JP2000325157A - Power assist-type mobile shelf - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a power assist-type mobile shelf assisted by electric power and capable of moving lightly even if it is a heavy mobile shelf with a small rotational operating force. SOLUTION: This mobile shelf comprises a power transmitting mechanism for transmitting the rotation force of a rotary operation handle 12 to running wheels, a torque sensor for detecting the torque applied to the rotary operation handle 12, and a motor 44 driven to give the torque for the running wheels when the torque detected by the torque sensor reaches a predetermined torque or more, and as a torque sensor, there is a torque sensor 28 for detecting the torque when the rotary operation handle 12 rotates in one direction and a torque sensor 30 for detecting the torque at the time of reverse rotation. A motor 44 is capable of rotating in both positive and reverse directions, and the motor 44 is driven in one direction by an output signal of the torque sensor for detecting the torque at the time of the rotation in one direction, while the motor is driven in the reverse direction by an output signal of the torque sensor for detecting the torque at the time of reverse rotation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power-assisted movable shelf which can be moved by a very light operating force even if it is a heavy movable shelf, even though it is a manually operated rotary operating handle type movable shelf. .

[0002]

2. Description of the Related Art Moving shelves in which shelves can be moved by traveling wheels are arranged side by side to constitute a moving shelves apparatus. Since a passage can be formed and other storage shelves can be gathered, there is an advantage that a limited space can be efficiently used as an article storage space.

[0003] The moving shelf is driven by directly pushing or pulling by a manual operation, or by a manual operation of rotating a rotating operation handle, thereby providing a power transmission mechanism having a deceleration mechanism. The driving force is transmitted to the traveling wheels to rotate the driving wheels, and the driving wheels are driven to rotate. The type that can be pushed and pulled directly by hand is used only for small-scale mobile shelving devices that consist of small mobile shelves, and is generally divided into rotary operation handle type and electric type. Can be.

[0004]

According to the movable rack of the rotary operation handle type, the rotational force of the rotary operation handle is transmitted to the traveling wheels via the power transmission mechanism having the speed reduction mechanism, so that a considerably large movement is required. Even a shelf can be moved manually. It is also possible to push and move a plurality of moving shelves by rotating a rotating operation handle of one moving shelf. However, there is still a limit in human power, and a considerable amount of force is required to move a large, heavy moving shelf by operating the rotary operation handle. In particular, in recent years, the installation of mobile shelves in libraries and the like has progressed, and the number of opportunities for women to operate mobile shelves has increased, and it has become a heavy burden for weak women to manually move large mobile shelves.

On the other hand, in the case of an electric moving shelf, a motor having an output corresponding to the size of the moving shelf is attached.
The operator can easily operate regardless of whether the operator is a woman or a man. However, when a command indicating that a work passage is to be formed between specific movable shelves is issued, the electric movable shelf has a relationship between a position where a work passage is to be formed and a position of a space in which the movable passage can be moved. It is necessary to determine the moving shelf to be moved and its moving direction, and to control the energization and the rotation direction of the motor of each moving shelf based on the moving shelf, which complicates a control circuit or control software. Further, it is necessary to detect and stop when there is no more space to move for each moving shelf. Further, when there is an operator or an obstacle in the moving space, it is necessary to detect and stop the worker or the obstacle. In addition, various detection circuits and control circuits are required to ensure safety or protect the motor, and the cost is considerably higher than that of a rotary shelf with a movable handle.

From another viewpoint, the moving distance of each moving shelf is at most 1 m on average, and moves only linearly along the guide rail. Further, the maximum moving speed is about 4 km / h, which is only a speed at which a human walks. As described above, although the movable shelf is a very simple movement, in the case of an electric type, it is necessary to perform complicated control, and it is necessary to take sufficient safety measures. There is a drawback that the wear becomes complicated and the cost increases.

[0007] The present invention was conceived by reviewing such a conventional movable shelf. Although the appearance of the movable shelf is a rotary handle type movable shelf, the movable shelf having a heavy weight can be moved by receiving the assistance of electric power. It is an object of the present invention to provide a power-assisted movable shelf that can easily move a shelf with a small rotating operation force.

