JP2009012510A - Carriage - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a carriage constituted free to steer by a steering motor and workability of which is remarkably improved. <P>SOLUTION: Wheels are respectively provided on four corners of a lower part of the carriage 1. That is, a travelling steering wheel 6 on which a travelling motor 4 and the steering motor 5 are mounted is provided in one of the diagonal directions, and a steering wheel 7 on which the same steering motor 5 is mounted is provided in the other diagonal direction. A handle 12 is constituted free to revolve within a horizontal surface through a handle support 10 and a bearing 18. A longitudinal operating force detector 21 is mounted at a prescribed position of a plate spring 17, and a torque detector 22 is mounted at a prescribed position of the handle support 10. An L lever 13 and an R lever 14 are mounted respectively free to move in prescribed regions. The carriage 100 does not come to be in a state free to travel unless the L lever 13 and the R lever 14 are gripped by a worker. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a carriage for conveying a cargo handling object.

Conventionally, an electric assist cart including an assist device used when an operator transports a cargo handling object has been proposed (see, for example, Patent Document 1). The electric assist cart includes one drive wheel and two pairs of traveling wheels. The pair of traveling wheels ahead in the traveling direction is configured to be able to turn.

JP-A-10-109647

However, the conventional electric assist cart has a problem in operability. In other words, when a roll material of about 5000 kg is transported and the degree of request for positioning of the placement is high,
In many cases, an operator cannot perform positioning at one time. As a result, it is necessary to repeatedly turn the direction of the carriage. Moreover, since the weight of the roll material to convey is large, it is difficult for the operator to turn back the direction of the carriage. As a result, work efficiency cannot be improved.

In view of the above-described problems, an object of the present invention is to provide a cart with significantly improved operability.

The gist of the carriage according to the present invention is that a carriage on which a cargo handling object is placed, a plurality of wheels provided at four corners of the lower part of the carriage, and at least two wheels of the plurality of wheels are respectively provided. A steering motor for steering, a traveling motor for rotating two wheels steered by the steering motor, a handle that can be rotated in a horizontal plane and fixed at a desired position, and a handle for detecting the angle of the handle An angle detector, a support column that supports the handle, a torque detector that detects torsional distortion of the support column when pressure is applied to the handle in a state where the handle is fixed, and The elastic member attached to the support and the elastic member bent when pressure is applied to the handle in one direction or the opposite direction with the handle fixed. A front / rear operating force detector for detecting only the steering motor, and the steering motor and the travel motor based on the angle of the handle detected by the handle angle detector and the detection results by the torque detector and the front / rear operating force detector. And a control unit that drives and controls the device.

The carriage further includes a left lever and a right lever arranged in the vicinity of the handle, and a first electromagnetic brake for fixing the handle, and the control unit is configured to move the first electromagnetic brake based on the movement of the left lever. The first electromagnetic brake may be controlled to fix the handle, and after the left lever is moved, the travel motor may be driven based on the movement of the right lever.

When the fixed state is released so that the handle can be rotated,
You may further provide the 2nd electromagnetic brake which prevents the said travel motor from driving. That is, when the handle is turned (when unlocked), the travel motor may be driven and locked from the driveable state.

Each of the travel motors that respectively rotate the two wheels may be arranged diagonally in a lower portion of the chassis.

In the cart according to the present invention, each wheel can be steered by a steering motor. Accordingly, for example, when a roll material of about 5000 kg is transported and the positioning requirement for the placement is high, the operator repeatedly turns the direction of the carriage many times even if the positioning cannot be performed once. Without turning the wheels, the direction of the carriage can be turned back in a short time by steering the wheels with the steering motor. Thereby, the operability of the cart is remarkably improved and the working efficiency is also improved.

Further, the operator can run and turn the carriage in a desired direction only by applying pressure to the handle. Thereby, there is no need to provide a plurality of operation units for running or turning the carriage. Therefore, the worker can move the carriage without performing a complicated operation.

In addition, by attaching the traveling motor to two wheels arranged in one diagonal direction,
When the carriage is driven in the lateral direction (left and right in FIG. 1), it is not affected by centrifugal force.
The cart can be stably stopped.

Furthermore, in the cart according to the present invention, the cart cannot be driven unless the first lever and the second lever are gripped by the operator, so it is possible to prevent accidents due to sudden start, etc. It becomes possible to improve safety.

