruction signals input by the occupant via the operation unit 12, as well as detection signals from the camera 131 and acceleration sensor 132 from the detection unit 13. The control unit executes predetermined calculations based on the operation instruction signals and detection signals, and outputs resulting drive command signals to various actuators provided in the movable parts of the main body support unit 2.

[0024] Here, the mobility M is equipped with a power supply unit in the main body 1, so that power is supplied to the main body 1 when it is attached, making it operable. If a secondary battery is used for the power supply unit, the secondary battery can be charged by connecting it to an external power source while it is attached to the main body 1 or while it is removed from the main body 1, or it can be removed from the main body 1 and replaced with another charged secondary battery.

[0025] As mentioned above, the main body 1 can be replaced depending on the application. For example, the main body 1 can be replaced with a chair-type seating section shown in Figures 8 to 11 in which a passenger can sit with their knees together, or a standing-type seating section (not shown) in which a passenger can board while standing, instead of the saddle-type seating section 11 shown in Figures 1 to 7.

[0026] In addition to the above, the main body 1 can be replaced with a main body equipped with a loading platform on which luggage can be placed during transport, or a main body equipped with a stretcher on which an injured person can be transported lying down. Either of these main bodies can be equipped with an operating unit, a detecting unit, a control unit, and a power supply unit, just like the main body 1 shown in the figure.

[0027] In the following description of the main body support part 2, reference will be made to FIG. 5 as appropriate.

[0028] 1, main body support part 2 has front and rear legs 22f, 22r provided on the left and right sides, respectively, which form four limbs. Main body support part 2 is attached to main body part 1, and supports main body part 1 in a state where it stands independently on the ground or floor surface by these four limbs (legs 22f, 22r).

[0029] The main body support unit 2 includes a rim unit (hereinafter referred to as the "left rim unit") 2L located on the left side in the forward direction of the mobility M, and a rim unit (hereinafter referred to as the "right rim unit") 2R located on the right side. The left rim unit 2L and the right rim unit 2R are disposed on either side of the front-to-rear centerline Actr of the mobility M, sandwiching the main body unit 1 therebetween. The left rim unit 2L and the right rim unit 2R are connected to the support unit 51 (described later) so as to be able to swing relative to each other around an axis (hereinafter referred to as the "waist link axis") A1 extending in the left-to-right direction BL (FIG. 2). The front-to-rear centerline Actr refers to a line extending in the front-to-rear direction TL through the center of the left-to-right direction BL of the mobility M.

[0030] Here, the left rim portion 2L corresponds to the "first rim portion" according to this embodiment, and the right rim portion 2R corresponds to the "second rim portion" according to this embodiment.

[0031] As shown in Figure 2, the main body 1 and the left and right rims 2L, 2R are connected via support parts 51 having axles 3. The axles 3 are formed on both left and right ends of the support part 51 and are positioned on the waist link axis A1. The support parts 51 are connected to the left and right rims 2L and 2R by the left and right axles 3 so as to be rotatable about the waist link axis A1.

[0032] In other words, the left rim 2L ​​and support part 51, and the right rim 2R and support part 51, can swing relative to each other around the waist link axis A1. This swinging motion allows the left rim 2L ​​and the right rim 2R to independently adjust their angles with the main body 1 around the waist link axis A1. This swinging motion helps to maintain the main body 1 in a horizontal position.

[0033] The left and right rim portions 2L and 2R are symmetrical with respect to a plane perpendicular to the waist link axis A1 and including the front-to-rear centerline Actr. The configuration of the left and right rim portions 2L and 2R will be described below using the left rim portion 2L as an example. The following description of the left rim portion 2L is equally applicable to the right rim portion 2R.

[0034] As shown in FIG. 1, the left rim portion 2L comprises, as main components, a rim main body portion 21, a front leg portion 22f, and a rear leg portion 22r.

[0035] The rim main body 21 extends in the front-to-rear direction TL in the normal position (hereinafter referred to as the "basic position") shown in Figures 1 to 4, with the waist ring axis A1 located slightly forward of the center in the front-to-rear direction TL.

[0036] Referring to FIG. 5, as will be described later, the rim main body 21 has the hip joints HJf disposed in the front and the HJr disposed in the rear. In the side view shown in FIG. 5, if an imaginary line passing through the hip joint axes A2f extending in the left-right direction BL of the front hip joints HJf and the hip joint axes A2r extending in the left-right direction BL of the rear hip joints HJr is defined as a rim main body extension line VL1, the waist link axis A1 deviates from the rim main body extension line VL1 and is disposed above the rim main body extension line VL1 in the basic posture. The rim main body 21 has a main body front half 21f extending forward with the waist link axis A1 as the boundary, and a main body rear half 21r extending rearward and being longer in the front-to-rear direction TL than the main body front half 21f. In other words, the front-to-rear dimension Lf of the main body front half 21f and the front-to-rear dimension Lr of the main body rear half 21r have the following relationship: Lf <Lr …(1)

[0037] Here, the front-to-rear dimension Lf of the front half 21f of the main body is the distance in the front-to-rear direction TL from the waist link axis A1 to the joint axis A2f of the front hip joint HJf, and the front-to-rear dimension Lr of the rear half 21r of the main body is the distance in the front-to-rear direction TL from the waist link axis A1 to the joint axis A2r of the rear hip joint HJr.

[0038] The rim main body 21 has a front hip joint HJf at the tip of the front half 21f (i.e., the front end of the rim main body 21), and a rear hip joint HJr at the tip of the rear half 21r (i.e., the rear end of the rim main body 21). In other words, the rim main body 21 forms a link connecting the front and rear hip joints HJf, HJr.

[0039] The front hip joint member HJf and the rear hip joint member HJr have hip joint axes A2f and A2r, respectively, that extend in the left-right direction BL. The joint axis A2f of the front hip joint member HJf (hereinafter referred to as the "front hip joint axis") and the joint axis A2r of the rear hip joint member HJr (hereinafter referred to as the "rear hip joint axis") are parallel to the waist link axis A1 in the basic posture.

[0040] In this embodiment, the front hip joint HJf can rotate about an axis A21f extending in the anterior-posterior direction TL, and the orientation of the front hip joint axis A2f can be changed in the circumferential direction around this axis A21f. Similarly, the rear hip joint HJr can rotate about an axis A21r extending in the anterior-posterior direction TL, and the orientation of the rear hip joint axis A2r can be changed in the circumferential direction around this axis A21r.

[0041] In the following description, the axes A21f and A21r are each referred to as the "hip joint rotation axis." The hip joint rotation axis A21f associated with the anterior hip joint HJf is referred to as the "anterior hip joint rotation axis," and the hip joint rotation axis A21r associated with the posterior hip joint HJf is referred to as the "posterior hip joint rotation axis." In other words, the anterior hip joint axis A2f is rotatable about the anterior hip joint rotation axis A21f, and the posterior hip joint axis A2r is rotatable about the posterior hip joint rotation axis A21r.

