vehicle

Abstract

To provide a vehicle capable of making a visual line high while giving a sense of security to a user.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; and at least one support member 51 extending downward from the seat, which is equipped with a footrest 51A for supporting the sole of the user in a lower part. The support member is provided so as to be displaced vertically with respect to the seat. The support member is displaced so that a distance between the seat and the footrest when the seat is at the high position is greater than a distance between the seat and the footrest 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 technology]

[0002] Patent Document 1 describes a vehicle having a drive unit and a seat attached to the drive unit via an elevator. The drive unit has drive wheels controlled by an inverted pendulum. The vehicle disclosed in Patent Document 1 lowers the seat position when getting on and off compared to when the vehicle is moving, making it easier for users to get on and off. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-146748 Summary of the Invention [Problem to be solved by the invention]

[0004] When a user is seated in a vehicle, if their line of sight is high, they are less likely to feel pressured by a standing person and can more easily communicate with them. However, if the user's line of sight is high while seated with their thighs extended horizontally, the user may feel uneasy.

[0005] In view of the above background, an object of the present invention is to provide a vehicle that allows users to raise their line of sight while giving them a sense of security. [Means for solving the problem]

[0006] In order to solve the above problem, one aspect of the present invention is a vehicle (1) comprising a body frame (2), a drive unit (3) mounted on the body frame and movable on the floor, a seat (4) positioned above the body frame and supporting the user's buttocks, a lifting device (5) mounted between the body frame and the seat and raising and lowering the seat between a low position and a high position, and at least one support member (51) extending downward from the seat and having a footrest (51A) at its lower part for supporting the soles of the user's feet, the support member being movable up and down relative to the seat, and the support member being displaceable so that the distance between the seat and the footrest when the seat is in the high position is greater than the distance between the seat and the footrest when the seat is in the low position.

[0007] According to this aspect, a vehicle can be provided that allows the user to raise their line of sight while giving them a sense of security. When the seat moves from a low position to a high position, the line of sight of the user seated on the seat rises. At this time, the distance between the footrest and the seat increases when the seat moves from a low position to a high position, so the legs of the user seated on the seat stretch up and down. This straightens the user's back, making it easier for the user to stabilize their posture. As a result, the user can feel a sense of security even when the seat is raised to a high position.

[0008] In the above aspect, the seat has a cylindrical receiving portion (53) extending vertically, and the support member has an axle portion (51B) slidably supported on the receiving portion and to which the footrest is connected, and a stopper (51C) provided on the upper part of the axle portion and abutting against the upper end of the receiving portion to determine the lower limit position of the axle portion relative to the receiving portion, and when the seat is in the low position, the lower end of the axle portion abuts against the floor surface and the stopper is positioned at a position above and away from the receiving portion.

[0009] According to this aspect, the support member on which the footrest is mounted can be displaced relative to the seat by gravity, thereby improving the energy efficiency of the vehicle.

[0010] In the above aspect, a first roller (51D) may be provided at the lower end of the shaft portion.

[0011] According to this aspect, the vehicle can travel with the support member in contact with the ground.

[0012] In the above aspect, the seat may have at least one first leg (24) extending downward from the seat and having a second roller (23) at its lower end, and at least one second leg (27) extending downward from the seat and having an abutment member (26) at its lower end, and when the seat is in the high position, the second roller and the abutment member may be away from the floor surface, and when the seat is in the low position, the second roller and the abutment member may be in contact with the floor surface.

[0013] According to this aspect, the posture of the vehicle can be stabilized at the low position, and the vehicle can be maintained in a stopped state.

[0014] In the above aspect, when the sheet is in the high position, the lower end of the abutment member may be positioned lower than the lower end of the second roller, and the lower end of the first roller may be positioned higher than the lower end of the abutment member.

[0015] According to this aspect, when the seat is moved to a lower position, the contact member can contact the ground before the support member, thereby allowing the support member to stably contact the ground while the movement of the vehicle is restricted by the contact member.

[0016] In the above aspect, the seat may have a pad (19) that contacts the user's buttocks and thighs, and the upper surface of the front part of the pad may be provided with an inclined surface (19A) that slopes downward toward the front.

[0017] According to this aspect, when the distance between the footrest and the seat becomes large, the user can easily stretch his / her feet up and down.

[0018] In the above aspect, a recess (19B) recessed downward may be provided on the upper surface of the rear part of the pad.

[0019] According to this aspect, the user's sitting bones are engaged with the recesses when the seat is in the low position, thereby stabilizing the user's seated posture.

[0020] In the above embodiment, the seat may have a knee belt (55) for restraining the knees of the user to the front part of the pad.

[0021] According to this aspect, the knee belt and the front part of the pad restrain the knees of the user, so that the user's posture can be stabilized when the user's legs are extended.