[0008] The present invention can also control the movement and stop based on human will, so that complicated control,
An object of the present invention is to provide a power-assisted movable shelf which does not require a complicated control circuit or software, has high safety, and can reduce the cost.

[0009]

According to the present invention, there is provided a rotary operation handle, a power transmission mechanism for transmitting the rotational force of the rotary operation handle to traveling wheels, and a rotary operation handle. And a motor that is driven when the torque applied to the vehicle becomes greater than or equal to a predetermined torque and applies a rotational force to the traveling wheels.

According to a second aspect of the present invention, there is provided a rotary operating handle, a power transmission mechanism for transmitting the rotational force of the rotary operating handle to running wheels, a torque sensor for detecting a torque applied to the rotary operating handle, and the torque sensor. And a motor which is driven when the torque detected by the motor becomes equal to or more than a predetermined torque and applies a rotational force to the traveling wheels.

According to a third aspect of the present invention, there is provided a rotary operation handle, a power transmission mechanism for transmitting a rotational force of the rotary operation handle to traveling wheels, a torque sensor for detecting a torque applied to the rotary operation handle, and the torque sensor. A motor that is driven when the detected torque is equal to or more than a predetermined torque and provides a rotational force to the traveling wheels, and as the torque sensor, a torque sensor for detecting a torque during one-way rotation of the rotary operation handle, There is a torque sensor for torque detection during reverse rotation, and the motor can rotate forward and backward. The motor is driven in one direction by the output signal of the torque sensor for torque detection during one direction rotation, and the motor rotates in the reverse direction. The motor is driven in the reverse direction by the output signal of the torque sensor for detecting torque at the time.

[0012] As in the invention of claim 4, claim 1,
In the invention described in 2 or 3, a speed detecting means of the rotary operation handle may be provided, and the speed of the motor may be controlled according to the speed detected by the speed detecting means.
As in the fifth aspect of the present invention, in the first, second or third aspect of the present invention, the drive by the motor may be stopped when the torque detected by the torque sensor becomes equal to or less than a predetermined torque.

As in the sixth aspect of the present invention, in the fourth aspect of the present invention, the drive by the motor may be stopped when the speed detected by the speed detecting means becomes lower than a predetermined speed. According to the invention as set forth in claim 7, in the invention as set forth in claim 5 or 6, when the driving by the motor is stopped and the power assist by the motor is stopped, the motor itself becomes a load and assists in stopping the moving shelf. It is even better to do so.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a power-assisted movable shelf according to the present invention will be described with reference to the drawings. FIG. 3 shows an example of a power-assisted movable shelf according to the present invention, and is a diagram viewed from one side. The appearance is almost the same as the conventional rotary operation type movable shelf. In FIG. 3, the movable shelf 10 has a rotation operation handle 12 protruding from a side panel 11 on one side. The rotation operation handle 12 is rotatably supported at a height suitable for a human to perform a rotation operation. A traveling wheel 14 is rotatably supported on the bottom of the moving shelf 10, and the traveling wheel 14 is mounted on a rail, so that the moving shelf 10 has a front surface, that is, a direction orthogonal to the article loading / unloading surface (see FIG. 3 in the left-right direction).

The traveling wheels 14 are disposed before and after in the traveling direction of the moving shelf 10, and the traveling wheels 1 in the traveling direction are
4, a rotary operation handle 12 is provided between the axis of at least one of the traveling wheels 14 and the rotary operation handle 12.
When viewed from the side, a power transmission mechanism forming a reduction transmission mechanism is interposed. Accordingly, the manual operation force of the rotation operation handle 12 is reduced to be transmitted to the traveling wheels 14 via the power transmission mechanism, and the traveling wheels 14 are rotationally driven. Can be run along the rails. As the power transmission mechanism, various well-known types may be employed. The power transmission mechanism is disposed inside the side panel 11. The movable shelf 10 includes a power assisting unit that uses an electric force in addition to a manual rotation operation force of the rotation operation handle 12.