[0042] Here, the front hip joint rotation axis A21f is the central axis of internal and external rotation of the entire front leg 22f, and corresponds to the "third axis" according to this embodiment. The rear hip joint rotation axis A21r is the central axis of internal and external rotation of the entire rear leg 22r, and corresponds to the "fourth axis" according to this embodiment.

[0043] In this embodiment, the anterior hip joint rotation axis A21f and the posterior hip joint rotation axis A21r are on a common line extending in the front-to-back direction TL, and their extensions overlap each other. However, the present invention is not limited to this, and the anterior hip joint rotation axis A21f and the posterior hip joint rotation axis A21r may be offset in the left-right direction BL or the up-down direction WL and parallel to each other.

[0044] The front leg 22f is connected to the rim body 21 via the front hip joint HJf, and can be adduced and abducted around the front hip joint axis A2f relative to the rim body 21. Rotation in the direction in which the angle that the line VL2f (hereinafter referred to as the "front leg upper thigh extension line") connecting the front hip joint axis A2f and the front knee joint axis A3f, which will be described later, makes with the rim body extension line VL1 narrows is called "adduction," and conversely, rotation in the direction in which this angle widens is called "abduction" (Figure 5).

[0045] Here, the anterior hip joint axis A2f corresponds to the "first axis" according to this embodiment.

[0046] In this embodiment, because the front hip joint HJf can rotate about the front hip joint rotation axis A21f, the front leg 22f can rotate internally and externally about the front hip joint rotation axis A21f relative to the rim body 21. Rotation in which the front hip joint axis A2f tilts upward relative to the horizontal on the inside of the left-right direction BL is called "internal rotation," and rotation in which the front hip joint axis A2f tilts upward relative to the horizontal on the outside of the left-right direction BL is called "external rotation." The front legs 22f provided on the left and right rim portions 2L, 2R move closer to each other through internal rotation and move away from each other through external rotation.

[0047] The front leg 22f includes a front-leg upper thigh 221f extending from a front hip joint HJf and a front-leg lower thigh 222f connected to the front-leg upper thigh 221f via a front knee joint KJf so as to be able to be flexed and extended. A rotation in a direction in which the angle formed by a line VL3f (hereinafter referred to as the "front knee joint axis") connecting a joint axis A3f of the front knee joint KJf (hereinafter referred to as the "front knee joint axis") and a front wheel axis A4f (described later) relative to a front-leg upper thigh extension line VL2f narrows is called "flexion," and a rotation in a direction in which this angle widens is called "extension" (FIG. 5). In the basic posture, the front knee joint axis A3f extends in the left-right direction BL and is parallel to the waist link axis A1 and the front hip joint axis A2f.

[0048] Front wheels 23f are attached to the tips of the front leg crus 222f, and the front legs 22f come into contact with the ground or floor surface via the front wheels 23f when the mobility M moves. In other words, the front wheels 23f form the contact points of the front legs 22f of the mobility M when moving.

[0049] The front crus 222f and the front wheels 23f are connected via the front ankle joint AJf. The front ankle joint AJf changes the angle that the rotation axis A4f of the front wheels 23f (the wheel axis of the front wheels 23f, hereinafter referred to as the "front wheel axis") forms with the longitudinal center line Actr of the mobility M in the plan view shown in FIG. 2. A rotation in which the intersection point between the front wheel axis A4f and the longitudinal center line Actr moves backward is called "varus," and conversely, a rotation in which this intersection point moves forward is called "evertus." The front edges of the front wheels 23f provided on the left and right rim portions 2L and 2R move closer to each other due to inversion and move away from each other due to eversion.

[0050] Here, the front ankle joint AJf corresponds to the "front leg rotation part" according to this embodiment, and the angle that the front wheel axis A4f makes with respect to the longitudinal center line Actr in a plan view of the mobility M corresponds to the "first angle" according to this embodiment. In the basic posture, the front wheel axis A4f is perpendicular to the longitudinal center line Actr. In other words, the "first angle" in the basic posture is 90°.

[0051] The rear leg 22r is connected to the rim body 21 via the rear hip joint HJr and can be adduced and abducted relative to the rim body 21 around the rear hip joint axis A2r. As with the front leg 22f, rotation in the direction that narrows the angle that the line VL2r (hereinafter referred to as the "rear leg upper thigh extension line") connecting the rear hip joint axis A2r and the rear knee joint axis A3r makes with the rim body extension line VL1 is called "adduction," and conversely, rotation in the direction that widens this angle is called "abduction" (Figure 5). The adduction and abduction of the rear leg 22r are rotations in the opposite direction to those of the front leg 22f.

[0052] Here, the rear hip joint axis A2r corresponds to the "second axis" according to this embodiment.

[0053] Like the front leg 22f, the rear hip joint HJr can rotate about the rear hip joint rotation axis A21r, and therefore the rear leg 22r can rotate internally and externally about the rear hip joint rotation axis A21r relative to the rim body 21. Rotation in which the rear hip joint axis A2r tilts upward relative to the horizontal on the inside of the left-right direction BL is called "internal rotation," and rotation in which the rear hip joint axis A2r tilts upward relative to the horizontal on the outside of the left-right direction BL is called "external rotation." The rear legs 22r provided on the left and right rim portions 2L, 2R move closer to each other through internal rotation and move away from each other through external rotation.

[0054] The rear leg 22r includes a rear upper thigh 221r ​​extending from a rear hip joint HJr and a rear lower thigh 222r connected to the rear upper thigh 221r ​​via a rear knee joint KJr so as to be able to be flexed and extended. Rotation in a direction that narrows the angle formed by a line VL3r (hereinafter referred to as the "rear lower crus extension line") connecting the joint axis A3r of the rear knee joint KJr (hereinafter referred to as the "rear knee joint axis") and a rear wheel axis A4r (described later) with respect to the rear upper thigh extension axis VL2r is referred to as "flexion," while rotation in a direction that widens this angle is referred to as "extension" (FIG. 5). In the basic posture, the rear knee joint axis A3r extends in the left-right direction DW and is parallel to the waist link axis A1 and the rear hip joint axis A2r.

[0055] A rear wheel 23r is attached to the tip of the rear leg crus 222r, and the rear leg 22r comes into contact with the ground or floor surface via the rear wheel 23r when the mobility M moves. In other words, the rear wheel 23r forms the contact point of the rear leg 22r of the mobility M when moving.

[0056] The rear crus 222r and the rear wheel 23r are connected via the rear ankle joint AJr. The rear ankle joint AJr changes the angle that the rotation axis A4r of the rear wheel 23r (the wheel axis of the rear wheel 23r, hereinafter referred to as the "rear wheel axis") forms with the longitudinal center line Actr of the mobility M in the plan view shown in FIG. 2. A rotation in which the intersection point between the rear wheel axis A4r and the longitudinal center line Actr moves backward is called "varus," and conversely, a rotation in which this intersection point moves forward is called "eversion." The rear end edges of the rear wheels 23r provided on the left and right rim portions 2L, 2R move closer to each other due to inversion and move away from each other due to eversion.