[0022] In the above aspect, the angle and the front-to-back position of the footrest relative to the seat when the seat is in the low position may be the same as the angle and the front-to-back position of the footrest relative to the seat when the seat is in the high position.

[0023] According to this aspect, the angle and front-to-back position of the footrest relative to the seat do not change even when the seat is moved from a low position to a high position, so the user's posture is stable. [Effects of the Invention]

[0024] According to the above configuration, a vehicle can be provided that gives the user a sense of security while allowing the user to raise their line of sight. [Brief explanation of the drawings]

[0025] [Figure 1] Left side view of vehicle with seat in low position [Figure 2]Left side view of vehicle with seat in high position [Figure 3] A perspective view of a seat frame assembly [Figure 4] Cross section of the drive unit [Figure 5] FIG. 1 is a perspective view showing a lever and a transmission mechanism; [Figure 6] A perspective view of the vehicle from the front and above [Figure 7] Vehicle floor plan [Figure 8] Cross section of the seat pad [Figure 9] Left side view of the vehicle with the seat in the lowered position and the second landing gear in the retracted position DETAILED DESCRIPTION OF THE INVENTION

[0026] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle according to the present invention will now be described with reference to the accompanying drawings. In this embodiment, the vehicle is configured as an inverted pendulum vehicle.

[0027] As shown in Figures 1 and 2, the vehicle 1 has a body frame 2, at least one drive unit 3 mounted on the body frame 2 and movable on the floor, a seat 4 positioned above the body frame 2 and supporting the user's buttocks, a lifting device 5 mounted between the body frame 2 and the seat 4, and a control device 6 that controls the drive unit 3 and the lifting device 5.

[0028] In this embodiment, a pair of left and right drive units 3 are provided on the left and right sides of the 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 discs 10 rotatably supported on the body frame 2, a plurality of drive rollers 11 rotatably supported on each drive disc 10, an annular drive wheel 8 disposed between the left and right drive discs 10 and in contact with the drive rollers 11, and a pair of actuators 12 for independently rotating each of the pair of drive discs 10. The pair of drive discs 10 are arranged coaxially 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 that transmits the rotational force of the electric motor 12A to the corresponding drive disc 10. The transmission mechanism 12B may be, for example, a belt transmission mechanism. The electric motor 12A may be disposed above the drive disc 10.

[0029] As shown in Figures 1 and 4, the drive wheel 8 is annular and is disposed coaxially with the drive disks 10 between a pair of drive disks 10. The drive wheel 8 is in contact with a plurality of drive rollers 11 and is rotatable around a central axis and an annular axis. The drive wheel 8 has, for example, an annular core body 13 and a plurality of driven rollers 14 rotatably supported on the core body 13. Each driven roller 14 is supported on the core body 13 so as to be rotatable around the axis of the annular core body 13. Each driven roller 14 receives a load from the drive disks 10 and rotates relative to the core body 13.

[0030] When the pair of drive discs 10 rotate in the same direction at the same rotational speed, the drive wheels 8 rotate in the same direction at the same rotational speed as the drive discs 10. When a difference occurs in the rotational direction or rotational speed of the pair of drive discs 10, the driven rollers 14 of the drive wheels 8 rotate relative to the core body 13. This allows the drive unit 3 to generate propulsive force in the left and right directions relative to the floor surface.

[0031] A battery is supported at the rear of the body frame 2. A control device 6 is supported inside or at the rear of the body frame 2.

[0032] 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. A user can sit on the pad 19. The lifting device 5 is connected to the vehicle body frame 2 and the seat frame 18. The lifting device 5 displaces the seat frame 18 up and down relative to the vehicle body frame 2 by extending and retracting 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 may be a linear motor. The lifting device 5 may also be an air cylinder that extends and retracts using compressed air from a compressor.

[0033] The lifting device 5 may have, for example, a base supported by the body frame 2, a movable body mounted on the base so as to be movable up and down and connected to the seat frame 18, a ball screw mechanism for moving the movable body relative to the base, and an electric motor for driving the ball screw mechanism.

[0034] 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 from the low position of the seat 4.

[0035] As shown in FIG. 3 , the seat frame 18 includes a pair of left and right side members 18A extending longitudinally, a front member 18B extending laterally and connected to the front ends of the left and right side members 18A, and a rear member 18C extending laterally and connected to the rear ends of the left and right side members 18A. The seat frame 18 has a rectangular frame shape in a plan view. The seat frame 18 also includes multiple inner plates 21 extending laterally inward from the left and right side members 18A and connected to the front member 18B or the rear member 18C. The surfaces of the multiple inner plates 21 face up and down. Each inner plate 21 is connected to the upper end of the lifting device 5. The inner plates 21, the left and right side members 18A, the front member 18B, and the rear member 18C support the pad 19 from below.

[0036] 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 an abutment member 26 at its lower end. In this embodiment, the vehicle 1 has four first legs 24 and four second legs 27.