Next, an example of the configuration of a hybrid unit used in the power-assisted movable shelf according to the present invention will be described. In FIG. 1, the rotation operation handle 12
The sprocket 16 is mounted integrally with the rotating shaft of the motor. A chain 18 is provided between the sprocket 16 and a sprocket 20 rotatably supported diagonally downward.
Is hung. The sprocket 20 is integrally mounted on an intermediate shaft, and a chain is hung between the intermediate shaft and a sprocket (not shown) mounted on the shaft of at least one traveling wheel 14 described with reference to FIG. The power transmission mechanism including the sprocket 16, the chain 18, and the sprocket 20 extending from the rotary operation handle 12 to the traveling wheel 14 constitutes a deceleration transmission mechanism as viewed from the rotary operation handle 12.

A sprocket 22 is disposed immediately below the sprocket 16, and a chain 24 is hung between the sprocket 16 and the sprocket 22.
Opposite to the sprocket 16, the speed detection means 15 of the rotary operation handle is arranged. The speed detecting means 15 can be constituted by, for example, an encoder, and a sprocket 16
Outputs a signal every time it rotates by a certain angle. By counting the output signal of the speed detecting means 15 per unit time, the rotation speed of the sprocket 16 and, consequently, the traveling speed of the movable shelf can be detected. At least two other sprockets of the same diameter are mounted integrally with the center axis of the sprocket 22, and a chain 32 is provided between one sprocket and the sprocket 29 on the left side thereof.
A chain 34 is hung between the other sprocket integral with the sprocket 31 and the right sprocket 31.

A motor 44 capable of normal and reverse rotation is disposed directly below the sprocket 22. Motor 44
A sprocket 46 and another sprocket having the same diameter as the sprocket 46 are attached to the output shaft. A chain 48 is provided between one of the sprockets and the sprocket 29, and the other sprocket is connected to the sprocket 3
The chain 50 is hung between the two.
Accordingly, the rotational driving force of the motor 44 is transmitted to the sprocket 20 via the sprocket-chain 48-sprocket 29-chain 32-sprocket 22-chain 24-sprocket 16-chain 18 on its output shaft.
Alternatively, it is transmitted to the sprocket 20 via the sprocket on the output shaft of the motor 44-the chain 50-the sprocket 31-the chain 34-the sprocket 22-the chain 24-the sprocket 16-the chain 18 and consequently to the traveling wheel 14. It has become so.
A chain 5 shown by a broken line in FIG. 1 is provided between the sprocket on the output shaft of the motor 44 and the sprocket 20.
By multiplying 2, the rotational force of the motor 44 can be transmitted to the sprocket 20 without passing through the complicated path as described above.

The shaft of the sprocket 29 is provided with a torque sensor 28, and the shaft of the sprocket 31 is provided with a torque sensor 30. The torque sensor 28 is a torque sensor for left rotation, and has a detected object 36 that rotates left only when the sprocket 29 rotates left, and a sensor 40 that detects when the detected object 36 rotates by a certain angle. Do it. Sprocket 29 and object 36 to be detected
A one-way clutch and a friction transmission mechanism that transmit a rotational force only when the sprocket 29 rotates counterclockwise are interposed therebetween. The detected body 36 is urged by a spring to return to a predetermined home position, and the sprocket 29 is rotated leftward with a predetermined torque to reach the position of the sensor 40 against the urging force, and At 40, it is detected. When the sprocket 29 is driven to rotate at a torque equal to or higher than the predetermined torque, the detection target 36 is stopped by contacting the stopper at the position of the sensor 40, and the detection signal is continuously output from the sensor 40. Has become.

The torque sensor 30 is a torque sensor for right rotation, and has the same configuration as the torque sensor 28. That is, it has a detected body 38 that rotates right only when the sprocket 31 rotates rightward, and a sensor 42 that detects when the detected body 38 rotates by a certain angle. A one-way clutch and a friction transmission mechanism that transmit torque only when the sprocket 31 rotates clockwise is interposed between the sprocket 31 and the detection object 38. The detected body 38 is urged by a spring to return to a predetermined home position, and the sprocket 31 is rotated rightward by a predetermined torque to reach the position of the sensor 42 against the urging force. 42. Further, when the sprocket 31 is driven to rotate at a torque equal to or higher than the predetermined torque, the detection target 38 is stopped by contacting the stopper at the position of the sensor 42, and the detection signal is continuously output from the sensor 42. Has become.