[0057] Here, the rear foot joint AJf corresponds to the "rear leg rotation part" according to this embodiment, and the angle that the rear wheel axis A4r forms with respect to the longitudinal center line Actr in a plan view of the mobility M corresponds to the "second angle" according to this embodiment. In the basic posture, the rear wheel axis A4r is perpendicular to the longitudinal center line Actr. In other words, the "second angle" in the basic posture is 90°.

[0058] The mobility M can change the vertical dimension from the front wheel axle A4f to the front hip joint axis A2f by moving the front hip joint HJf and the front knee joint KJf. In other words, the height position Hf of the front hip joint HJf relative to the ground contact point of the front wheel 23f can be changed. On the other hand, the vertical dimension from the rear wheel axle A4r to the rear hip joint axis A2r by moving the rear hip joint HJr and the rear knee joint KJr can be changed. In other words, the height position Hr of the rear hip joint HJr relative to the ground contact point of the rear wheel 23r can be changed. In this embodiment, the height position of the front hip joint axis A2f is defined as the height position Hf of the front hip joint HJf, and the height position of the rear hip joint axis A2r is defined as the height position Hr of the rear hip joint HJr ( FIG. 5 ).

[0059] In this embodiment, the shapes of the front leg crus 222f and the rear leg crus 222r, in other words, the crus shape from the front knee joint axis A3f to the front wheel axis A4f and the crus shape from the rear knee joint axis A3r to the rear wheel axis A4r, are non-linear, and the crus 222f, 222r have crus flexion portions formed to deviate from the respective crus extension lines VL3f, VL3r.

[0060] The front leg crus 222f and the rear leg crus 222r are connected to the knee joints KJf, KJr and the wheels 23f, 23r via the crus flexion portions, and are generally V-shaped overall. The front leg crus 222f and the rear leg crus 222r may be shaped other than V, for example, C-shaped or L-shaped. The crus flexion portions deviate from the crus extension lines VL3f, VL3r upward or outward in the front-to-back direction DL in the basic posture of the mobility M; specifically, forward in the forward direction for the front leg crus 222f and backward for the crus 222r.

[0061] In this embodiment, the ankle joints AJf, AJr and the wheels 23f, 23r are connected via support arms 24 (24f, 24r). The front ankle joint AJf and the front wheel 23f are connected via the front foot support arm 24f, and the rear ankle joint AJr and the front wheel 23r are connected via the rear foot support arm 24r. The front leg crus 222f includes the front foot support arm 24f in its crus flexion, and the rear leg crus 222r includes the crus flexion in its crus flexion.

[0062] The front leg support arms 24f and the rear leg support arms 24r have the same configuration on the front and rear sides, and are arranged in a plane-symmetrical state on the left and right sides. The configuration of the front leg support arms 24f and the rear leg support arms 24r will be described using the front leg support arm 24f on the left rim portion 2L as an example. The following description of the front leg support arm 24f on the left rim portion 2L is equally applicable to the rear leg support arm 24r on the left rim portion 2L and the front leg support arm 24f and the rear leg support arm 24r on the right rim portion 2R.

[0063] As shown in Figure 3, the front foot support arm 24f has a protruding portion 241 that extends from the front ankle joint AJf in a direction perpendicular to its joint axis A5f, in other words, in a radial direction centered on the joint axis A5f of the front ankle joint AJf, and a hanging portion 242 that bends from the tip of the protruding portion 241 and extends downward toward the front wheel axle A4f.

[0064] With this configuration, the front leg support arm 24f has an overall L-shape, and is connected to the front ankle joint AJf at the base end of the overhanging portion 241 and to the front wheel 23f at the lower end of the hanging portion 242.

[0065] In this embodiment, the protrusion 241 protrudes inward from the front foot support arm 24f in the left-right direction BL, and therefore the front foot support arm 24f connects the joint axis A5f of the front ankle joint AJf to the front wheel axis A5f on one side of the front wheel 23f, specifically, on one side of a plane that is perpendicular to the front wheel axis A5f and includes the center of the front wheel 23f, and supports the front wheel 23f in a cantilevered state relative to the front ankle joint AJf.

[0066] As shown in Figures 7 and 8, the footrest 15 comprises a foot receiving portion 151 that forms a support surface on which the occupant's feet are placed, and a foot receiving support portion 152 that extends upward from the foot receiving portion 151, connects to the living portion 11, and supports the foot receiving portion 151 on the living portion 11.

[0067] The foot receiving portion 151 is generally flat and has dimensions in the front-rear direction and the left-right direction that allow the soles of the occupant's feet to be placed thereon.

[0068] The foot receiving portion 151 and the foot receiving support portion 152 are connected in a T-shape in rear view as shown in Fig. 4, and the footrest 15 forms a T-shape as a whole when the mobility M is viewed from behind. With such a footrest 15, the occupant can place their feet on the foot receiving portion 151 with their right leg or foot on the right side of the foot receiving support portion 152 and their left leg or foot on the left side, relative to the forward direction of the mobility M.

[0069] 1, foot support section 152 is formed by a pair of link members 152a, 152b arranged parallel to each other with a gap in the front-to-rear direction. Connections of link members 152a, 152b are provided at intervals in the front-to-rear direction between living section 11 and foot support section 151, respectively, and these four connection parts are arranged at the corners of a parallelogram.

[0070] The front connection portions of the living section 11 and the foot support section 151 are connected to each other by one link member (the front link member, hereinafter referred to as the "driving link member") 152a, and the rear connection portions are connected to each other by the other link member (the rear link member, hereinafter referred to as the "driven link member") 152b, so that the foot support section 151 and the foot support section 152 as a whole form a parallelogram link mechanism.

[0071] Axis A7 is provided concentrically with the front connecting portion provided on living section 11, and by driving front link member 152a in a rotational direction about axis A7, the entire link mechanism of footrest 15 is deformed, and foot receiving section 151 can be displaced in the rotational direction about axis A7. Axis A7 is an axis parallel to waist link axis A1 and is provided separately from waist link axis A1. Footrest 15 can also be configured to be rotatable about waist link axis A1 instead of axis A7.

[0072] The foot receiving portion 151 is displaceable in a rotational direction about the axis A7, and in this embodiment, is displaceable between a first position P1 in the basic posture shown in Fig. 1 and a second position P2 (not shown) in the riding / dismounting posture of the mobility M when the occupant gets on or off. In other words, the footrest 15 can change the height position of the foot receiving portion 151 relative to the seat 11a by displacing in a rotational direction about the axis A7.

[0073] The adduction and abduction movements of the hip joints HJf, HJr, the internal rotation and external rotation movements of the hip joints HJf, HJr, the flexion and extension movements of the knee joints KJf, KJr, and the inversion and eversion movements of the ankle joints AJ1, AJ2 will be described using the front leg 22f of the left rim part 2L as an example with reference to Figure 5. The following description of the front leg 22f of the left rim part 2L is equally applicable to the rear leg 22r of the left rim part 2L and the front and rear legs 22f, 22r of the right rim part 2R.

[0074] The front leg 22f can be adducted and abducted around its joint axis A2f by the front hip joint HJf. This movement of the front leg 22f changes the angle that the front leg upper thigh extension line VL2f makes with the rim body extension line VL1. Looking at the front leg 22f as a whole, this changes the angle that the front leg 22f makes with the rim body 21; more specifically, the angle that the straight line connecting the front hip joint axis A2f and the front wheel axis A4f makes with the rim body extension line VL1.