[0037] A leg support portion 29 that protrudes downward is provided at each of the four corners of the seat frame 18. The front-left leg support portion 29 is provided at the joint between 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 between 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 between 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 between the rear end of the right side member 18A and the right end of the rear member 18C.

[0038] Each of the first legs 24 and each of the second legs 27 is coupled to the seat frame 18 via a corresponding leg support portion 29. One of the first legs 24 and one of the second legs 27 are connected to each of the leg support portions 29. The first legs 24 have the same configuration as each other, and the second legs 27 have the same configuration as each other.

[0039] The first leg 24 is rotatably connected to the leg support portion 29. The first leg 24 is rotatable between a stored position where it is disposed close to the body frame 2 and an extended position where it is further to the side from the body frame 2 than the stored position.

[0040] The first leg 24 may have a first upper leg portion 24B and a first lower leg portion 24C connected to each other by a joint 24A. The upper end of the first upper leg portion 24B is rotatably connected to the corresponding leg support portion 29. The upper end of the first lower leg portion 24C is rotatably connected to the lower end of the first upper leg portion 24B. The joint 24A is formed at the connection between the lower end of the first upper leg portion 24B and the upper end of the first lower leg portion 24C. The axis of rotation of the first upper leg portion 24B relative to the leg support portion 29 and the axis of rotation of the first lower leg portion 24C relative to the first upper leg portion 24B may be parallel to each other. In other embodiments, the joint 24A may be omitted, and the first upper leg portion 24B and the first lower leg portion 24C may be integrally formed. Alternatively, the leg support portion 29 and the first upper leg portion 24B may be integrally formed, and the first lower leg portion 24C may be connected to the first upper leg portion 24B via the joint 24A.

[0041] Roller 23 is rotatably coupled to the lower end of first lower leg portion 24C. Roller 23 may be a caster whose rotation axis rotates around a vertical axis relative to first lower leg portion 24C. In another embodiment, a ball may be supported on the lower end of first lower leg portion 24C instead of roller 23.

[0042] The lower end of the front-left first leg 24 moves forward and leftward from the stored position toward the deployed position. The lower end of the front-right first leg 24 moves forward and rightward from the stored position toward the deployed position. The lower end of the rear-left first leg 24 moves backward and leftward from the stored position toward the deployed position. The lower end of the rear-right first leg 24 moves backward and rightward from the stored position toward the deployed position. The direction of movement of each first leg 24 from the stored position to the deployed position may be changed as appropriate.

[0043] First leg 24 has a plurality of stoppers 24D that restrict the range of rotation. The plurality of stoppers 24D may be provided inside first leg 24. Stoppers 24D may be provided at the connection between leg support portion 29 and the upper end of first leg upper portion 24B, and at the connection between the lower end of first leg upper portion 24B and the upper end of first leg lower portion 24C.

[0044] Each first leg 24 has a biasing member (not shown) that biases the first leg 24 from the deployed position toward the retracted position. Specifically, the biasing member may be provided at the connection between the leg support 29 and the upper end of the first leg upper portion 24B, and at the connection between the lower end of the first leg upper portion 24B and the upper end of the first leg lower portion 24C. 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 retracted position to the deployed position when the roller 23 is pressed against the floor surface. A damper (not shown) may be provided at the connection between the leg support 29 and the upper end of the first leg upper portion 24B, and at the connection between the lower end of the first leg upper portion 24B and the upper end of the first leg lower portion 24C. The damper may be a rotary damper or a piston damper.

[0045] Second leg 27 is extendable in the vertical direction and is biased in the extension direction. Second leg 27 has second leg upper part 27A extending downward from corresponding leg support part 29 and second leg lower part 27B supported by second leg upper part 27A so as to be movable in the vertical direction. For example, second leg upper part 27A may be formed by a pipe extending linearly, and second leg lower part 27B may be formed by a pipe that slidably receives second leg upper part 27A.

[0046] An abutment member 26 is provided at the lower end of the second leg lower portion 27B. The abutment member 26 preferably has higher flexibility than the second leg lower portion 27B. The abutment member 26 also preferably has a higher coefficient of friction than the second leg lower portion 27B. The abutment member 26 may be formed of, for example, rubber or elastomer. The abutment member 26 contacts the ground, thereby maintaining the vehicle 1, which is in contact with the ground via the rollers 23, in a stopped state. The vehicle 1 is maintained in a stopped state by the frictional force between the abutment member 26 provided at the lower end of the second leg 27 and the floor surface. Because the vehicle is maintained in a stopped state by the frictional force between the abutment member 26 and the floor surface, there is no need to supply power to the drive unit 3, thereby improving energy efficiency. Furthermore, stopping the vehicle 1 facilitates determining the center of gravity of the vehicle 1 when moving the seat 4 to a higher position and starting inverted pendulum control.

