Vehicle

Abstract

To selectively switch stop states of a vehicle grounded in a roller.SOLUTION: A vehicle 1 includes: a vehicle body frame 2; a drive unit 3 disposed in the vehicle body frame that can move on a floor surface; a seat 4 disposed above the vehicle body frame for supporting the hip of a user; a lifting and lowering device 5 disposed between the vehicle body frame and the seat for lifting or lowering the seat between a low position and a high position; at least one first leg 24 extending downward from the seat, which is equipped with a roller 23 at the lower end; at least one second leg 27 extending downward from the seat, which is equipped with an abutting member 26 at the lower end, and can be displaced in a vertical direction; and at least one lever 34 connected to the second leg through a transmission mechanism. The vehicle is displaced between a use position at which the abutting member is in contact with the floor surface and a retreat position at which the abutting member is separated from the floor surface according to the position of the lever when the seat is at the low position.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle having a drive unit and a seat provided on the drive unit via a lifting device.

Background Art

[0002] A vehicle having a drive unit and a seat provided on the drive unit via a lifting device is described in Patent Document 1. The drive unit has drive wheels controlled by an inverted pendulum. The vehicle according to Patent Document 1 lowers the position of the seat when boarding and alighting compared to when traveling so that the user can easily board and alight. Further, the vehicle has support legs that contact the ground when the seat is in the low position in order to stabilize the posture of the vehicle body during boarding and alighting. A roller is provided at the lower end of the support leg so that the vehicle can travel with the support leg in contact with the ground.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Since the support leg contacts the ground via the roller, the vehicle may move unintentionally when the control of the drive unit is stopped. Therefore, in a vehicle having support legs, it is desired to maintain the vehicle in a stopped state. However, since there may be a case where it is desired to move the vehicle with the roller in contact with the ground, it is preferable that the stopped state can be switched.

[0005] In view of the above background, an object of the present invention is to selectively switch the stopped state of a vehicle that contacts the ground at the roller.

Means for Solving the Problems

[0006] In order to solve the above problems, an aspect of the present invention is a vehicle (1), comprising a vehicle body frame (2), a drive unit (3) provided on the vehicle body frame and movable on the floor surface, a seat (4) disposed above the vehicle body frame for supporting the user's buttocks, a lifting device (5) provided between the vehicle body frame and the seat for raising and lowering the seat between a low position and a high position, at least one first leg (24) extending downward from the seat and having a roller (23) at its lower end, at least one second leg (27) extending downward from the seat, having a contact member (26) at its lower end and displaceable in the vertical direction, and at least one lever (34) connected to the second leg via a transmission mechanism. When the seat is in the high position, the roller and the contact member are separated from the floor surface. When the seat is in the low position, the roller contacts the floor surface and the contact member can contact the floor surface. When the seat is in the low position, the contact member is displaced between a use position where it contacts the floor surface and a retracted position where it is separated from the floor surface according to the position of the lever.

[0007] According to this aspect, the stopped state of the vehicle grounded by the roller can be selectively switched. The user can displace the second leg between the use position and the retracted position by operating the lever. When the seat is in the low position and the second leg is in the use position, the contact member provided at the lower end of the second leg contacts the floor surface, thereby maintaining the vehicle in a stopped state. Since the frictional force between the contact member and the floor surface maintains the vehicle in a stopped state, it is not necessary to supply power to the drive device, and the energy efficiency can be improved.

[0008] In the above aspect, a pair of the levers may be provided on the left and right outer sides of the seat, and each of the pair of levers may be connected to the transmission mechanism (33). Further, a plurality of the second legs may be provided, the plurality of second legs may be connected to the transmission mechanism, and the transmission mechanism may displace each of the second legs according to the displacement of one of the pair of levers.

[0009] According to this aspect, even when the user has a disability in one of the left and right hands, the lever can be operated with the other hand.

[0010] In the above aspect, the transmission mechanism may include members (44, 45) that pull up each of the second legs upward in response to displacement of one of the pair of levers.

[0011] According to this aspect, the transmission mechanism can be simplified using mechanical elements.

[0012] In the above aspect, the transmission mechanism may not transmit the displacement of one of the pair of levers to the other of the levers.

[0013] According to this aspect, unnecessary movement of the lever can be omitted.

[0014] In the above aspect, the transmission mechanism has an input member (41) that can be separated from and engaged with the pair of levers, and an output member (44, 45) that displaces each of the second legs in response to displacement of the input member. The input member may be displaced by being pushed by one of the pair of levers when one of the pair of levers is displaced from the initial position to the operating position.

[0015] According to this aspect, it is possible to prevent the displacement of one of the pair of levers from being transmitted to the other of the levers.

[0016] In the above aspect, a locking device (38) for locking the lever in the initial position may be provided.

[0017] According to this aspect, it is possible to prevent the user from operating the lever unintentionally.

[0018] In the above aspect, the lever is displaced between an initial position and an operating position. When the lever is in the initial position, the second leg is in the use position. When the lever is in the operating position, the second leg is in the retracted position. The lifting device may allow the seat to be displaced to the high position when the seat is in the low position and the lever is in the initial position.

[0019] According to this aspect, when the lever is in the operating position, the seat is prevented from moving to the high position. As a result, when the second leg is in the use position and the contact member is in contact with the ground, the seat rises.

[0020] In the above aspect, a restricting mechanism for maintaining the lever in the initial position when the seat is in the high position may be provided.

[0021] According to this aspect, when the seat is in the high position, the lever is maintained in the initial position and the second leg is maintained in the use position. As a result, when the seat moves from the high position to the low position, the contact member of the second leg contacts the ground and the vehicle is maintained in a stopped state.

Effect of the Invention

[0022] According to the above configuration, the stopped state of the vehicle that contacts the ground at the roller can be selectively switched.

Brief Description of the Drawings

[0023]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0024] Hereinafter, embodiments of a vehicle according to the present invention will be described with reference to the drawings. In this embodiment, the vehicle is configured as an inverted pendulum type vehicle.