[0075] The front hip joint axis HJf can impart to the front leg 22f not only adduction and abduction, but also rotation about an axis perpendicular to the front hip joint axis A2f, i.e., the front hip joint rotation axis A21f. This movement of the front leg 22f changes the angle that the front leg upper thigh extension line VL2f makes with the line extending in the up-down direction WL when the mobility M is viewed from the front—in other words, the perpendicular line extending from the rim body extension line VL1 to the ground or floor. The internal rotation of the front leg 22f moves the contact point of the front wheel 23f with the ground or floor closer to the left-right direction BL with respect to the fore-aft center line Actr of the mobility M, while the external rotation moves the contact point of the front wheel 23f away from the fore-aft center line Actr.

[0076] The front leg 22f can be bent and extended around its joint axis A3f by the front knee joint KJf. This movement of the front leg 22f changes the angle that the front leg lower crus 222f makes with the front leg upper crus 221f, specifically, the angle that the front leg lower crus extension line VL3f makes with the front leg upper crus extension line VL2f.

[0077] The front leg 22f can rotate invertedly and evertedly around its joint axis A5f by the front ankle joint AJf. This movement of the front leg 22f changes the angle that the front wheel axis A4f makes with respect to the rim body extension line VL1 when the mobility M is viewed from above. The inversion and eversion of the front leg 22f allows the mobility M to change its direction of travel when running on the wheels 23f, 23r. In other words, the steering of the mobility M when running is determined by the movement of the front ankle joint AJf.

[0078] The mobility M according to this embodiment has 9 degrees of freedom for each of the left and right rim portions 2L and 2R of the movable parts related to changes in its posture, for a total of 18 degrees of freedom. This number excludes the degrees of freedom related to the rotation of the front and rear wheels 23f and 23r. The arrangement of the actuators ACT (ACT1 to ACT3, ACT5, ACT6) that provide these 18 degrees of freedom will be described with reference to FIG. 5.

[0079] The mobility M includes 18 drive motors ACT1 to ACT3, ACT5 and ACT6 as the actuators ACT in each of the first rim portion 2L and the second rim portion 2R.

[0080] The first drive motor ACT1 is built into the housing of each of the left and right rim main bodies 21 to which the axle 3 is attached, and imparts a swinging motion of the rim main body 21 around the waist link axis A1. Cooperation between the first drive motor ACT1 provided on the left rim 2L ​​and the first drive motor ACT1 provided on the right rim 2R realizes relative swinging motion between the left rim 2L ​​and the right rim 2R, and can also realize swinging motion of the main body 1 relative to the main body support 2.

[0081] The second drive motors ACT2f, ACT2r are built into the housing of the rim main body 21 at the tip of the rim main body 21 where the front and rear hip joints HJf, HJr are provided, and impart adduction and abduction movements to the front and rear legs 22f, 22r, respectively, around the hip joint axes A2f, A2r.

[0082] The third drive motors ACT3f, ACT3r are built into the housings of the front and rear upper thighs 221f, 221r, and impart flexion and extension movements to the front and rear legs 22f, 22r about the knee joint axes A3f, A3r, respectively.

[0083] In this embodiment, the rotation axes of the knee joints KJf, KJr and the actuators (third drive motors ACT3f, ACT3r) that realize the bending and stretching movements thereof do not coincide with each other, but rather cross each other at an intersection.

[0084] Specifically, in each of the front and rear legs 22f, 22r, a motion conversion mechanism that converts the rotational motion of the third drive actuators ACT3f, ACT3r into translational motion is built into the upper thigh main body 2211 that connects the hip joints HJf, HJr and the knee joints KJf, KJr, and the translational movable part of this mechanism is connected to the knee joint axes A3f, A3r via rods housed in the housings of the knee joints KJf, KJr. This makes it possible to convert the rotational motion of the third drive actuators ACT3f, ACT3r into bending and stretching motion of the knee joints KJf, KJr via the swinging motion of the rods.

[0085] The fifth drive motors ACT5f, ACT5r are built into the housings of the front and rear ankle joints AJf, AJr, and impart inversion and eversion movements to the front and rear wheels 23f, 23r about the ankle joint axes A5f, A5r, respectively.

[0086] The sixth drive motors ACT6f, ACT6r are built into the housing of the rim main body 21 so as to sandwich the front hip joint HJf or the rear hip joint HJr between them and the front and rear legs 22f, 22r, respectively, and impart internal and external rotation motion to the front and rear legs 22f, 22r. The sixth drive motor ACT6f, which is provided forward with respect to the waist link axis A1, sandwiches the front hip joint HJf between it and the upper thigh (front leg upper thigh 221f) of the front leg 22f, and the sixth drive motor ACT6r, which is provided rearward with respect to the waist link axis A1, sandwiches the rear hip joint HJr between it and the upper thigh (rear leg upper thigh 221r) of the rear leg 22.

[0087] The nine electric motors ACT1 to ACT3, ACT5, and ACT6 (18 in total if the electric motors provided on the left and right rim portions 2L and 2R are counted separately) are equipped with reducers and are capable of generating drive torques that drive the respective movable parts when the attitude of the mobility M changes, as well as generating holding torques that maintain the position of the movable parts after the attitude change, i.e., the rotation angle of the electric motors after the change. In addition to or instead of generating torque, a locking mechanism may be provided in the movable parts, and the position of the movable parts according to the attitude of the mobility M may be maintained by this locking mechanism.

[0088] In addition to the above, the mobility M is equipped with fourth electric motors ACT4f and ACT4r and a seventh electric motor ACT7.

[0089] The fourth electric motors ACT4f and ACT4r rotate the wheels for traveling (front wheels 23f and rear wheels 23r) and generate a braking force on the wheels by regeneration.

[0090] The seventh electric motor ACT7 is provided in the living area 11 and transmits rotational power to the footrest 15. The seventh electric motor ACT7 and the footrest 15 (specifically, the drive link member 15a) may be directly connected to each other, or a reduction gear train may be interposed between them so that the rotational power generated by the seventh electric motor ACT7 is transmitted to the footrest 15 via this gear train at an appropriate reduction ratio.

[0091] An example of replacement of the main body parts 1, 1B of the mobility M according to this embodiment will be described below with reference to FIGS.

[0092] 6 to 8, when the mobility M having a main body 1 with a saddle-type standing room portion 11 moves forward, the main body front half 21f at one end, which is shorter in the front-to-rear direction TL, precedes the main body rear half 21r at the other end. When the mobility M having a main body 1B with a chair-type standing room portion 11B moves forward, the main body rear half 21r at the other end, which is longer in the front-to-rear direction TL, precedes the main body front half 21f at one end. In other words, when the mobility M moves forward, the moving direction of the main body support portion 2 changes between the saddle-type standing room portion 11 and the chair-type standing room portion 11B.