[0047] A biasing member is interposed between the leg support 29 and the second leg lower portion 27B to bias the second leg lower portion 27B downward relative to the second leg upper portion 27A. The biasing member is preferably a compression coil spring. The biasing member is preferably disposed inside the second leg lower portion 27B and abuts against the lower end of the first leg upper portion 24B. The second leg 27 is biased in the extension direction by the biasing member.

[0048] The second leg 27 has a damper 27C that damps the extension and contraction movement. The damper 27C may be a piston damper. The damper 27C extends vertically and has an upper end connected to the second leg upper portion 27A and a lower end connected to the second leg lower portion 27B. The upper end of the damper 27C may be connected to the leg support portion 29 to which the second leg upper portion 27A is connected, instead of the second leg upper portion 27A.

[0049] The second legs 27 are provided closer to the body frame 2 than the corresponding first legs 24. The front-left second leg 27 is disposed to the right and rear of the front-left first leg 24, the front-right second leg 27 is disposed to the left and rear of the front-right first leg 24, the rear-left second leg 27 is disposed to the right and front of the rear-left first leg 24, and the rear-right second leg 27 is disposed to the left and front of the rear-right first leg 24.

[0050] The lower parts of two adjacent second legs 27 are connected to each other by a connecting member 31. In this embodiment, the front-left second leg lower part 27B and the front-right second leg lower part 27B are connected by a connecting member 31 extending laterally, and the rear-left second leg lower part 27B and the rear-right second leg lower part 27B are connected by a connecting member 31 extending laterally.

[0051] As shown in FIG. 2, when the seat 4 is in the high position, the rollers 23 and the contact members 26 are separated from the floor surface. When the seat 4 is in the high position, the lower ends of the contact members 26 are positioned lower than the lower ends of the rollers 23. As shown in FIG. 1, when the seat 4 is in the low position, the rollers 23 and the contact members 26 come into contact with the floor surface. When the seat 4 moves from the high position to the low position, the contact members 26 come into contact with the floor surface before the rollers 23. This allows the vehicle to come to a stop earlier when the seat 4 moves to the low position.

[0052] Each second leg 27 is formed to be extendable and contractible in the vertical direction, so that each contact member 26 can reliably contact the floor surface. Also, each second leg 27 has a damper 27C, so that the impact when the seat 4 reaches the low position can be reduced. Two adjacent second leg lower parts 27B are connected by a connecting member 31, so that the rigidity of each second leg 27 is increased. This allows each second leg 27 to more reliably restrict the movement of the vehicle 1.

[0053] Each of the first legs 24 is pushed by the floor surface to move from the stored position to the deployed position, thereby increasing the distance between the contact points of the first legs 24 and stabilizing the posture of the vehicle 1 in the low position.

[0054] 5, second leg lower portion 27B of each second leg 27 is connected to at least one lever 34 via a transmission mechanism 33. In this 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 symmetrical, the left lever 34 and its support structure will be described below.

[0055] A rear lever support 36 is provided at the rear of the side member 18A. The rear lever support 36 extends upward from the corresponding side member 18A. The base end 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 in which it extends horizontally forward from the base end and an operating position in which it is rotated upward and rearward relative to the initial position.

[0056] A front lever support 37 is provided at the front portion 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 is formed at the upper end of the front lever support 37 to receive the tip of the lever 34 when it is in the initial position. The front lever support 37 supports the tip of the lever 34 in the initial position from below.

[0057] The front lever support 37 has locking devices 38 that lock the corresponding levers 34 on the left and right sides in an initial position. The locking devices 38 are displaceably supported on the front lever support 37 and include a displacement member 38C having a locking claw 38A and a tab 38B, and a biasing member (not shown) that biases the displacement member 38C. The displacement member 38C is preferably rotatable or slidably mounted 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 released position where the locking claw 38A is retracted into the front lever support 37. The tab 38B protrudes outward from the front lever support 37. The tab 38B is preferably protruding downward from the front lever support 37. The biasing member biases the displacement member 38C toward the protruding position. A locking hole 38D that receives the locking claw 38A is formed at the tip of the lever 34. Locking claw 38A enters locking hole 38D, maintaining lever 34 in the initial position. When displacement member 38C moves to the release position, lever 34 can rotate from the initial position toward the operating position. The user can move displacement member 38C to the release position by operating tab 38B.

[0058] Each of the multiple second legs 27 is connected to a 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 lifts each of the second legs 27 upward in response to the displacement of one of the pair of levers 34. In addition, the transmission mechanism 33 does not transmit the displacement of one of the pair of levers 34 to the other of the pair of levers 34.

[0059] 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, the pair of left and right elements have the same configuration, so only one of them will be described.

[0060] 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 connected 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, causing the input member 41 to rotate 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 move away from the first pressing portion 34A and rotate to the operating position. In other words, the input member 41 is capable of coming into contact with and separating from the lever 34.