The urging force by the springs of the detection bodies 36 and 38 is relatively weak, and the transmission torque by the friction transmission mechanism is also relatively weak. Therefore, when the rotation operation handle 12 is rotated left or right, the detection target 36 or the detection target 38 is rotated to the position of the sensor 40 or the sensor 42 by a relatively weak rotation operation force and stopped. As the handle 12 is continuously rotated, the detected object 36 or the detected object 3
8 stops at the position of the sensor 40 or the sensor 42. When the rotation of the rotation operation handle 12 stops, the detected object 36 or the detected object 38 returns to the home position by the urging force.

When the detection signal is output from the sensor 40, the motor 44 is driven to rotate leftward, and this rotational force is transmitted to the traveling wheel 14, and the traveling wheel 14 is driven to rotate leftward. On the other hand, when the detection signal is output from the sensor 42, the motor 44 is driven to rotate to the right, and this rotational force is transmitted to the traveling wheel 14, so that the traveling wheel 14 is driven to rotate to the right. .
The state shown in FIG. 1 is a state where the moving shelf is stopped,
Detected bodies 36, 38 of left and right torque sensors 28, 30
Are at their home positions by the urging forces, and no detection signal is output from the sensors 40 and 42.

If the rotating operation handle 12 is rotated leftward from the state where the movable shelf is stopped, for example, the detected object 36 constituting the torque sensor 28 at the time of the leftward rotation as described above is moved to the left. Rotate this to sensor 40
Is detected, and a detection signal is output from the torque sensor 28. The motor 44 is rotated leftward by this detection signal, and this rotational driving force is transmitted to the traveling wheels to be power assisted, so that even if the rotational operation force of the rotary operation handle 12 is weak, the mobile shelf can be easily moved leftward. Can be done. Of course, if the rotary operation handle 12 is rotated with a large torque, this rotational force is transmitted to the traveling wheels, so that the moving shelf can be run at a high speed.

Conversely, if the rotary operation handle 12 is rotated to the right, the detection object 38 constituting the torque sensor 30 when rotating in the right direction is rotated to the right, and this is detected by the sensor 42.
Is detected, and a detection signal is output from the torque sensor 30. The motor 44 is rotated rightward by this detection signal, and this rotational driving force is transmitted to the traveling wheels to assist the power, so that even if the rotational operating force of the rotary operating handle 12 is weak, the mobile shelf can be easily moved rightward. Can be done. Also in this case, if the rotary operation handle 12 is rotated with a large torque, this rotational force is transmitted to the traveling wheels, so that the movable shelf can be run at a high speed.

When the rotation operation of the rotation operation handle 12 is stopped, or when the rotation speed of the rotation operation handle 12 with respect to the traveling speed of the movable shelf decreases to a certain level or less,
The detected object 36 or the detected object 38 is rotated from the position of the sensor 40 or the sensor 42 toward the home position by the urging force, and the detection signal of the torque sensor 28 or the torque sensor 30 is stopped.
4 is stopped, and the power assist is stopped. In addition, the power transmission mechanism reaching the motor 44 as viewed from the traveling wheels and the motor 44 act as a resistance to apply a brake to the moving shelf, and the moving shelf immediately stops. Therefore, if the rotation operation of the rotary operation handle 12 is stopped or the rotation speed is reduced to a certain level or less in order to stop the traveling of the moving shelf, the power transmission mechanism and the motor 44 become loads and the moving shelf is stopped. , It is possible to suppress the traveling of the moving shelf by inertia, and the moving shelf can be accurately stopped at the intended position.