[0093] Fig. 6 is a plan view of the main body of the mobility M according to the first embodiment of the present invention. Fig. 7 is a front view of the main body of the mobility M according to the first embodiment of the present invention. Fig. 8 is a left side view of the main body of the mobility M according to the first embodiment of the present invention.

[0094] First, the support part 51 is formed as a single unitary part, has shaft parts 3 at both ends as rim mounting parts, and has a fixing part 52 between the left and right shaft parts 3. The left and right shaft parts 3 of the support part 51 are connected to the left rim part 2L and the right rim part 2R, respectively, and the fixing part 52 is attached to the main body part 1.

[0095] The fixing part 52 has a linear first part 55 extending a predetermined length in the left-right direction BL, and second parts 56 arranged on the left and right of the first part 55 and connecting the first part 55 to the shaft part 3. The fixing part 52 to which the main body part 1 is attached is arranged in the center of the first part 55 extending in the left-right direction. The second parts 56 are arranged to extend obliquely rearward from the left and right ends of the first part 55, and are connected to the shaft part 3 at their tip sides.

[0096] The axle 3 is pivotally connected to the left rim 2L ​​and the right rim 2R, forming a pivot axis centered on the waist link axis A1. In other words, the left and right axles 3 are disposed on the waist link axis A1. The first section 55, which connects the ends of the second sections 56, is offset from the waist link axis A1 in the radial direction about the waist link axis A1. In the plan view shown in FIG. 6, the fixed section 52 is offset forward from the waist link axis A1.

[0097] Here, the left half of support part 51 extending from main body 1 attached to fixed part 52 toward left rim part 2L is referred to as "left support half" 51a, and the right half extending toward right rim part 2R is referred to as "right support half" 51b. Left support half 51a and right support half 51b are plane-symmetrical L-shaped or V-shaped, and as a whole form a trapezoidal shape with the upper base and both legs connected together in a plan view as shown in Figure 6.

[0098] The support portion 51 has a first portion 55 extending laterally from the fixed portion 52 and a second portion 56 extending substantially longitudinally from an end of the first portion 55 and extending along the main body portion 1 so as to face the main body portion 1. As a result, the left side of the main body portion 1 is surrounded by the left support half portion 51a and the right side is surrounded by the right support half portion 51b. In other words, a left footrest space FR1 that opens rearward is formed between the main body portion 1 and the left support half portion 51a, and a right footrest space FR2 that also opens rearward is formed between the main body portion 1 and the right support half portion 51b. The left footrest space FR1 is a relatively large space that can accommodate the knee and lower leg of the occupant's left leg, and the right footrest space FR2 is similarly a relatively large space that can accommodate the knee and lower leg of the occupant's right leg. These left and right footrest spaces FR1 and FR2 allow the occupant seated in the seat 11a to assume a comfortable and natural posture.

[0099] As shown in Figures 6 to 8, the main body 1 of the mobility M in the first embodiment includes a living area 11 having a seat 11a as a seating portion on which an occupant can straddle, an axle portion 3 that swingably connects the main body 1 and the rim portions 2L and 2R, a footrest 15 on which an occupant sitting on the seat 11a can place their feet HF, an operating portion 12 that can be grasped and operated by an occupant sitting on the seat 11a, and a support portion 51 that is bridged between the seat 11a and the axle portion 3.

[0100] The occupant sits astride the seat 11a, holds the main body 1 between the knees and thighs of the legs HL, places the feet HF on the footrests 15, bends the knees, and boards the mobility M in a posture with the knees pushed forward beyond the waist. The occupant also boards the mobility M while sitting astride the seat 11a, raising their arms forward of their torso and grasping the operating unit 12, i.e., the bar handles, in their hands. An occupant boarding the mobility M equipped with a saddle-type living area 11 assumes a riding posture that is slightly leaning forward from an upright position relative to the seat 11a. In the riding posture, the knees are in the most forward-extending position of the legs HL.

[0101] The main body support section 2 has rim sections 2L, 2R arranged on the sides of the main body section 1. The rim sections 2L, 2R and the main body section 1 are connected to each other via support member 51 by axle section 3 so that they can swing about waist link axis A1. It is preferable that axle section 3 (waist link axis A1) be arranged in the front-to-back direction TL and the up-to-down direction WL of the mobility M, taking into consideration the center of gravity of the main body section 1 and the center of gravity of the occupant, that is, close to the expected center of gravity when the main body section 1 and the occupant are combined.

[0102] First, in a plan view, i.e., as shown in FIG. 6 , the support section 51 has a fixed section 52 that is fixed to the living section 11. The support section 51 is symmetrical to the left and right of the main body section 1 with respect to the fixed section 52, and is generally U-shaped. The support section 51 is fixed to the main body section 1 by the fixed section 52, which is the central part of the U-shape and corresponds to the bottom, and the open end of the U-shape faces rearward of the main body section 1. The shaft section 3 is provided at the open end of the U-shaped support section 51. The pair of left and right shaft sections 3 are arranged on the same straight line on the waist link axis A1, which is perpendicular to the center plane CP that divides the main body section 1 into left and right halves. In other words, the swing axes (waist link axes A1) of the left and right rim sections 2L, 2R are arranged on the same straight line. The support part 51 connects the shaft part 3 to the fixed part 52, which is fixed to the main body part 1 and bypasses the legs HL of an occupant sitting on the seat 11a when the occupant places their feet HF on the footrest 15, and the shaft part 3 is positioned in the area between the center of the seat 11a and the operating part 12, with the fixed part 52 positioned forward of the operating part 12 in the fore-and-aft direction.

[0103] In addition, in a front view, that is, as shown in FIG. 7, the support portion 51 is disposed between the seat 11a and the footrest 15 in the vertical direction.

[0104] In other words, by attaching the support members 51 to the main body 1 including the saddle-type living space 11, the main body 1 can avoid the occupant's legs HL and can be provided with the axles 3 that are positioned in the area between the occupant's hands at the front end of the mobility M in the fore-aft direction TL and the position of the occupant's buttocks resting on the seat 11a, and that extend in the left-right direction BL of the mobility M in this area. Therefore, the support members 51 ensure space around the occupant's legs HL in the riding position and enhance the occupant's comfort when getting on and off. Furthermore, the support members 51 shorten the distance between the axles 3 and the seat 11a without interfering with the occupant's legs HL, thereby reducing the torque input from the main body 1 to the waist link axis A1. In other words, the torque required to maintain the posture of the main body 1 is reduced compared to the torque acting on the axles 3 from the main body 1 around the waist link axis A1 due to the weight of the main body 1 and the weight of the occupant. Furthermore, the support part 51 extends in front of the legs HL of the occupant in the riding position, i.e., across the front of the knees and around the sides of the legs HL, so that even if an obstacle, for example, a rod-shaped obstacle such as a pole or utility pole passes between the main body part 1 and the main body support part 2 and approaches the legs HL of the occupant, the legs HL of the occupant are protected from the obstacle.