[0061] The drive shaft 42 extends left and right. 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 protrude radially from 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 rear-left second lower 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 rear right second lower leg 27B by a second link 44.

[0062] 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 connected to the left rear lever support 36, and the other end is connected to the front-left second leg upper part 27A or leg support part 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 front-left second leg lower part 27B. Similarly, one end of the outer casing 45A of the right control cable 45 is connected to the right rear lever support 36, and the other end is connected to the front-right second leg upper part 27A or leg support part 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 front-right second leg lower part 27B.

[0063] 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. 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.

[0064] 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 is 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 and maintains it in the operating position. The lock arm 46 and the input member 41 may 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 pressed, 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. This releases the lock of the input member 41 by the lock arm 46, allowing the input member 41 to return to its initial position by receiving the biasing force of the biasing member. The release button 34C and the transmission member 34D may be connected by, for example, a cam. The transmission member 34D is biased in a direction away from the lock arm 46 by a biasing member.

[0065] 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, causing the left input member 41 to rotate from the initial position toward the operating position. When the left input member 41 rotates, the drive shaft 42 rotates via 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 the left and right rear second leg lower parts 27B upward against the biasing force. That is, as shown in FIG. 9 , the left and right rear second legs 27 retract.

[0066] Furthermore, 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, the right input member 41 rotates independently of the right lever 34, so the right lever 34 is maintained in the initial position. In other words, the displacement of one of the pair of levers 34 is not transmitted to the other lever 34.

[0067] When the left and right input members 41 are rotated toward the operating position, the front-left and front-right second leg lower parts 27B are moved upward by the corresponding control cables 45 against the biasing forces of the corresponding biasing members. That is, the front-left and front-right second legs 27 are retracted.

[0068] When the seat 4 is in the low position, if the user rotates the lever 34 to the operating position, all of the second legs 27 retract, and the contact members 26 move from the use position in contact with the floor surface to the retracted position away from the floor surface. In this way, when the seat 4 is in the low position, the contact members 26 are displaced between the use position and the retracted position depending on 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 each of the second legs 27 depending on the displacement of the input member 41.

[0069] As shown in Figure 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 part that supports the soles of the user's feet. In this embodiment, the vehicle 1 has a pair of support members 51, one on the left and one on the right. Each support member 51 is provided so as to be vertically displaceable relative to the seat 4.

[0070] The seat 4 has a cylindrical receiving portion 53 that extends vertically. A pair of receiving portions 53 are provided on the left and right corresponding to the pair of left and right support members 51. The left receiving portion 53 is provided on the front left leg support portion 29, and the right receiving portion 53 is provided on the front right leg support portion 29. The support member 51 has a shaft portion 51B slidably supported by the receiving portions 53 and a stopper 51C provided on the upper part of the shaft portion 51B. A footrest 51A is connected to the lower part of the shaft portion 51B. The stopper 51C abuts against the upper end of the receiving portion 53, thereby determining the lower limit position of the shaft portion 51B relative to the receiving portion 53. The shaft portion 51B may be formed, for example, from a pipe material.

[0071] When the seat 4 is in the low position, the lower ends of the left and right footrests 51A abut against the upper surface of the connecting member 31, and the stoppers 51C are positioned above and away from the receiving portions 53. In this state, the lower ends of the shafts 51B are away from the floor. When the seat 4 moves from the low position to the high position, the front-left and front-right second legs 27 extend, and the receiving portions 53 rise relative to the support member 51. As a result, the distance between the seat 4 and the footrests 51A increases as the seat 4 rises. When the seat 4 subsequently rises further, the receiving portions 53 abut against the stoppers 51C.

[0072] A roller 51D may be provided at the lower end of each shaft 51B. In this case, it is preferable that the lower end of the shaft 51B abuts against the floor surface via the roller 51D. This allows the vehicle 1 to travel with the support member 51 in contact with the floor.

[0073] The left and right shafts 51B may be connected to each other by a connecting member 54 extending laterally. The left and right shafts 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 laterally from the corresponding shafts 51B.

[0074] When the seat 4 is in the low position, the lower end of the shaft 51B abuts against the floor surface via the roller 51D, and the stopper 51C is positioned above and away from the receiving portion 53. When the seat 4 moves from the low position to the high position, the receiving portion 53 rises relative to the support member 51. During this time, the support member 51 is maintained in a grounded state. As a result, the distance between the seat 4 and the footrest 51A increases as the seat 4 rises. Thereafter, as the seat 4 rises further, the receiving portion 53 abuts against the stopper 51C. When the seat 4 rises further with the receiving portion 53 abutting against the stopper 51C, the support member 51 rises together with the seat 4, and the lower end of the shaft 51B moves away from the floor surface.