[0025] As shown in FIGS. 1 and 2, the vehicle 1 includes a vehicle body frame 2, at least one drive unit 3 provided on the vehicle body frame 2 and movable on the floor surface, a seat 4 disposed above the vehicle body frame 2 and supporting the user's buttocks, a lifting device 5 provided between the vehicle body frame 2 and the seat 4, and a control device 6 for controlling the drive unit 3 and the lifting device 5.

[0026] In this embodiment, a pair of left and right drive units 3 are provided on the left and right side portions of the vehicle body frame 2. Each drive unit 3 has a drive wheel 8 controlled by an inverted pendulum. In this embodiment, each drive unit 3 is a friction drive device. As shown in FIG. 4, the friction drive device includes a pair of drive disks 10 rotatably supported by the vehicle body frame 2, a plurality of drive rollers 11 rotatably supported by each of the drive disks 10, an annular drive wheel 8 disposed between the left and right drive disks 10 and in contact with the drive rollers 11, and a pair of actuators 12 for independently rotating the pair of drive disks 10. The pair of drive disks 10 are coaxially arranged with each other, and their rotation axes extend in the left-right direction. As shown in FIG. 1, each actuator 12 includes an electric motor 12A and a transmission mechanism 12B for transmitting the rotational force of the electric motor 12A to the corresponding drive disk 10. The transmission mechanism 12B may be, for example, a belt transmission mechanism. The electric motor 12A may be disposed above the drive disk 10.

[0027] As shown in FIGS. 1 and 4, the drive wheel 8 is annular and is arranged coaxially with the drive disks 10 between a pair of drive disks 10. Further, the drive wheel 8 is in contact with a plurality of drive rollers 11 and is rotatable about the central axis and about the annular axis. The drive wheel 8 has, for example, an annular core body 13 and a plurality of driven rollers 14 rotatably supported by the core body 13. Each driven roller 14 is rotatably supported by the core body 13 about the axis of the annular core body 13. Each driven roller 14 receives a load from the drive disk 10 and rotates with respect to the core body 13.

[0028] When the pair of drive disks 10 rotate in the same direction at the same rotational speed, the drive wheel 8 rotates in the same direction at the same rotational speed as the drive disks 10. When a difference occurs in the rotational direction or rotational speed of the pair of drive disks 10, the driven rollers 14 of the drive wheel 8 rotate with respect to the core body 13. Thereby, the drive unit 3 can generate a propulsive force in the left - right direction with respect to the floor surface.

[0029] A battery is supported at the rear part of the vehicle body frame 2. Also, a control device 6 is supported inside or at the rear part of the vehicle body frame 2.

[0030] The lifting device 5 is a device that raises and lowers the seat 4 between a low position and a high position. The seat 4 has a seat frame 18 supported by the lifting device 5 and a pad 19 supported on the upper part of the seat frame 18. The user can sit on the pad 19. The lifting device 5 is coupled to the vehicle body frame 2 and the seat frame 18. The lifting device 5 vertically displaces the seat frame 18 with respect to the vehicle body frame 2 by expanding and contracting in the vertical direction. The lifting device 5 may be, for example, a ball screw mechanism or a rack - and - pinion mechanism driven by an electric motor, or it may be a linear motor. Also, the lifting device 5 may be an air cylinder that expands and contracts by compressed air from a compressor.

[0031] The lifting device 5 preferably includes, for example, a base supported by the vehicle body frame 2, a movable body provided movably up and down on the base and coupled to the seat frame 18, a ball screw mechanism that moves the movable body relative to the base, and an electric motor that drives the ball screw mechanism.

[0032] As shown in FIG. 2, the high position of the seat 4 may be located vertically above the low position of the seat 4. In other embodiments, the high position of the seat 4 may be offset laterally with respect to the low position of the seat 4.

[0033] As shown in FIG. 3, the seat frame 18 includes a pair of left and right side members 18A extending in the front-rear direction, a front member 18B extending in the left-right direction and coupled to the front ends of the left and right side members 18A, and a rear member 18C extending in the left-right direction and coupled to the rear ends of the left and right side members 18A. The seat frame 18 is formed in a rectangular frame shape in plan view. Further, the seat frame 18 has a plurality of inner plates 21 extending inwardly from the left and right side members 18A in the left and right directions and coupled to the front member 18B or the rear member 18C. The surfaces of the plurality of inner plates 21 face up and down. Each inner plate 21 is coupled to the upper end of the lifting device 5. Each inner plate 21, the left and right side members 18A, the front member 18B, and the rear member 18C support the pad 19 from below.

[0034] The vehicle 1 has at least one first leg 24 extending downward from the seat 4 and having a roller 23 at its lower end, and at least one second leg 27 extending downward from the seat 4 and having a contact member 26 at its lower end. In the present embodiment, the vehicle 1 has four first legs 24 and four second legs 27.

[0035] At each of the four corners of the seat frame 18, there is provided a leg support portion 29 that protrudes downward. The front left leg support portion 29 is provided at the joint of the front end of the left side member 18A and the left end of the front member 18B. The front right leg support portion 29 is provided at the joint of the front end of the right side member 18A and the left end of the front member 18B. The rear left leg support portion 29 is provided at the joint of the rear end of the left side member 18A and the left end of the rear member 18C. The rear right leg support portion 29 is provided at the joint of the rear end of the right side member 18A and the right end of the rear member 18C.

[0036] Each first leg 24 and each second leg 27 are coupled to the seat frame 18 via the corresponding leg support portion 29. One first leg 24 and one second leg 27 are connected to each leg support portion 29. Each first leg 24 has a similar configuration to each other, and each second leg 27 has a similar configuration to each other.

[0037] The first leg 24 is rotatably coupled to the leg support portion 29. The first leg 24 is rotatable between a storage position disposed close to the vehicle body frame 2 and a deployed position laterally separated from the vehicle body frame 2 more than the storage position.