  Hereinafter, details of a cart according to an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic diagram showing a configuration of a carriage 100 according to the present embodiment. A top view of the carriage 100 is shown in the upper part of FIG. 1, a rear view of the carriage 100 is shown on the left side of the lower part, and a side view of the carriage 100 is shown on the right side of the lower part. Yes.

As shown in FIG. 1, a cart 100 according to the present embodiment has a box-like chassis 1 on which a cargo handling object (not shown) is placed. Inside the box-shaped chassis 1, a control unit 2 that controls the operation of each component of the carriage 100, a battery 3 that is a power source of the carriage 100, a traveling motor 4 that travels wheels, and steering that steers the wheels. The motor 5 is accommodated.

Wheels are respectively provided at the lower four corners of the chassis 1. That is, in the present embodiment, a wheel 6 (hereinafter referred to as a traveling steering wheel) to which the traveling motor 4 and the steering motor 5 are attached is provided in one diagonal direction, and the above diagonal direction is the above. A wheel (hereinafter referred to as a steering wheel) 7 to which the same steering motor 5 is attached is provided. In the present embodiment, the steering wheel 7 is configured with two wheels, but is not limited thereto, and may be configured with one wheel. Further, a configuration may be adopted in which the traveling steering wheel 6 is provided in one diagonal direction, and caster wheels (free wheels) that do not travel and steer are provided in the other diagonal direction. In this case, the caster wheel is supported so as to be rotatable in the horizontal direction.

On the back side of the chassis 1, an operation unit base 8 is provided so as to protrude from the end surface of the chassis 1. A handle column support portion 9 is provided on the operation portion base 8. The handle column support 9 supports one end of the handle column 10 (column). A switch box 11 is attached to the other end of the handle column 10.

The switch box 11 supports a rod-like handle 12 for an operator to operate. The handle 12 is configured to be rotatable in a horizontal plane via the handle column 10 and a bearing 18 described later. The handle 12 includes an L lever 13 (left lever) and an R lever 14 (
The right lever) is attached so as to be movable within a predetermined range.

An electromagnetic brake 8a (first electromagnetic brake) that fixes the handle 12 after the handle 12 is rotated to a desired position by an operator is provided in the operation unit base 8.

In the switch box 11, when an L lever 13 is moved and operated by an operator, the position of the L lever 13 is detected, and a signal is given to the control unit 2 based on the detection result (see FIG. 2) is provided. Further, in the switch box 11, when the R lever 14 is moved by an operator, the position of the R lever 14 is detected, and an R switch 16 (described later) that gives a signal to the control unit 2 based on the detection result. 2) is provided.

A leaf spring 17 (elastic member) is attached to the handle column 10 within the handle column support 9. The handle column 10 is supported by a bearing 18 provided in the operation unit base 8. Further, a potentiometer (potentiometer: handle angle detector) 19 for detecting a horizontal rotation angle of the handle 12 is provided in the operation unit base 8. The bearing 18 is supported by a frame 20 in the operation unit base 8.

Here, a front / rear operating force detector 21 (FIG. 2 described later) is attached to a predetermined position of the leaf spring 17, and a torque detector 22 (FIG. 2 described later) is attached to a predetermined position of the handle column 10. It has been. The front / rear operating force detector 21 and the torque detector 22 are constituted by strain gauges.

The front / rear operating force detector 21 detects a bending strain of the leaf spring 17 when an operator applies pressure in one direction or the opposite direction to the handle 12 with the handle 12 fixed. Further, the torque detector 22 detects torsional distortion of the handle column 10 when the operator applies pressure in the rotation direction of the handle 12 to the handle 12 with the handle 12 fixed. Details will be described later.

Next, a control system of the cart 100 will be described with reference to the drawings, and an operation method of the cart 100 by an operator will be described. FIG. 2 is a block diagram showing a control system of the carriage 100.

First, the operator rotates the handle 12 in the direction in which the carriage 100 is desired to be advanced. When the L lever 13 is gripped by the operator after the handle 12 is rotated, in other words, when the L lever 13 is moved to a predetermined position, the L switch 15 is turned on, and the control unit as described above. 2 gives a signal. Thereby, the control part 2 act | operates the electromagnetic brake 8a based on the given signal. Thereby, the handle 12 is fixed so as not to rotate. On the other hand, when the handle 12 is fixed by the electromagnetic brake 8a so that the handle 12 can be rotated, an electromagnetic brake (second electromagnetic) (not shown) built in the travel motor 4 is provided. The drive of the travel motor 4 is locked by the brake. Thereby, safety can be improved.