[0075] When the seat 4 is in the high position, the stopper 51C abuts against 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. Thereafter, when the seat 4 reaches a certain height, the lower end of the shaft portion 51B of the support member 51 abuts against the floor surface via the roller 51D, and the descent of the support member 51 ends. Thereafter, the receiving portion 53 moves away from the stopper 51C and downward relative 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 greater than the distance L1 (see FIG. 1) between the seat 4 and the footrest 51A when the seat 4 is in the low position.

[0076] The shaft 51B moves up and down relative to the receiving portion 53. Therefore, the angle and front-to-back position of the footrest 51A relative to the seat 4 when the seat 4 is in the low position are the same as the angle and front-to-back position of the footrest 51A relative to the seat 4 when the seat 4 is in the high position. As a result, the angle and front-to-back position of the footrest 51A relative to the seat 4 do not change even when the seat 4 moves from the low position to the high position, so the user's posture is stable.

[0077] When the seat 4 is in the high position, the lower end of the abutment member 26 of the second leg 27 is positioned lower than 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 positioned higher than the lower end of the abutment member 26. As a result, the abutment member 26 touches the ground before the support member 51. As a result, the support member 51 can stably touch the ground while the movement of the vehicle 1 is restricted by the abutment member 26.

[0078] The upper surface of pad 19 abuts against the buttocks and thighs of the user. The front portion of the upper surface of pad 19 abuts against the thighs of the user, and the front portion of the upper surface of pad 19 abuts against the buttocks of the user. As shown in FIGS. 6 to 8, the upper surface of the front portion of pad 19 has an inclined surface 19A that slopes downward toward the front. Specifically, inclined surface 19A extends from the front end of pad 19 to the center in the front-to-rear direction. Inclined surface 19A may extend rearward beyond the center in the front-to-rear direction of pad 19. As a result, the thighs of a user seated on seat 4 slope downward toward the knees.

[0079] A downwardly recessed portion 19B is provided on the upper surface of the rear portion of pad 19. The user's ischium fits into recess 19B. Recess 19B engages the user's ischium and prevents the user's ischium from moving back and forth relative to pad 19.

[0080] The left and right side portions 19C of the front of the pad 19 are inclined inwardly to the left and right as viewed from above. The pad 19 has a pair of left and right bank portions 19D that protrude upward on the left and right sides. The pair of left and right bank portions 19D prevent the user's buttocks from moving left and right. The rear of the pad 19 may be provided with a backrest portion 19E that protrudes upward.

[0081] The seat 4 has knee belts 55 for restraining the knees of the user to the front part of the pad 19. The knee belts 55 include a left knee belt 55 connected to the left side member 18A or the left front lever support 37, and a right knee belt 55 connected to the right side member 18A or the right front lever support 37. The left and right knee belts 55 are detachably connected to each other by connecting members 55C such as a buckle and a tongue.

[0082] As shown in Figures 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 this embodiment, the operating device 60 is provided on both the left and right sides of the seat 4. This allows a user with a disability in one of their hands to operate the vehicle with the other hand. The left and right operating devices 60 preferably have the same configuration.

[0083] The operating device 60 has an operating panel 60B having an operating surface 60A facing upward, and a plurality of operating elements 61 provided on the operating surface 60A. The lever 34 constitutes part of the operating device 60, and extends upward and forward from the rear of the operating panel 60B.

[0084] The operation panel 60B is disposed so as to cover the lower portion 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 in the front-rear direction along the side portion 19C of the pad 19. The lever 34 extends in the front-rear direction above the operation panel 60B. Because the front side portion 19C of the pad 19 extends at an inward slant to the left and right, the distance in the left-right direction between the front end of the lever 34 and the pad 19 is greater than the distance in the left-right direction between the rear end of the lever 34 and the pad 19. The upper portion of the front lever support 37 protrudes upward from the operation panel 60B.

[0085] 7, the multiple operators 61 may include a power switch 61A, a lift switch 61B, a movement direction switch 61C, and a driving mode selector switch 61D. The power switch 61A, the lift switch 61B, the movement direction switch 61C, and the driving mode selector switch 61D may be provided on each of the left and right operating devices 60. The multiple switches are connected to the control device 6.

[0086] When viewed from above, at least one of the multiple operators 61 is positioned so as to overlap the lever 34. The operation panel 60B has a recess 60C below the lever 34 that is recessed downward from the operation surface 60A. At least one of the multiple switches may be positioned at the bottom of the recess 60C. In this embodiment, the power switch 61A and the lift switch 61B are positioned so as to overlap the lever 34. The power switch 61A and the lift switch 61B are also positioned at the bottom of the recess 60C. By positioning the lever 34 above at least one of the operators 61, the user is prevented from unintentionally touching the operator 61. This prevents the user from erroneously operating the operator 61. The switch positioned below the lever 34 may be an operator 61 that has a significant impact on the behavior of the vehicle 1, such as the power switch 61A or the lift switch 61B. By positioning the operator 61 in the recess 60C, erroneous operation of the operator 61 by the user can be more reliably prevented. A user operates the power switch 61A and the lift switch 61B arranged below the lever 34 through the gap between the front part of the lever 34 and the pad 19.