[0038] The first leg 24 may have a first leg upper portion 24B and a first leg lower portion 24C coupled to each other by a joint 24A. The upper end of the first leg upper portion 24B is rotatably coupled to the corresponding leg support portion 29. The upper end of the first leg lower portion 24C is rotatably coupled to the lower end of the first leg upper portion 24B. The connection portion between the lower end of the first leg upper portion 24B and the upper end of the first leg lower portion 24C constitutes the joint 24A. The rotation axis of the first leg upper portion 24B with respect to the leg support portion 29 and the rotation axis of the first leg lower portion 24C with respect to the first leg upper portion 24B may be arranged parallel to each other. In other embodiments, the joint 24A may be omitted, and the first leg upper portion 24B and the first leg lower portion 24C may be integrally formed. Also, the leg support portion 29 and the first leg upper portion 24B may be integrally formed, and the first leg lower portion 24C may be connected to the first leg upper portion 24B via the joint 24A.

[0039] A roller 23 is rotatably coupled to the lower end of the lower portion 24C of the first leg. The roller 23 may be a caster whose axis of rotation rotates about a vertical axis with respect to the lower portion 24C of the first leg. In other embodiments, a ball may be supported at the lower end of the lower portion 24C of the first leg instead of the roller 23.

[0040] The lower end of the front left first leg 24 moves forward and leftward from the storage position toward the deployment position. The lower end of the front right first leg 24 moves forward and rightward from the storage position toward the deployment position. The lower end of the rear left first leg 24 moves rearward and leftward from the storage position toward the deployment position. The lower end of the rear right first leg 24 moves rearward and rightward from the storage position toward the deployment position. The moving direction of each first leg 24 from the storage position to the deployment position may be changed as appropriate.

[0041] The first leg 24 has a plurality of stoppers 24D that regulate the rotation range. The plurality of stoppers 24D may be provided inside the first leg 24. The stoppers 24D may be provided at the connection portion between the leg support portion 29 material and the upper end of the upper portion 24B of the first leg, and at the connection portion between the lower end of the upper portion 24B of the first leg and the upper end of the lower portion 24C of the first leg.

[0042] The first leg 24 has a biasing member (not shown) that biases the first leg 24 from the deployment position toward the storage position. Specifically, the biasing member may be provided at the connection portion between the leg support portion 29 material and the upper end of the upper portion 24B of the first leg, and at the connection portion between the lower end of the upper portion 24B of the first leg and the upper end of the lower portion 24C of the first leg. The biasing member may be a torsion spring, a tension coil spring, a compression coil spring, or the like. Each first leg 24 is displaced from the storage position to the deployment position when the roller 23 is pressed against the floor surface. A damper (not shown) may be provided at the connection portion between the leg support portion 29 material and the upper end of the upper portion 24B of the first leg, and at the connection portion between the lower end of the upper portion 24B of the first leg and the upper end of the lower portion 24C of the first leg. The damper may be a rotary damper or a piston damper.

[0043] The second leg 27 is vertically extendable and retractable and is biased in the extending direction. The second leg 27 has a second upper leg portion 27A extending downward from a corresponding leg support portion 29 and a second lower leg portion 27B movably supported vertically on the second upper leg portion 27A. For example, the second upper leg portion 27A may be formed by a linearly extending pipe, and the second lower leg portion 27B may be formed by a pipe that slidably receives the second upper leg portion 27A.

[0044] A contact member 26 is provided at the lower end of the second lower leg portion 27B. The contact member 26 preferably has higher flexibility than the second lower leg portion 27B. Also, the contact member 26 preferably has a higher coefficient of friction than the second lower leg portion 27B. The contact member 26 may be formed of, for example, rubber or an elastomer. By the contact member 26 coming into contact with the ground, the vehicle 1 that contacts the ground via the roller 23 can be maintained in a stopped state. Due to the frictional force between the contact member 26 provided at the lower end of the second leg 27 and the floor surface, the vehicle 1 is maintained in a stopped state. To maintain the vehicle in a stopped state by the frictional force between the contact member 26 and the floor surface, it is not necessary to supply power to the drive unit 3, and the energy efficiency can be improved. Also, by stopping the vehicle 1, the seat 4 is moved to a high position, and when starting the inverted pendulum control, it becomes easier to determine the center of gravity position of the vehicle 1.

[0045] Between the leg support portion 29 and the second lower leg portion 27B, a biasing member that biases the second lower leg portion 27B downward with respect to the second upper leg portion 27A is interposed. The biasing member is preferably a compression coil spring. The biasing member is disposed inside the second lower leg portion 27B and preferably abuts against the lower end of the first upper leg portion 24B. The second leg 27 is biased in the extending direction by the biasing member.

[0046] The second leg 27 has a damper 27C that attenuates the telescopic movement. The damper 27C may be a piston damper. The damper 27C extends vertically and has an upper end coupled to the second upper leg portion 27A and a lower end coupled to the second lower leg portion 27B. The upper end of the damper 27C may be coupled to the leg support portion 29 to which the second upper leg portion 27A is coupled instead of the second upper leg portion 27A.

[0047] The second leg 27 is provided closer to the vehicle body frame 2 side than the corresponding first leg 24. The front left second leg 27 is arranged to the right and rear of the front left first leg 24, the front right second leg 27 is arranged to the left and rear of the front right first leg 24, the rear left second leg 27 is arranged to the right and front of the rear left first leg 24, and the rear right second leg 27 is arranged to the left and front of the rear right first leg 24.

[0048] The lower parts of two adjacent second legs 27 are connected to each other by a connecting member 31. In this embodiment, the lower part 27B of the front left second leg and the lower part 27B of the front right second leg are connected by a connecting member 31 extending horizontally, and the lower part 27B of the rear left second leg and the lower part 27B of the rear right second leg are connected by a connecting member 31 extending horizontally.