The speed detecting means 15 outputs a signal corresponding to the rotational speed of the rotary operating handle 12, and detects the rotational speed of the rotary operating handle 12 by counting the output signal per unit time of the speed detecting means 15. can do. Therefore, the rotation speed of the motor 44 is controlled according to the speed detected by the speed detection means 15. Therefore, the rotating operation handle 12 may be operated slowly to move the moving shelf slowly, and the rotating operation handle 12 may be operated to move the moving shelf quickly.
Can be rotated quickly, so that the speed according to the operator's intention and the same operational feeling as a conventional rotary operation handle type mobile shelf, but with a much weaker operating force, it can be moved lightly. Can be run.

As can be seen from the above operation, according to the embodiment of the power assisted movable shelf according to the present invention, when the movable shelf is to be moved to the left, the rotary operation handle 12 is rotated leftward. When the user wants to move the movable shelf to the right, the power is assisted by the motor 44 by rotating the rotary operation handle 12 rightward, and the operator's intention is achieved with a very weak operating force. The mobile shelf runs lightly. Further, when the rotation operation of the rotation operation handle 12 is stopped, the power assist by the motor 44 is also stopped, the traveling of the moving shelf is stopped, and the motor 44 is stopped according to the rotation operation speed of the rotation operation handle 12.
Since the rotation speed of the moving shelf is controlled and the traveling speed of the moving shelf is controlled, the moving shelf can be made to travel according to the operator's intention with the same operational feeling as the conventional rotating operation handle type moving shelf.

Next, an example of a control system of the power-assisted movable shelf according to the present invention will be described. In FIG.
Regarding the handling of the rotation operation handle 12, that is, the rotation speed and the rotation torque, respectively, the speed detection means 15 and the torque sensor 4 for torque detection at the time of clockwise rotation.
2, and another torque sensor for torque detection during leftward rotation (not shown). These detection signals are input to the controller 64. The hybrid unit 60 refers to the mechanism described with reference to FIG. 1, and is a mechanism that can rotationally drive the running wheels with the manual rotation operation force and the rotation force of the motor 44. Unit. " The power of the motor 44 and the power of the controller 64 are supplied from a battery 58, and the battery 58 is charged by the output of the solar cell 56. A commercial AC power supply may be used as the power supply. In this case, the commercial AC power supply may be rectified to charge the battery 58, the commercial AC power supply may be rectified and used directly without using the battery 58, or the commercial AC power supply may be used as the power supply of the motor 44. The power supply may be used directly. The controller 64 responds to detection signals from the speed detection means 15, the torque sensor 42, and another torque sensor (not shown),
The motor 44 is controlled as described above.

Next, a modified example applicable to the present invention will be described. In the example of the hybrid unit 60 shown in FIG. 1, the torque sensor is divided into one for detecting the torque during one-way rotation and the other for detecting the torque during the reverse rotation. It is also possible to detect the torque at the time. For example,
When the detected means is urged to rotate rightward and leftward by two springs, and the rotation operation handle is not rotated,
When the detected means takes the home position at a position where the biasing force is balanced, and the rotating operation handle is rotated left or right, the detected means is rotated left or right via the friction transmission mechanism, and Make it detected by the rotation sensor or right rotation sensor. By doing so, the number of torque sensors can be reduced, and the configuration can be simplified and the cost can be reduced.

In FIG. 1, it has been described that the sprocket 20 is provided on the intermediate shaft. However, the shaft on which the sprocket 20 is provided may be an integral shaft with the traveling wheel. FIG. 1 is close to a conceptual diagram of the hybrid unit 60, and the positional relationship between the components is different from the actual one. In particular, it is not impossible to arrange the motor 44 above the sprocket 20 integrated with the intermediate shaft as shown in FIG. 1, but in order to make the storage space for articles as large as possible or to shift the center of gravity of the moving shelf. In order to make it as low as possible, it is desirable to provide it at the bottom of the moving shelf. Also,
A plurality of motors 44 having the same configuration may be provided on one moving shelf, and these motors 44 may rotate one wheel axle or separate wheel axles. When the motor 44 is, for example, a reduction motor having a built-in gear, the output shaft of the motor 44 may be directly connected to the wheel shaft.