[0087] Operation surface 60A is disposed below the upper edge of bank portion 19D. This further prevents the user from unintentionally touching operation element 61 disposed on operation surface 60A and operation element 61 disposed below lever 34. In the initial position, lever 34 is disposed at the same height as the upper edge of bank portion 19D.

[0088] The movement direction switch 61C is a switch for operating the drive unit 3. The movement direction switch 61C is preferably a joystick. When viewed from above, the movement direction switch 61C is disposed between the front end of the lever 34 and the pad 19. This allows the user to operate the movement direction switch 61C, which is a joystick, without being obstructed by the lever 34.

[0089] At least one of the multiple 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 multiple operators 61 may be lit to indicate the state of the vehicle 1. For example, the power switch 61A may be lit when the power of the vehicle 1 is on, i.e., when it is in an activated state. The lift switch 61B may be lit when the lift device 5 is operating. The running mode selector switch 61D may change its emitted color depending on the selected running mode.

[0090] The control device 6 turns the power of the vehicle 1 on and off in response to the user's operation of the power switch 61A. The control device 6 drives the lifting device 5 to raise and lower the seat 4 in response to the user's operation of the lifting switch 61B. The control device 6 switches the driving mode of the vehicle 1 between a turning movement mode and a parallel movement mode in response to the user's operation of the driving mode selector switch 61D.

[0091] 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 to move the vehicle 1 in accordance with the movement direction switch 61C operated by the user. The positions of the seat 4 and the lever 34 may be detected by a sensor connected to the control device 6. When a turning movement mode is selected, the control device 6 may turn the vehicle 1 in a corresponding lateral direction in response to a lateral operation of the movement direction switch 61C. Furthermore, when a parallel movement mode is selected, the control device 6 may translate the vehicle 1 in a corresponding lateral direction in response to a lateral operation of the movement direction switch 61C.

[0092] Because the lever 34 is supported from below by the front lever support 37 in the initial position, the user can use the lever 34 as a handrail when getting on and off the vehicle 1. Furthermore, because the lever 34 is positioned at the same height as the upper edge of the bank portion 19D in the initial position, the user can easily use the lever 34 as a handrail when getting on and off the vehicle 1.

[0093] As shown in FIG. 6 , the left and right knee belts 55 extend from the left and right side members 18A or the front lever support 37, passing through the front end of the operation panel 60B and outward. The knee belts 55, together with the front end of the pad 19, restrain the user's knees, allowing the user to sit stably in the seat 4. The seat frame 18 is also provided with waist belts 71 that restrain the user's waist to the seat 4. The waist belts 71 include a left waist belt 71 that extends from the rear of the left side member 18A and passes through the rear of the left operation panel 60B, and a right waist belt 71 that extends from the rear of the right side member 18A and passes through the rear of the right operation panel 60B. A connecting member 72 is provided at the ends of the left and right waist belts 71 to detachably connect them to each other.

[0094] An outer shell 75 may be attached to the lower part of the vehicle 1. The second legs 27, the shaft portions 51B of the support members 51, and the first leg upper portions 24B of the first legs 24 may be disposed inside the outer shell 75. The lower ends of the first leg lower portions 24C of the first legs 24 may protrude outside the outer shell 75.

[0095] The operation of the vehicle 1 configured as described above will now 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 abutment 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 abutment member 26 is in contact with the ground, horizontal movement of the vehicle 1 is restricted. This state is referred to as the stopped state of the vehicle 1. When the vehicle 1 is in the stopped state, a user can get on and off the vehicle 1. In this case, the user can use the left and right levers 34 as handrails.

[0096] When the vehicle 1 is stopped, as shown in FIG. 9 , when the user moves the lever 34 from the initial position to the operating position, the second legs 27 retract upward and the contact members 26 move away from the floor. This state is called the low-position travel-enabled state. In the low-position travel-enabled state, the user can operate the travel direction switch 61C to travel the vehicle 1. 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. This allows the user to return the lever 34 to the initial position and lock it with the locking device 38. When the user presses the release button 34C, the second legs 27 extend, the contact members 26 touch the ground, and the vehicle 1 comes to a stop.

[0097] When the user operates the lift switch 61B while the vehicle 1 is stationary, 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 Figure 2. As the seat 4 rises, the rollers 23 of each first leg 24 and the contact members 26 of each second leg 27 move away from the floor. At this time, each support member 51 is maintained on the connecting member 31 until the stopper 51C comes into contact with the receiving portion 53, and therefore the distance between the footrest 51A and the seat 4 increases.