[0049] As shown in FIG. 2, when the seat 4 is in the high position, each roller 23 and each contact member 26 are separated from the floor surface. When the seat 4 is in the high position, the lower end of each contact member 26 is arranged below the lower end of each roller 23. As shown in FIG. 1, when the seat 4 is in the low position, each roller 23 and each contact member 26 contact the floor surface. When the seat 4 moves from the high position to the low position, each contact member 26 contacts the floor surface earlier than each roller 23. Thereby, when the seat 4 moves to the low position, the vehicle can be stopped early.

[0050] Since each second leg 27 is formed to be telescopically extendable in the vertical direction, each contact member 26 can surely contact the floor surface. Further, since each second leg 27 has a damper 27C, the impact when the seat 4 reaches the low position can be reduced. Since the lower parts 27B of two adjacent second legs are connected by a connecting member 31, the rigidity of each second leg 27 is increased. Thereby, each second leg 27 can more surely regulate the movement of the vehicle 1.

[0051] Each first leg 24 is pressed against the floor surface and moves from the storage position to the deployed position. As a result, the distance between the contact points of the first legs 24 widens, and the posture of the vehicle 1 in the low position becomes stable.

[0052] As shown in FIG. 5, the lower part 27B of each second leg 27 is connected to at least one lever 34 via a transmission mechanism 33. In the present embodiment, a pair of left and right levers 34 are provided. Since the pair of left and right levers 34 and their support structures are symmetric about the left and right, the left lever 34 and its support structure will be described below.

[0053] A rear lever support 36 is provided at the rear part of the side member 18A. The rear lever support 36 extends upward from the corresponding side member 18A. The base end portion of the lever 34 is rotatably coupled to the rear lever support 36. The rotation axis of the lever 34 extends in the left-right direction. The lever 34 rotates between an initial position extending horizontally forward from the base end portion and an operation position rotated upward and rearward with respect to the initial position.

[0054] A front lever support 37 is provided at the front part of the side member 18A. The front lever support 37 extends upward and rearward from the corresponding side member 18A. A lever receiving portion 37A for receiving the tip end portion of the lever 34 in the initial position is formed at the upper end of the front lever support 37. The front lever support 37 supports the tip end of the lever 34 in the initial position from below.

[0055] The front lever support 37 has a locking device 38 that locks the corresponding levers 34 on the left and right in their initial positions. The locking device 38 has a displacement member 38C that is displaceably supported by the front lever support 37 and has a locking claw 38A and a tab 38B, and a biasing member (not shown) that biases the displacement member 38C. The displacement member 38C may be provided rotatably or slidably on the front lever support 37. The displacement member 38C is displaceable between a protruding position where the locking claw 38A protrudes into the lever receiving portion 37A and a release position where the locking claw 38A retracts into the front lever support 37. The tab 38B protrudes outward from the front lever support 37. The tab 38B may protrude downward from the front lever support 37. The biasing member biases the displacement member 38C toward the protruding position. A locking hole 38D for receiving the locking claw 38A is formed at the tip of the lever 34. When the locking claw 38A enters the locking hole 38D, the lever 34 is maintained in its initial position. When the displacement member 38C moves to the release position, the lever 34 can rotate from the initial position toward the operating position. The user can move the displacement member 38C to the release position by operating the tab 38B.

[0056] Each of the plurality of second legs 27 is connected to the transmission mechanism 33. The transmission mechanism 33 displaces each of the second legs 27 in response to the displacement of one of the pair of levers 34. The transmission mechanism 33 pulls up each of the second legs 27 upward in response to the displacement of one of the pair of levers 34. Also, the transmission mechanism 33 does not transmit the displacement of one of the pair of levers 34 to the other of the levers 34.

[0057] The transmission mechanism 33 has a pair of left and right input members 41, a drive shaft 42, a pair of left and right first links 43, a pair of left and right second links 44, a pair of left and right control cables 45, and a pair of left and right lock arms 46. In the transmission mechanism 33, since the pair of left and right elements have the same configuration, only one of them will be described.

[0058] The input member 41 is rotatably supported by the rear lever support 36. The rotation axis of the input member 41 is arranged coaxially with the rotation axis of the lever 34. The input member 41 rotates between an initial position and an operating position. The lever 34 is provided with a first pressing portion 34A. The first pressing portion 34A may be a pin coupled to the lever 34. When the lever 34 rotates from the initial position to the operating position, the first pressing portion 34A presses the input member 41, and the input member 41 rotates from the initial position to the operating position. On the other hand, when the lever 34 is in the initial position, the input member 41 can rotate away from the first pressing portion 34A to the operating position. That is, the input member 41 can be separated from and contacted with the lever 34.

[0059] The drive shaft 42 extends horizontally. The left end of the drive shaft 42 is rotatably supported by the left rear lever support 36, and the right end of the drive shaft 42 is rotatably supported by the right rear lever support 36. The drive shaft 42 has a pair of left and right first arms 42A and a pair of left and right second arms 42B. The left first arm 42A and the left second arm 42B are provided at the left end of the drive shaft 42, and the right first arm 42A and the right second arm 42B are provided at the right end of the drive shaft 42. The first arm 42A and the second arm 42B project in the radial direction of the drive shaft 42. The left first arm 42A is connected to the left input member 41 by a first link 43, and the left second arm 42B is connected to the lower portion of the rear left second leg 27B by a second link 44. The right first arm 42A is connected to the right input member 41 by a first link 43, and the right second arm 42B is connected to the lower portion of the rear right second leg 27B by a second link 44.