[0105] The fixed portion 52 is fixed to the living area 11 in front of the operating portion 12. In other words, the operating portion 12 is disposed in the area between the fixed portion 52 and the seat 11a. The distance between the operating portion 12 and the fixed portion 52 is shorter than the distance between the operating portion 12 and the seat 11a. Therefore, even if an obstacle enters between the left and right main body support portions 2 and moves toward the main body 1, the obstacle will first come into contact with the support portion 51. Therefore, the support portion 51 prevents the obstacle from directly hitting or reaching the operating portion 12, thereby protecting the fingers of the occupant holding the operating portion 12.

[0106] The support part 51 is bent or curved in a convex shape that bulges away from the main body part 1 with respect to an imaginary line VL9 that connects the end part 3c of the shaft part 3 that is closer to the main body part 1 and the center 52a of the fixing part 52. In other words, the middle part of each of the left and right halves of the support part 51 is bent or curved in a convex shape that bulges away from the main body part 1 with respect to the imaginary line VL9.

[0107] If the support portion 51 were bent at a right angle, the total length of the support portion 51 would necessarily be longer than that of the support portion 51 according to this embodiment. Reducing the total length of the support portion 51 that is bent at a right angle would narrow the space secured by the support portion 51 around the legs HL of the occupant in the seating position, causing the occupant to feel cramped and oppressed and reducing comfort when getting in and out of the vehicle. On the other hand, the support portion 51 that is bent or curved in a convex shape, bulging away from the main body 1 with respect to the virtual line VL9, secures space around the legs HL of the occupant in the seating position, improves comfort when the occupant gets in and out of the vehicle, avoids interference with the legs HL of the occupant, and shortens and optimizes the path connecting the fixing portion 52 and the shaft portion 3, thereby contributing to a reduction in the weight of the support portion 51 and a reduction in the amount of material used.

[0108] The support portion 51 has a first portion 55 extending from the main body portion 1 in a direction approaching the rim portions 2L, 2R, and a second portion 56 extending along the rim portions 2L, 2R from the first portion 55 to the shaft portion 3. The cross-sectional shapes of the first portion 55 and the second portion 56 may be the same or different.

[0109] The first portion 55 is connected to the fixed portion 52. The first portion 55 extends to a position closer to the rim portions 2L and 2R than the foot rest (foot receiving portion 151) of the footrest 15. The first portion 55 may extend to a position closer to the rim portions 2L and 2R than the footrest 15. As shown in FIG. 7 , the distance L1 from the center plane CP to the farthest point on the foot receiving portion 151 of the footrest 15 is shorter than the distance L2 from the center plane CP to the farthest point on the footrest 15. In other words, the first portion 55 may extend from the center plane CP by a distance greater than the distance L1, or may extend from the center plane CP by a distance greater than the distance L2. In other words, the footrest 15 is positioned between the left and right rim portions 2L and 2R in a plan view, but does not overlap with the left and right rim portions 2L and 2R.

[0110] The support portion 51 has a first portion 55 that is located sufficiently forward of the axle portion 3 and extends in the left-right direction BL of the mobility M further than the foot receiving portion 151 of the footrest 15 on which the occupant places their foot HF in the riding position, or further than the footrest 15 itself, and crosses in front of the legs HL and knees. Therefore, the support portion 51 ensures space around the legs HL of the occupant in the riding position and increases the comfort of the occupant when getting in and out. In addition, the support portion 51, which has the first portion 55, protects the legs HL of the occupant from obstacles, such as poles or utility poles, even if they pass between the main body portion 1 and the main body support portion 2 and head toward the legs HL of the occupant.

[0111] The distance between the left and right axles 3, which form the open ends of the U-shape of the support part 51, may be wider than the distances L1 and L2 from the center plane CP, but is preferably within half (1 / 2, one-half) of the wheelbase (the distance between the front wheels 23f and the rear wheels 23r). This prevents the width of the mobility M from increasing excessively, ensuring the running stability of the vehicle. The support part 51 also ensures space around the legs HL of the occupant in the riding position, improving comfort when the occupant gets in and out of the vehicle, avoiding interference with the legs HL of the occupant, and shortening and optimizing the path connecting the fixing part 52 and the axles 3, thereby contributing to reducing the weight of the support part 51 and reducing the amount of material used.

[0112] The second portion 56 has an inclined portion 58 that extends diagonally from the end of the first portion 55 toward the shaft portion 3. The second portion 56 includes a parallel portion 57 that extends from the shaft portion 3 along the rim portions 2L and 2R in parallel to the rim portions 2L and 2R, and an inclined portion 58 that extends from the end of the parallel portion 57 toward the first portion 55 in a direction away from the rim portions 2L and 2R. In other words, the second portion 56 includes the inclined portion 58 that extends diagonally from the first portion 55 toward the rim portions 2L and 2R, and the parallel portion 57 that extends from the rear end of the inclined portion 58 toward the shaft portion 3 along the rim portions 2L and 2R in parallel to the rim portions 2L and 2R.

[0113] The parallel portion 57 extends forward from the shaft portion 3. The inclined portion 58 linearly bridges between the protruding end of the first portion 55, i.e., the end of the first portion 55 farthest from the main body portion 1, and the front end of the parallel portion 57.

[0114] If the second portion 56 and the first portion 55 intersect at a right angle, the total length of the support portion 51 would necessarily be longer than that of the support portion 51 according to this embodiment. Reducing the total length of the support portion 51 where the second portion 56 and the first portion 55 intersect at a right angle would narrow the space secured by the support portion 51 around the legs HL of the occupant in the riding position, causing the occupant to feel cramped and oppressed and reducing comfort when getting in and out of the vehicle. On the other hand, the support portion 51 having the second portion 56 secures space around the legs HL of the occupant in the riding position, improving comfort when the occupant gets in and out of the vehicle, avoiding interference with the legs HL of the occupant, and shortening and optimizing the path connecting the fixed portion 52 and the shaft portion 3, thereby contributing to a reduction in the weight of the support portion 51 and a reduction in the amount of material used.

[0115] Angle A (included angle A) formed between center plane CP and the extension direction of inclined portion 58 is smaller than angle B (included angle B) formed between center plane CP and imaginary line VL9. Note that both included angles A and B are acute angles. Note that, for ease of illustration, angles A and B are illustrated with respect to a plane parallel to center plane CP in Figure 6.

[0116] When the second portion 56 and the first portion 55 intersect at a right angle, the total length of the support portion 51 is inevitably longer than that of the support portion 51 according to this embodiment. However, the angle A between the center plane CP and the inclined portion 58 is too large. In other words, if the first portion 55 is shortened and the inclined portion 58 points up toward the main body 1, the space secured by the support portion 51 around the legs HL of the occupant in the riding position becomes narrower as the front area tapers toward the main body 1 and approaches the legs HL of the occupant. Therefore, the included angle A is set smaller than the included angle B. This allows the support portion 51 to expand the space around the legs HL of the occupant in the riding position, improving comfort for the occupant when getting in and out of the car, avoiding interference with the legs HL of the occupant, and shortening and optimizing the path connecting the fixed portion 52 and the shaft portion 3, thereby contributing to reducing the weight and material of the support portion 51.

[0117] The footrest 15 is connected to the living area 11 so as to be movable, and the above-described positional relationship between the footrest 15 and other parts is valid within the entire range in which the footrest 15 can be moved.