[0098] After each support member 51 leaves the floor, only the drive wheels 8 of the left and right drive units 3 touch the ground. At this time, the posture 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 shift in the user's weight, and controls the drive units 3 to move the vehicle 1.

[0099] When the seat 4 moves from a low position to a high position, the knees of the user seated on the seat are straightened (the knee angle increases), reducing the amount of forward knee protrusion. This reduces the footprint of the vehicle 1 including the user, i.e., the area occupied by the vehicle 1 including the user when viewed from above. As a result, the vehicle can easily move in narrow spaces. Furthermore, when the seat 4 moves from a low position to a high position, the line of sight of the user seated on the seat 4 is raised. Furthermore, because the legs of the user seated on the seat 4 are extended vertically, the user's back is straightened, making it easier for the user to maintain a stable posture. As a result, the user can feel a sense of security even when the seat 4 is raised to a high position. This makes it possible to provide a vehicle that allows the user to raise their line of sight while still feeling a sense of security. Because the support member 51 to which the footrest 51A is attached is displaced relative to the seat 4 by gravity, no power is required for the support member 51. This improves the energy efficiency of the vehicle 1.

[0100] Although the description of the specific embodiment has been completed above, the present invention is not limited to the above embodiment and can be widely modified and implemented. The control device 6 may prohibit operation of the lifting device 5 when the input member 41 is not locked by the lock arm 46. Alternatively, the control device 6 may allow the lifting device 5 to raise the seat 4 when the seat 4 is in the low position and the lever 34 is in the initial position. This configuration makes it possible to prohibit the seat 4 from being positioned in the high position when the second leg 27 is in the retracted position.

[0101] The vehicle 1 may have a restriction mechanism that maintains the lever 34 in its initial position when the seat 4 is in the high position. The restriction mechanism may be configured, for example, by an actuator that restricts 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, and when the seat 4 is in the high position, may drive the actuator to maintain the displacement member 38C of the locking device 38 in the locked position. On the other hand, when the seat 4 is in the low position, the control device 6 may move the actuator away from the displacement member 38C to allow the displacement member 38C to rotate. [Explanation of symbols]

[0102] 1: Vehicles 2: Body frame 3: Drive unit 4: Sheet 5: Lifting device 6: Control device 18: Seat frame 19: Pad 19A:Top surface 19B: Recess 19C: Side 19D: Bank 19E: Backrest 21: Inner plate 23: Laura 24 :1st leg 24A: Joints 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 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 part 51C: Stopper 51D: Laura 53: Receiving part 55: Knee Belt 60: Operating device 60A: Operation surface 60B: Operation panel 60C: Recess 61: Operator

Claims

1. It is a vehicle, The body frame and a drive unit provided on the body frame and movable on a floor surface; a seat disposed above the body frame and supporting the buttocks of a user; a lifting device provided between the vehicle body frame and the seat, for lifting the seat between a low position and a high position; At least one support member extends downward from the seat and has a footrest at its lower portion for supporting the soles of the feet of the user; The support member is provided so as to be displaceable up and down relative to the seat, the support member is displaced so that the distance between the seat and the footrest when the seat is in the high position is greater than the distance between the seat and the footrest when the seat is in the low position; The seat has a receiving portion extending vertically, The support member is supported on the receiving portion so as to be slidable in the up and down direction, and includes a shaft portion to which the footrest is connected, and a stopper that determines a lower limit position of the shaft portion by contacting the receiving portion, A vehicle in which, when the seat is in the low position, the lower end of the shaft portion abuts the floor surface and the stopper is positioned above and spaced apart from the receiving portion.

2. 2. The vehicle according to claim 1, wherein a first roller is provided at the lower end of said shaft portion.

3. at least one first leg extending downward from the seat and having a second roller at a lower end thereof; at least one second leg extending downward from the seat and having an abutment member at a lower end thereof; When the seat is in the high position, the second roller and the contact member are separated from the floor surface, 3. The vehicle according to claim 2, wherein the second roller and the contact member contact the floor surface when the seat is in the low position.

4. 4. The vehicle according to claim 3, wherein when the seat is in the high position, the lower end of the contact member is positioned below the lower end of the second roller, and the lower end of the first roller is positioned above the lower end of the contact member.

5. the seat has pads that come into contact with the buttocks and thighs of the user, 5. The vehicle according to claim 1, wherein an upper surface of the front portion of the pad is provided with an inclined surface that slopes downward toward the front.

6. 6. The vehicle according to claim 5, wherein a recess recessed downward is provided on the upper surface of the rear portion of said pad.

7. 7. A vehicle according to claim 5 or 6, wherein the seat has a knee belt for restraining the knees of the user to the front part of the pad.

8. 8. A vehicle according to claim 1, wherein the angle and the fore-and-aft position of the footrest relative to the seat when the seat is in the low position are the same as the angle and the fore-and-aft position of the footrest relative to the seat when the seat is in the high position.

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