[0060] The control cable 45 has a tubular outer casing 45A and an inner cable 45B slidably supported inside the outer casing 45A. One end of the outer casing 45A of the left control cable 45 is coupled to the left rear lever support 36, and the other end is coupled to the upper part 27A of the front left second leg or the leg support 29. One end of the inner cable 45B of the left control cable 45 is connected to the left input member 41, and the other end is connected to the lower part 27B of the front left second leg. Similarly, one end of the outer casing 45A of the right control cable 45 is coupled to the right rear lever support 36, and the other end is coupled to the upper part 27A of the front right second leg or the leg support 29. One end of the inner cable 45B of the left control cable 45 is connected to the right input member 41, and the other end is connected to the lower part 27B of the front right second leg.

[0061] Each second leg 27 is biased in the extending direction by a biasing member. The biasing force of the rear second leg 27 is transmitted to the input member 41 via the second link 44, the drive shaft 42, and the first link 43, and the input member 41 is biased to the initial position. Also, the biasing force of the front second leg 27 is transmitted to the input member 41 via the control cable 45, and the input member 41 is biased to the initial position.

[0062] The lock arm 46 is rotatably supported by the rear lever support 36. The lock arm 46 is disposed around the input member 41 and biased toward the input member 41 by a biasing member. When the input member 41 is in the operating position, the lock arm 46 locks the input member 41 to maintain the input member 41 in the operating position. The lock arm 46 and the input member 41 preferably have engaging portions that engage with each other when the input member 41 is in the operating position. A release button 34C is provided at the tip of the lever 34. The release button 34C is connected to the lock arm 46 via a transmission member 34D. When the release button 34C is pushed in, the transmission member 34D moves toward the lock arm 46 in response to the movement of the release button 34C, and the transmission member 34D pushes the lock arm 46 in a direction away from the input member 41. Thereby, the locking of the input member 41 by the lock arm 46 is released, and the input member 41 can return to the initial position under the biasing force of the biasing member. The release button 34C and the transmission member 34D are preferably connected by, for example, a cam. The transmission member 34D is biased by a biasing member in a direction away from the lock arm 46.

[0063] When the user rotates one of the left levers 34 from the initial position toward the operating position, the first pressing portion 34A of the left lever 34 presses the left input member 41, and the left input member 41 rotates from the initial position toward the operating position. When the left input member 41 rotates, the drive shaft 42 rotates by the left first link 43. When the drive shaft 42 rotates, the left and right second links 44 move upward, and the left and right second links 44 pull up the lower portions of the rear left and rear right second legs 27B against the biasing force. That is, as shown in FIG. 9, the rear left and rear right second legs 27 contract.

[0064] Further, when the drive shaft 42 rotates, the right input member 41 rotates from the initial position to the operating position by the right first link 43. At this time, since the right input member 41 rotates independently of the right lever 34, the right lever 34 is maintained in the initial position. That is, the displacement of one of the pair of levers 34 is not transmitted to the other of the levers 34.

[0065] When the left and right input members 41 rotate toward the operating position, the front left and front right lower portions 27B of the second legs move upward against the biasing force of the corresponding biasing members by the corresponding control cables 45. That is, the front left and front right second legs 27 contract.

[0066] When the seat 4 is in the low position and the user rotates the lever 34 to the operating position, all the second legs 27 contract, and the contact member 26 moves from the use position in contact with the floor surface to the retracted position away from the floor surface. Thus, when the seat 4 is in the low position, the contact member 26 is displaced between the use position and the retracted position according to the position of the lever 34. The left and right first links 43, the drive shaft 42, the left and right second links 44, and the left and right control cables 45 function as output members that displace the respective second legs 27 according to the displacement of the input member 41.

[0067] As shown in FIG. 3, the vehicle 1 has at least one support member 51 extending downward from the seat 4. The support member 51 has a footrest 51A at its lower portion for supporting the sole of the user's foot. In the present embodiment, the vehicle 1 has a pair of left and right support members 51. Each support member 51 is provided so as to be displaceable vertically with respect to the seat 4.

[0068] The seat 4 has a tubular receiving portion 53 extending vertically. A pair of left and right receiving portions 53 are provided corresponding to the pair of left and right support members 51. The left receiving portion 53 is provided at the front left leg support portion 29, and the right receiving portion 53 is provided at the front right leg support portion 29. The support member 51 has a shaft portion 51B slidably supported by the receiving portion 53 and a stopper 51C provided at the upper portion of the shaft portion 51B. A footrest 51A is coupled to the lower portion of the shaft portion 51B. The stopper 51C defines the lower limit position of the shaft portion 51B with respect to the receiving portion 53 by abutting against the upper end of the receiving portion 53. The shaft portion 51B may be formed of, for example, a pipe material.

[0069] When the seat 4 is in the lower position, the lower ends of the left and right footrests 51A abut against the upper surface of the connecting member 31, and the stopper 51C is disposed at a position away from the receiving portion 53 upward. In this state, the lower end of the shaft portion 51B is separated from the floor surface. When the seat 4 moves from the lower position toward the upper position, the front left and front right second legs 27 extend, and the receiving portion 53 rises with respect to the support member 51. Thereby, the distance between the seat 4 and the footrest 51A increases in accordance with the rise of the seat 4. Thereafter, when the seat 4 further rises, the receiving portion 53 abuts against the stopper 51C.

[0070] Rollers 51D may be provided at the lower ends of the respective shaft portions 51B. In this case, the lower end of the shaft portion 51B may abut against the floor surface via the roller 51D. Thereby, the vehicle 1 can travel in a state where the support member 51 is grounded.

[0071] The left and right shaft portions 51B may be coupled to each other by a connecting member 54 extending left and right. The left and right shaft portions 51B are disposed between the front left second leg 27 and the front right second leg 27. The left and right footrests 51A extend forward and inward in the left and right directions from the corresponding shaft portions 51B.