The motor 44 may rotate in only one direction. In that case, depending on whether the torque sensor detects leftward rotation or rightward rotation, the one-way torque of the motor is directly transmitted to the traveling wheels, or the one-way torque of the motor is reversed. There is a need for a switching device for transmitting the signal to the traveling wheels, and there is a problem that the configuration is complicated. Therefore, it is desirable to use a motor that can rotate forward and backward as in the example shown in FIG.

Although the power transmission mechanism shown in FIG. 1 has been described as being constituted by a sprocket and a chain, various power transmission mechanisms replacing the sprocket and the chain, for example, a toothed belt and a toothed rotation adapted thereto. A body, a flat belt and a pulley adapted thereto, a V-belt and a V-groove shaped pulley adapted thereto may be used.

As described above, the drive stop by the motor may be performed when the torque detected by the torque sensor becomes equal to or less than a certain torque, or the speed detected by the speed detecting means becomes equal to or less than the certain speed. You can do it sometimes. Further, it is also possible to control the forward / reverse rotation of the motor only with the detection output of the speed detecting means for detecting the rotation speed of the rotary operation handle without using the torque sensor. In this case, the speed detecting means also serves as a torque sensor. Further, in this case, a rotation direction detecting means for detecting whether the rotation operation handle is being rotated leftward or rightward is provided, and the rotation drive direction of the motor is determined according to the detected rotation direction. Take control.

The rotating handle type moving shelf is operated by the operator rotating the rotating handle based on the operator's will while confirming the safety, so that there is no room for shifting the moving shelf, or in the traveling direction of the moving shelf, When the operator finds that a human, an article conveying device, other obstacles, or the like are present, the moving shelf can be stopped by stopping the rotation operation of the rotating handle. On the other hand, in the case of the electric moving shelf, the operator simply specifies the work path to be formed, and thereafter, based on output signals of various sensors of the electric moving shelf device,
The control circuit operates according to a predetermined program to control the motor, and forms a work passage at a designated position. Therefore, a complicated circuit configuration and complicated software are required, although the operation is apparently simple. In addition, various safety measures need to be taken, and the circuit configuration and software become more and more complicated. That point,
According to the above-described embodiment of the power-assisted movable shelf according to the present invention, the brain of the operator works to replace the control circuit and various safety devices, and the circuit configuration and software of the movable shelf device are extremely simplified. Therefore, it is possible to provide an extremely low-cost moving shelf as compared with a conventional electric moving shelf. Further, the moving shelf can be moved with the same feeling as the operation of the conventional rotating handle type moving shelf, and even if the operator is a weak woman or a heavy moving shelf, the moving shelf can be lightened. Can be moved.

Although the movement of the movable shelf is simple and its traveling range is limited to at most about 1 m, it requires a complicated circuit configuration and software like a conventional electric movable shelf. Is not rational in terms of cost.
In this regard, according to the above-described embodiment of the present invention, since the control of the moving shelf is entrusted to the operator's will by receiving the power assist by the motor, it is extremely rational as a driving system of the moving shelf that moves simply. is there.

[0036]

According to the first aspect of the present invention, the rotary operation handle, the power transmission mechanism for transmitting the rotational force of the rotary operation handle to the traveling wheel, and the torque applied to the rotary operation handle is equal to or more than a predetermined torque. When the rotating operation handle is rotated, the power assist by the motor is performed. With the same feeling, it is possible to run the mobile shelf with a very weak operation force according to the operator's intention, even if the operator is a weak woman or a heavy mobile shelf. Can be moved. According to the second and third aspects of the invention, the same effects as those of the first aspect can be obtained.

According to the invention set forth in claim 4, claim 1 is
In the invention described in the item 2 or 3, when the moving shelf is run at high speed, the speed of the motor is controlled in accordance with the speed detected by the speed detecting means. By increasing the rotation speed of the rotary operation handle, the mobile shelf can run faster under power assist, and when trying to run the mobile shelf slowly, the rotation speed of the rotary operation handle can be reduced. The moving shelf can be run slowly under power assist.

According to the invention of claim 5, claim 1, claim 1,
In the invention described in the item 2 or 3, the drive by the motor is stopped when the torque detected by the torque sensor becomes equal to or less than a certain torque. The rotation operation may be stopped or set to a certain speed or less, so that the torque detected by the torque sensor becomes equal to or less than a certain torque. The running of the shelves can be stopped.