[0118] Figure 9 is a plan view of the main body of the mobility device according to the second embodiment of the present invention, Figure 10 is a front view of the main body of the mobility device according to the second embodiment of the present invention, and Figure 11 is a side view of the main body of the mobility device according to the second embodiment of the present invention.

[0119] As shown in Figures 9 to 11, the main body 1B of the mobility M of the second embodiment includes a living area 11B having a seat 11Ba as a seating portion on which an occupant can sit with both knees aligned in front of them, an axle portion 3 that swingably connects the main body 1B to the rim portions 2L and 2R, a footrest 15B on which an occupant sitting on the seat 11Ba can place their feet HF, an operating portion 12B that can be held and operated by an occupant sitting on the seat 11Ba, and a support portion 51B that is bridged between the seat 11Ba and the axle portion 3.

[0120] The seat 11Ba has a seat surface 11Bb on which the occupant sits, a backrest 11Bc on which the occupant leans back, and an armrest 11Bd on which the occupant rests their elbows.

[0121] The operating unit 12B is provided at the front end of the armrest 11Bd.

[0122] The footrest 15B is disposed in the living area 11B, specifically below the seat 11Ba. The footrest 15B has a foot receiving portion 151 and a foot receiving support portion 152. An occupant can place both their left and right feet on the footrest 15B while seated in the seat 11Ba. The footrest 15B is connected to the living area 11B via the foot receiving support portion 152. The footrest 15B can swing integrally with the seat 11Ba around the shaft portion 3. In other words, when the seat 11Ba tilts forward or backward, the footrest 15B tilts accordingly.

[0123] The occupant sits in the seat 11Ba with both knees aligned in front of them and leans their back against the backrest 11Bc to operate the mobility M. The occupant also operates the mobility M while seated in the seat 11Ba with their elbows resting on the armrest 11Bd and their hands gripping the operating unit 12B.

[0124] The main body support 2 has rims 2L and 2R arranged on the sides of the main body 1B. The rims 2L and 2R and the main body 1B are supported by the axle 3 via the support member 51B so that they can swing about the waist link axis A1. The axle 3 is preferably arranged in the front-to-back direction TL and the up-to-down direction WL of the mobility M, taking into consideration the center of gravity of the main body 1B and the center of gravity of the occupant, that is, close to the estimated center of gravity of the main body 1B and the occupant combined. In this embodiment, the waist link axis A1 is set to be slightly above the height of the seat surface 11Bb of the seat 11Ba.

[0125] First, in a front view, i.e., as shown in FIG. 10, the support portion 51B extends beneath the seat 11Ba to support the main body portion 1B from below the seat 11Ba. The support portion 51B has a fixing portion 52B that is fixed to the main body portion 1B below the seat 11Ba. The support portion 51B is symmetrical to the left and right of the main body portion 1B with respect to the fixing portion 52B, forming a roughly U-shape. The support portion 51B is fixed to the main body portion 1B by the fixing portion 52B, which corresponds to the center and bottom of the U-shape, and the open end of the U-shape faces upward toward the main body portion 1B. The axle portion 3 is provided at the open end of the U-shaped support portion 51. The pair of left and right axle portions 3 are arranged on the same line perpendicular to the center plane CP that bisects the main body portion 1 left and right. In other words, the waist link axes A1 of the left and right rim portions 2L and 2R are arranged on the same line.

[0126] In addition, in plan view, that is, as shown in FIG. 9, the support portion 51B has the shaft portion 3 disposed in a region on the side of the sheet 11Ba.

[0127] In other words, the main body 1B, which includes the chair-type sitting section 11B, is disposed between the left and right axles 3, with the waist link axis A1 passing through the occupant seated on the seat 11Ba. In other words, the axles 3 are disposed in an area to the side of the occupant in the fore-and-aft direction TL of the mobility M, and extend from this area in the left-and-right direction BL of the mobility M, forming the waist link axis A1. Therefore, the support parts 51B do not interfere with the space around the legs HL of the occupant in the riding position, ensuring the width of the seat 11Ba on which the occupant sits, thereby enhancing the comfort of the occupant. Furthermore, the support parts 51B can shorten the distance between the axles 3 and the seat 11Ba without interfering with the legs HL of the occupant. This reduces the torque input from the main body 1B to the waist link axis A1. In other words, the torque required to maintain the posture of the main body 1B is reduced compared to the torque acting on the shaft 3 from the main body 1B due to the weight of the main body 1B and the weight of the occupant and input around the waist link axis A1.

[0128] The support portion 51B is bent or curved in a convex shape that bulges away from the main body 1B with respect to an imaginary line VL9B that connects the end 3c of the shaft 3 closer to the main body 1B and the center 52Ba of the fixed portion 52B. In other words, the middle portions of the left and right halves of the support portion 51B are bent or curved in a convex shape that bulges away from the main body 1B with respect to the imaginary line VL9B.

[0129] If the support portion 51B were bent at a right angle, the total length of the support portion 51 would necessarily be longer than that of the support portion 51B according to this embodiment. Reducing the total length of the support portion 51B that is bent at a right angle would narrow the width of the seat 11Ba on which the occupant sits or increase the height of the seat surface 11Bb of the seat 11Ba, reducing comfort when getting in and out of the vehicle. On the other hand, the support portion 51B that is bent or curved in a convex shape, bulging away from the main body 1B with respect to the imaginary line VL9B, ensures the width of the seat 11Ba on which the occupant sits and the height of the seat surface 11Bb are optimally ensured, and also shortens and optimizes the path connecting the fixed portion 52B and the shaft portion 3, thereby contributing to a reduction in the weight and material of the support portion 51B.

[0130] Support portion 51B has a first portion 55B extending from main body portion 1B in a direction approaching rim portions 2L, 2R, and a second portion 56B hanging down along rim portions 2L, 2R from shaft portion 3. The cross-sectional shapes of first portion 55B and second portion 56B may be the same or different.

[0131] The first portion 55B is continuous with the fixed portion 52. The first portion 55B extends to a foot rest of the footrest 15B, that is, to a position closer to the rim portions 2L and 2R than the foot receiving portion 151. The first portion 55B may extend to a position closer to the rim portions 2L and 2R than the footrest 15B. In a plan view, the distance L1 from the center plane CP to the farthest point on the foot receiving portion 151 of the footrest 15B is shorter than the distance L2 from the center plane CP to the farthest point on the footrest 15B. In other words, the first portion 55B may extend from the center plane CP by a distance greater than the distance L1, or may extend from the center plane CP by a distance greater than the distance L2.

[0132] The support portion 51B has a first portion 55B that extends further in the left-right direction BL of the mobility M than the foot receiving portion 151 of the footrest 15 on which the occupant places their feet HF in a riding position or the footrest 15 itself. Therefore, the support portion 51 ensures the width of the seat 11Ba on which the occupant sits, thereby increasing the comfort of the occupant.