[0072] When the seat 4 is in the lower position, the lower end of the shaft portion 51B abuts against the floor surface via the roller 51D, and the stopper 51C is disposed at a position away from the receiving portion 53 upward. When the seat 4 moves from the lower position toward the upper position, the receiving portion 53 rises with respect to the support member 51. During this time, the support member 51 is maintained in a grounded state. Thereby, the distance between the seat 4 and the footrest 51A increases in accordance with the rise of the seat 4. Thereafter, when the seat 4 further rises, the receiving portion 53 abuts against the stopper 51C. When the seat 4 further rises in a state where the receiving portion 53 abuts against the stopper 51C, the support member 51 rises integrally with the seat 4, and the lower end of the shaft portion 51B is separated from the floor surface.

[0073] When the seat 4 is in the high position, the stopper 51C is in contact with the receiving portion 53. When the seat 4 moves from the high position to the low position, the support member 51 descends together with the receiving portion 53. Then, when the seat 4 reaches a certain height, the lower end of the shaft portion 51B of the support member 51 contacts the floor surface via the roller 51D, and the descent of the support member 51 ends. Thereafter, the receiving portion 53 separates from the stopper 51C and moves downward with respect to the support member 51. As a result, the distance between the seat 4 and the footrest 51A decreases as the seat 4 descends. In this way, the support member 51 is displaced so that the distance L2 (see FIG. 2) between the seat 4 and the footrest 51A when the seat 4 is in the high position is larger than the distance L1 (see FIG. 1) between the seat 4 and the footrest 51A when the seat 4 is in the low position.

[0074] The shaft portion 51B moves in the vertical direction with respect to the receiving portion 53. Therefore, the angle and the front-rear position of the footrest 51A with respect to the seat 4 when the seat 4 is in the low position are the same as the angle and the front-rear position of the footrest 51A with respect to the seat 4 when the seat 4 is in the high position. As a result, even when the seat 4 moves from the low position to the high position, the angle and the front-rear position of the footrest 51A with respect to the seat 4 do not change, so that the posture of the user is stabilized.

[0075] When the seat 4 is in the high position, the lower end of the contact member 26 of the second leg 27 is disposed below the lower end of the roller 23 of the first leg 24, and the lower end of the roller 51D of the shaft portion 51B is disposed above the lower end of the contact member 26. As a result, the contact member 26 contacts the ground before the support member 51. Thereby, the support member 51 can contact the ground stably while the movement of the vehicle 1 is restricted by the contact member 26.

[0076] The upper surface of the pad 19 abuts against the user's buttocks and thighs. The front portion of the upper surface of the pad 19 abuts against the user's thighs, and the front portion of the upper surface of the pad 19 abuts against the user's buttocks. As shown in FIGS. 6 to 8, the upper surface of the front portion of the pad 19 has an inclined surface 19A that slopes downward toward the front. Specifically, the inclined surface 19A extends from the front end of the pad 19 to the central portion in the front-rear direction. The inclined surface 19A may extend rearward beyond the central portion of the pad 19 in the front-rear direction. Thereby, the thighs of the user sitting on the seat 4 slope downward toward the knee side.

[0077] A concave portion 19B that is recessed downward is provided on the upper surface of the rear portion of the pad 19. The user's ischium protrudes into the concave portion 19B. The concave portion 19B locks the user's ischium and suppresses the user's ischium from moving back and forth with respect to the pad 19.

[0078] The left and right side portions 19C of the front portion of the pad 19 are inclined inward to the left and right toward the front when viewed from above. The pad 19 has a pair of left and right embankment portions 19D that protrude upward on the left and right sides. The pair of left and right embankment portions 19D suppress the user's buttocks from moving left and right. A backrest portion 19E that protrudes upward may be provided at the rear portion of the pad 19.

[0079] The seat 4 has a knee belt 55 for restraining the user's knees to the front portion of the pad 19. The knee belt 55 has a left knee belt 55 coupled to the left side member 18A or the left front lever support 37, and a right knee belt 55 coupled to the right side member 18A or the right front lever support 37. The left and right knee belts 55 are detachably coupled to each other by a coupling member 55C such as a buckle and a tongue.

[0080] As shown in FIGS. 6 and 7, the vehicle 1 has an operating device 60 provided on at least one of the left and right sides of the seat 4. In the present embodiment, the operating device 60 is provided on both the left and right sides of the seat 4. Thereby, even when the user has a disability in one of the left and right hands, the vehicle can be operated with the other hand. It is preferable that the left and right operating devices 60 have the same configuration.

[0081] The operating device 60 includes an operation panel 60B having an operation surface 60A facing upward, and a plurality of operating elements 61 provided on the operation surface 60A. The lever 34 forms a part of the operating device 60 and extends upward and forward from the rear part of the operation panel 60B.

[0082] The operation panel 60B is arranged so as to cover the lower part of the front lever support 37 and the rear lever support 36. The operation panel 60B is preferably supported by at least one of the front lever support 37, the rear lever support 36, and the seat frame 18. The operation panel 60B extends back and forth along the side portion 19C of the pad 19. The lever 34 extends back and forth above the operation panel 60B. Since the side portion 19C of the front part of the pad 19 extends obliquely inward in the left and right directions, the distance in the left and right directions between the front end portion of the lever 34 and the pad 19 is larger than the distance in the left and right directions between the rear end portion of the lever 34 and the pad 19. The upper part of the front lever support 37 protrudes upward from the operation panel 60B.

[0083] As shown in FIG. 7, the plurality of operating elements 61 preferably include a power switch 61A, a lifting switch 61B, a moving direction switch 61C, and a traveling mode switching switch 61D. The power switch 61A, the lifting switch 61B, the moving direction switch 61C, and the traveling mode switching switch 61D are preferably provided on each of the left and right operating devices 60. The plurality of switches are connected to the control device 6.