According to the sixth aspect of the present invention, in the fourth aspect of the present invention, when the speed detected by the speed detecting means falls below a certain speed, the driving by the motor is stopped. Similarly to the invention, when the moving shelf is to be stopped, the rotation operation of the rotation operation handle is stopped, or the speed is set to a certain speed or less, so that the torque detected by the torque sensor is set to a certain torque or less. Often, the traveling of the movable shelf can be stopped by the operator's will with the same feeling as in the conventional rotary handle type movable shelf.

According to the invention described in claim 7, in the invention described in claim 4 or 5, the driving by the motor is stopped and the power assist by the motor is stopped. When the rotation of the rotary operation handle is stopped or the rotation speed is reduced to a low speed, the moving shelf can be prevented from coasting when the rotation of the rotating operation handle is stopped, and the moving shelf can be accurately positioned at the intended position. Can be stopped.

[Brief description of the drawings]

FIG. 1 is a side view showing an example of a power assist unit applicable to a power assisted movable shelf according to the present invention.

FIG. 2 is a block diagram illustrating an example of a control system applicable to the power-assisted movable shelf according to the present invention.

FIG. 3 is a side view showing an example of the appearance of the power-assisted movable shelf according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Moving shelf 12 Rotation operation handle 14 Running wheel 15 Speed detection means 28 Torque sensor 30 Torque sensor 44 Motor

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Icenaga Ichiro 3-8-1, Kamimakumamoto, Kumamoto City, Kumamoto Prefecture Kongo Co., Ltd. (72) Inventor Kazuya Tokunaga 3-8-1, Kamimakumamoto, Kumamoto City, Kumamoto Prefecture Kongo Co., Ltd. (72) Inventor Toshihiro Higashi 3-8-1, Kamimakumamoto, Kumamoto City, Kumamoto Prefecture Kongo Co., Ltd.

Claims (7)

[Claims] 1. A rotary operating handle, a power transmission mechanism for transmitting the rotational force of the rotary operating handle to traveling wheels, and a driving mechanism that is driven when the torque applied to the rotary operating handle exceeds a predetermined torque to drive the rotary force. A power-assisted moving shelf having a motor provided to wheels. 2. A rotary operating handle, a power transmission mechanism for transmitting the rotational force of the rotary operating handle to traveling wheels, a torque sensor for detecting a torque applied to the rotary operating handle, and a torque detected by the torque sensor being a predetermined torque. A power-assisted moving shelf comprising: a motor that is driven when the torque is exceeded or more and applies rotational force to running wheels. 3. A rotary operating handle, a power transmission mechanism for transmitting the rotational force of the rotary operating handle to running wheels, a torque sensor for detecting a torque applied to the rotary operating handle, and a torque detected by the torque sensor being a predetermined value. A motor that is driven when the torque becomes equal to or more than a torque and applies a rotational force to the traveling wheels. As the torque sensor, a torque sensor for detecting a torque when the rotation operation handle rotates in one direction and a torque when the rotation rotates in the reverse direction There is a torque sensor for detection, and the motor can rotate forward and backward. The motor is driven in one direction by the output signal of the torque sensor for torque detection during one-way rotation, and the torque for torque detection during reverse rotation A power-assisted moving shelf in which the motor is driven in the reverse direction by the output signal of the sensor. 4. The power-assisted movable shelf according to claim 1, further comprising speed detecting means for the rotating operation handle, wherein the speed of the motor is controlled in accordance with the speed detected by the speed detecting means. 5. The power-assisted mobile shelf according to claim 2, wherein the drive by the motor is stopped when the torque detected by the torque sensor falls below a certain torque. 6. The power-assisted movable shelf according to claim 4, wherein the drive by the motor is stopped when the speed detected by the speed detecting means falls below a certain speed. 7. The power-assisted movable shelf according to claim 5, wherein when the drive by the motor is stopped and the power assist by the motor is stopped, the motor itself acts as a load to assist in stopping the movable shelf.