[0133] The distance between the left and right axles 3, which form the open ends of the U-shape of the support part 51B, may be wider than the distances L1 and L2 from the center plane CP, but is preferably within half (1 / 2, one-half) of the wheelbase (the distance between the front wheels 23f and the rear wheels 23r). This ensures the vehicle's running stability without excessively widening the width of the mobility M. The support part 51B also ensures the width of the seat 11Ba on which the occupant sits, increasing comfort, and shortening and optimizing the path connecting the fixed part 52 and the axles 3, thereby contributing to reducing the weight of the support part 51 and reducing the amount of material used.

[0134] The second portion 56B includes a parallel portion 57B extending substantially vertically downward from the shaft portion 3, and an inclined portion 58B extending obliquely from the rim portions 2L and 2R toward the center from the end of the parallel portion 57B toward the first portion 55B. In other words, the second portion 56B includes an inclined portion 58B extending from the first portion 55B in a direction approaching the rim portions 2L and 2R, and a parallel portion 57B extending substantially vertically upward from the end of the inclined portion 58B toward the shaft portion 3.

[0135] The parallel portion 57B extends directly downward from the shaft portion 3. The inclined portion 58B linearly bridges between the protruding end of the first portion 55B, i.e., the end of the first portion 55B farthest from the main body 1B, and the lower end of the parallel portion 57B.

[0136] If the second portion 56B and the first portion 55B intersect at a right angle, the total length of the support portion 51B would necessarily be longer than that of the support portion 51B according to this embodiment. Reducing the total length of the support portion 51B where the second portion 56B and the first portion 55B intersect at a right angle would narrow the width of the seat 11Ba on which the occupant sits or increase the height of the seat surface 11Bb of the seat 11Ba, reducing comfort when getting in and out of the vehicle. On the other hand, the support portion 51B having the second portion 56B appropriately ensures the width of the seat 11Ba on which the occupant sits and the height of the seat surface 11Bb, and also shortens and optimizes the path connecting the fixed portion 52 and the shaft portion 3, thereby contributing to a reduction in the weight of the support portion 51 and a reduction in the amount of material used.

[0137] Angle A formed between center plane CP and the extension direction of inclined portion 58B is smaller than angle B formed between center plane CP and imaginary line VL9B. Note that both included angles A and B are acute angles. Note that in Figure 10, for ease of illustration, included angles A and B are illustrated with respect to a plane parallel to center plane CP.

[0138] If second portion 56B and first portion 55B intersect at a right angle, the total length of support portion 51B would necessarily be longer than that of support portion 51B according to this embodiment. However, if angle A between center plane CP and inclined portion 58B is too large, i.e., if inclined portion 58B rises toward main body 1B, the space secured by support portion 51B below standing-up portion 11B would taper significantly downward and become narrower as it approaches standing-up portion 11B. Therefore, included angle A is set smaller than included angle B. This creates more space secured by support portion 51B below standing-up portion 11B, making main body 1B more compact. It also shortens and optimizes the path connecting fixed portion 52B and shaft 3, thereby contributing to reducing the weight and material of support portion 51B.

[0139] In both the saddle-type and chair-type models, the support portions 51, 51B may be asymmetric. The mobility M may include, for example, a main body portion 1, 1B that is biased toward either the left or right rim portion 2L, 2R, and asymmetric support portions 51, 51B that support the main body portion 1, 1B. The mobility M may also include a pair of left and right main body portions 1, 1B, a pair of left and right rim portions 2L, 2R that sandwich the two main body portions 1, 1B, and symmetrical or asymmetric support portions 51, 51B that support the pair of left and right main body portions 1, 1B.

[0140] Therefore, the mobility M according to this embodiment is provided with main body parts 1 and 1B that contribute to stabilizing the riding posture.

[0141] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the inventions and their equivalents set forth in the scope of the utility model registration claims. [Explanation of symbols]

[0142] M…moving body, 1, 1B…main body, 11, 11B…living area, 11a, 11Ba…sheet, 12, 12B…operation unit, 13…extraction unit, 131…camera, 132…acceleration sensor, 133…motor rotation angle sensor, 15, 15B…fit stop, 2…main body support unit, 2L…left side rim, 2R…right side rim, 21…rim body, 22f…front leg, 22r…rear leg, 221f…front upper leg, 221r…rear upper leg, 222f…front lower leg, 222r…rear lower leg, 23f…front wheel, 23r… Rear wheel, 3… axle, HJf… front hip joint, HJr… rear hip joint, KJf… front knee joint, KJr… rear knee joint, A1… waist link axis, A2f… front hip joint axis, A2r… rear hip joint axis, A3f… front knee joint axis, A3r… rear knee joint axis, A4f… front wheel axle, A4r… rear wheel axle, A5f… front foot rotation axis, A5r… rear foot rotation axis, 51, 51B… support part, 52, 52B… fixing part, 55, 55B… first part, 56, 56B… second part, 57, 57B… parallel part, 58, 58B… inclined part.

Claims

1. a main body having a seat on which an occupant can straddle; a main body support portion having a rim portion disposed on a side of the main body portion and supporting the main body portion so as to be able to swing; The main body portion is a shaft portion that swingably connects the main body portion and the rim portion; a footrest on which the occupant sitting on the seat rests their feet; an operating unit that can be held and operated by the occupant sitting on the seat; a support portion that is bridged between the seat portion and the shaft portion, The support portion is When viewed from the front, the seat is disposed at a height position between the seat portion and the footrest, A moving body that connects the shaft portion, which is located in the area between the center of the seat and the operating portion in the fore-and-aft direction, to the front of the main body portion so that, in a plan view, it passes in front of the legs of the occupant who is sitting on the seat and has his / her feet placed on the footrest.

2. the support portion has a fixing portion fixed to the main body portion, In plan view, a distance between the operating portion and the fixing portion is shorter than a distance between the operating portion and the seat portion; The moving body according to claim 1 , wherein the support portion is bent or curved in a convex shape that bulges in a direction away from the main body portion with respect to an imaginary line connecting the end of the shaft portion closer to the main body portion and the fixed portion.

3. The support portion is a first portion extending from the main body portion in a direction approaching the rim portion; a second portion extending from the shaft portion along the rim portion, The vehicle according to claim 1 , wherein the first portion extends to a position closer to the rim portion than the foot rest area of ​​the footrest.

4. The support portion is a first portion extending from the main body portion in a direction approaching the rim portion; a second portion extending from the shaft portion along the rim portion, The vehicle according to claim 1 , wherein the first portion extends to a position closer to the rim portion than the footrest.

5. 5. The movable body according to claim 3 or 4, wherein the second portion comprises a parallel portion extending parallel to the rim portion from the shaft portion, and an inclined portion extending from an end of the parallel portion toward the first portion in a direction away from the rim portion.

6. A moving body as described in claim 5, wherein the angle between the central plane dividing the main body portion into left and right halves and the extension direction of the inclined portion is smaller than the angle between the central plane and an imaginary line connecting the end of the shaft portion closer to the main body portion and the fixed portion.

7. the operating portion is disposed in a region between the first portion and the seat portion, The moving body according to claim 3 or 4, wherein a distance between the operating portion and the first portion is shorter than a distance between the operating portion and the seat portion.

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