[0084] When viewed from above, at least one of the plurality of operators 61 is arranged at a position overlapping with the lever 34. The operation panel 60B has a recess 60C that is recessed downward from the operation surface 60A below the lever 34. At least one of the plurality of switches may be arranged at the bottom of the recess 60C. In the present embodiment, the power switch 61A and the elevating switch 61B are arranged at positions overlapping with the lever 34. Also, the power switch 61A and the elevating switch 61B are arranged at the bottom of the recess 60C. By arranging the lever 34 above at least one of the operators 61, it is possible to prevent the user from accidentally touching the operator 61. Thereby, it is possible to prevent the user from accidentally operating the operator 61. The switch arranged below the lever 34 is preferably an operator 61 such as the power switch 61A or the elevating switch 61B that has a great influence on the behavior of the vehicle 1. By arranging the operator 61 in the recess 60C, it is possible to more reliably prevent the user from accidentally operating the operator 61. The user operates the power switch 61A and the elevating switch 61B arranged below the lever 34 through the gap between the front part of the lever 34 and the pad 19.

[0085] The operation surface 60A is arranged below the upper edge of the embankment part 19D. Thereby, it is further prevented that the user accidentally touches the operator 61 arranged on the operation surface 60A and the operator 61 arranged below the lever 34. The lever 34 is arranged at the same height as the upper edge of the embankment part 19D in the initial position.

[0086] The moving direction switch 61C is a switch for operating the drive unit 3. The moving direction switch 61C is preferably a joystick. The moving direction switch 61C is arranged between the front end part of the lever 34 and the pad 19 when viewed from above. Thereby, the user can operate the moving direction switch 61C, which is a joystick, without being obstructed by the lever 34.

[0087] At least one of the plurality of operators 61 may be lit. The user can recognize the position and operating state of the operator 61 based on the lighting of the operator 61. At least one of the plurality of operators 61 may display the state of the vehicle 1 by lighting up. For example, the power switch 61A may be lit when the power of the vehicle 1 is on, that is, in the startup state. Also, the lifting switch 61B may be lit when the lifting device 5 is being driven. Also, the travel mode changeover switch 61D may change the emission color according to the selected travel mode.

[0088] The control device 6 turns on and off the power of the vehicle 1 in response to the operation of the power switch 61A by the user. The control device 6 drives the lifting device 5 and raises and lowers the seat 4 in response to the operation of the lifting switch 61B by the user. The control device 6 switches the travel mode of the vehicle 1 between the turning movement mode and the parallel movement mode in response to the operation of the travel mode changeover switch 61D by the user.

[0089] When the seat 4 is in the low position and the lever 34 is in the operating position, the control device 6 controls the drive unit 3 in response to the movement direction switch 61C by the user and makes the vehicle 1 travel. The position of the seat 4 and the position of the lever 34 may be detected by sensors connected to the control device 6. When the turning movement mode is selected, the control device 6 may turn the vehicle 1 in the corresponding lateral direction with respect to the lateral operation of the movement direction switch 61C. Also, when the parallel movement mode is selected, the control device 6 may move the vehicle 1 in the corresponding lateral direction in parallel with respect to the lateral operation of the movement direction switch 61C.

[0090] Since the lever 34 is supported from below by the front lever support 37 at the initial position, the user can use the lever 34 as a handrail when getting on and off the vehicle 1. Also, since the lever 34 is arranged at the same height as the upper edge of the embankment part 19D at the initial position, it becomes easier for the user to use the lever 34 as a handrail when getting on and off the vehicle 1.

[0091] As shown in FIG. 6, the left and right knee belts 55 extend outward through the front end of the operation panel 60B from the left and right side members 18A or the front lever support 37. The knee belts 55, together with the front end of the pad 19, restrain the knees of the user and seat the user stably on the seat 4. Further, a waist belt 71 for restraining the waist of the user to the seat 4 is provided on the seat frame 18. The waist belt 71 includes a left waist belt 71 extending through the rear part of the left operation panel 60B from the rear part of the left side member 18A, and a right waist belt 71 extending through the rear part of the right operation panel 60B from the rear part of the right side member 18A. Connecting members 72 that are detachably coupled to each other are provided at the tips of the left and right waist belts 71.

[0092] An outer shell 75 may be attached to the lower part of the vehicle 1. Each second leg 27, the shaft portion 51B of each support member 51, and the upper first leg portion 24B of each first leg 24 may be disposed inside the outer shell 75. The lower end of the lower first leg portion 24C of each first leg 24 may protrude outside the outer shell 75.

[0093] The operation of the vehicle 1 configured as described above will be described. As shown in FIG. 1, when the seat 4 is in the low position and the lever 34 is in the initial position, the drive wheels 8 of the left and right drive units 3, the rollers 23 of each first leg 24, the contact members 26 of each second leg 27, and the lower ends of each support member 51 are in contact with the ground. In this state, since each contact member 26 is in contact with the ground, the vehicle 1 is restricted from moving in the horizontal direction. This state is referred to as the stop state of the vehicle 1. When the vehicle 1 is in the stop state, the user can get on and off the vehicle 1. At that time, the user can use the left and right levers 34 as handrails.

[0094] When the vehicle 1 is in a stopped state and the user moves the lever 34 from the initial position to the operating position, as shown in FIG. 9, each second leg 27 contracts upward and each contact member 26 moves away from the floor surface. This state is called the low-position travelable state. In the low-position travelable state, the user can operate the vehicle 1 by operating the movement direction switch 61C. When the user moves the lever 34 to the operating position, the lock arm 46 locks the input member 41 and maintains the input member 41 in the operating position. As a result, the user can return the lever 34 to the initial position and lock it to the locking device 38. When the user presses the release button 34C, each second leg 27 extends, each contact member 26 contacts the ground, and the vehicle 1 comes to a stop state.

[0095] When the vehicle 1 is in a stopped state and the user operates the lift switch 61B, the control device 6 drives the lift device 5, and the seat 4 moves from the low position to the high position as shown in FIG. 2. As the seat 4 rises, the roller 23 of each first leg 24 and the contact member 26 of each second leg 27 move away from the floor surface. At this time, each support member 51 is maintained on the connecting member 31 until the stopper 51C contacts the receiving portion 53, so the distance between the footrest 51A and the seat 4 increases.

[0096] After each support member 51 moves away from the floor surface, only the drive wheels 8 of the left and right drive units 3 contact the ground. At this time, the attitude of the vehicle 1 is maintained by inverted pendulum control. In this state, the control device 6 detects the displacement of the center of gravity of the vehicle 1 caused by the user's weight movement, and controls the drive unit 3 to drive the vehicle 1.

[0097] When the seat 4 moves from the low position to the high position, the knees of the user sitting on the seat extend (the knee angle increases), and the amount of protrusion of the knees forward decreases. As a result, the footprint of the vehicle 1 including the user, that is, the occupied area of the vehicle 1 including the user as viewed from above, becomes smaller. As a result, the vehicle can move easily in a narrow place. Also, when the seat 4 moves from the low position to the high position, the line of sight of the user sitting on the seat 4 becomes higher. Also, since the feet of the user sitting on the seat 4 extend vertically, the user's back straightens, and the user's posture becomes more stable. As a result, even when the seat 4 rises to the high position, the user can obtain a sense of security. Thereby, a vehicle that can raise the line of sight while giving the user a sense of security can be provided. Since the support member 51 provided with the footrest 51A is displaced with respect to the seat 4 by gravity, no power for the support member 51 is required. Therefore, the energy efficiency of the vehicle 1 can be improved.

[0098] With the above, the description of the specific embodiment is completed, but the present invention can be widely modified and implemented without being limited to the above embodiment. The control device 6 may prohibit the operation of the lifting device 5 when the input member 41 is not locked to the lock arm 46. Further, the control device 6 may permit the lifting of the seat 4 by the lifting device 5 when the seat 4 is in the low position and the lever 34 is in the initial position. According to this configuration, it is possible to prohibit the seat 4 from being in the high position while the second leg 27 is in the retracted position.

[0099] The vehicle 1 may have a regulating mechanism that maintains the lever 34 in the initial position when the seat 4 is in the high position. The regulating mechanism may be constituted by, for example, an actuator that regulates the movement of the locking device 38 and a control device 6 that controls the actuator. The control device 6 may detect the position of the seat 4, drive the actuator when the seat 4 is in the high position, and maintain the displacement member 38C of the locking device 38 in the locked position. On the other hand, the control device 6 may separate the actuator from the displacement member 38C when the seat 4 is in the low position and allow the rotation of the displacement member 38C.

Explanation of reference numerals

[0100] 1: Vehicle 2: Body Frame 3: Drive Unit 4: Seat 5: Lifting Device 6: Control Device 18: Seat Frame 19: Pad 19A: Upper Surface 19B: Concave Portion 19C: Side Portion 19D: Earth Retaining Portion 19E: Backrest Portion 21: Inner Plate 23: Roller 24: First Leg 24A: Joint 24B: Upper Part of the First Leg 24C: Lower Part of the First Leg 24D: Stopper 26: Contact Member 27: Second Leg 27A: Upper Part of the Second Leg 27B: Lower Part of the Second Leg 27C: Damper 31: Connecting Member 33: Transmission Mechanism 34: Lever 36: Rear Lever Support 37: Front Lever Support 38: Locking Device 41: Input Member 42: Drive Shaft 43: First Link 44: Second Link 45: Control Cable 46: Lock Arm 51: Support Member 51A: Footrest 51B: Shaft Portion 51C: Stopper 51D: Roller 53: Receiving Portion 55: Knee Belt 60: Operating device 60A: Operating surface 60B: Operation panel 60C: Concave portion 61: Operating element

Claims

1. A vehicle, comprising: a vehicle body frame; a drive unit provided on the vehicle body frame and movable on the floor surface; a seat disposed above the vehicle body frame for supporting a user's buttocks; a lifting device provided between the vehicle body frame and the seat for lifting and lowering the seat between a low position and a high position; at least one first leg extending downward from the seat and having a roller at a lower end; at least one second leg extending downward from the seat, having a contact member at a lower end and displaceable in a vertical direction; and at least one lever connected to the second leg via a transmission mechanism, wherein when the seat is in the high position, the roller and the contact member are separated from the floor surface; when the seat is in the low position, the roller contacts the floor surface and the contact member is capable of contacting the floor surface; and when the seat is in the low position, the vehicle is configured such that the contact member is displaced between a use position where the contact member contacts the floor surface and a retracted position where the contact member is separated from the floor surface according to the position of the lever.

2. The vehicle according to claim 1, wherein a pair of the levers are provided on left and right outer sides of the seat, and each of the pair of levers is connected to the transmission mechanism.

3. The vehicle according to claim 2, wherein a plurality of the second legs are provided, and the plurality of second legs are connected to the transmission mechanism, and the transmission mechanism displaces each of the second legs according to displacement of one of the pair of levers.

4. The vehicle according to claim 3, wherein the transmission mechanism includes a member that pulls each of the second legs upward according to displacement of one of the pair of levers.

5. The vehicle according to any one of claims 2 to 4, wherein the transmission mechanism does not transmit displacement of one of the pair of levers to the other of the levers.

6. The vehicle according to claim 5, wherein the transmission mechanism has an input member that can be separated from and engaged with the pair of levers, and an output member that displaces each of the second legs according to displacement of the input member, and the input member is displaced by being pushed by one of the pair of levers when one of the pair of levers is displaced from an initial position to an operating position.

7. The vehicle according to any one of claims 1 to 6, further comprising a locking device for locking the lever in the initial position.

8. The lever is displaceable between an initial position and an operating position, When the lever is in the initial position, the second leg is in the use position, and when the lever is in the operating position, the second leg is in the retracted position. The vehicle according to any one of claims 1 to 7, wherein the lifting device allows displacement of the seat to the high position when the seat is in the low position and the lever is in the initial position. Claim 9 The vehicle according to claim 8, further comprising a restricting mechanism that maintains the lever in the initial position when the seat is in the high position.

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