Accordingly, the potentiometer 19 detects the rotation angle of the handle 12 and gives the detection result to the control unit 2. Based on the given detection result, the control unit 2 drives and controls the steering motor 5 to steer the traveling steering wheel 6 and the steering wheel 7 in the desired direction.

Subsequently, the operator moves to a predetermined position by grasping the R lever 14. As a result, the R switch 16 is turned on and gives a signal to the control unit 2 as described above. Based on the given signal, the controller 2 releases the electromagnetic brake (second electromagnetic brake) (not shown) built in the travel motor 4. Thereby, the trolley | bogie 100 will be in the state which can drive | work.

While holding the L lever 13 and the R lever 14, the operator applies pressure to the handle 12 in the direction in which the operator wants to proceed, that is, in one direction or the opposite direction. At this time, a bending strain is generated in the leaf spring 17, and the bending strain is detected by the front / rear operating force detector 21. Then, the front-rear operating force detector 21 gives the detection result to the control unit 2.

The control unit 2 drives and controls the traveling motor 4 based on the given detection result. That is, the rotation speed of the traveling motor 4 is controlled by the magnitude of the pressure applied to the handle 12 by the operator. Thereby, the traveling speed of the carriage 100 is adjusted. For example, when the operator increases the pressure applied to the handle 12, large electric power is supplied to the traveling motor 4,
The rotational speed increases, and the traveling speed of the carriage 100 can be increased.

On the other hand, when the operator wants to turn the carriage 100, the worker applies pressure in the rotation direction of the handle 12 to the fixed handle 12. At this time, torsional distortion is generated in the handle column 10, and the torsional distortion is detected by the torque detector 22. Then, the torque detector 22 gives the detection result to the control unit 2.

The control unit 2 drives and controls the steering motor 5 based on the given detection result. That is, the rotation speed of the steering motor 5 is controlled by the magnitude of the pressure applied to the handle 12 by the operator. Thereby, the turning speed of the carriage 100 is adjusted. For example, when the operator increases the pressure applied to the handle 12, large electric power is supplied to the steering motor 5.
The rotational speed increases, and the turning speed of the carriage 100 can be increased. In this case, the turning radius of the carriage 100 is reduced, and the carriage 100 is turned small. The relationship between the detection results obtained by the front / rear operating force detector 21 and the torque detector 22 and the power applied to the travel motor 4 and the steering motor 5 is determined by gain adjustment of the control unit 2.

In order to turn the carriage 100, the turning center of the carriage 100 is controlled so as to be on a line parallel to the direction of the handle 12 and passing through the center of the carriage 100. Further, the turning radius of the carriage 100 is smaller than ½ of the length of the line connecting the turning centers of the wheels arranged in one diagonal direction,
And when it becomes small continuously for a fixed time (for example, 0.5 second), the traveling motor 4 on one side
Control to reverse the rotation. Thereby, the trolley | bogie 100 can be turned at that point (turn on the spot).

Next, details of the configurations of the front / rear operating force detector 21 and the torque detector 22 will be described with reference to the drawings. FIG. 3 is an explanatory diagram showing the configuration of the front / rear operating force detector 21, and FIG. 4 is an explanatory diagram showing the configuration of the torque detector 22.

As shown in FIG. 3A, the strain gauge 21a is attached to one surface of the leaf spring 17, and the strain gauge 21b is attached to the other surface. Then, a bridge circuit as shown in FIG. That is, the strain gauge 21a, the strain gauge 21b, the fixed resistor 30 and the fixed resistor 31 are connected to form a ring in this order.

In the bridge circuit, a terminal portion 32 is provided between the strain gauge 21 a and the fixed resistor 31, and a terminal portion 33 is provided between the strain gauge 21 b and the fixed resistor 30. In the bridge circuit, a terminal portion 34 is provided between the strain gauge 21 a and the strain gauge 21 b, and a terminal portion 35 is provided between the fixed resistor 30 and the fixed resistor 31.

Here, as described above, when pressure is applied to the handle 12 by the operator, that is, when pressure in the direction of the arrow H is applied, the voltage E is applied between the terminal portion 32 and the terminal portion 33. The output voltage between the terminal part 34 and the terminal part 35 is e ₀ = E · K _s · ε ₀
/ 2. K _s indicates a gauge factor, and ε ₀ indicates strain gauges 21a and 21b.
The absolute value of distortion at.

Next, as shown in FIG. 4A, the strain gauge 22 is placed at a predetermined position on the curved surface of the handle column 10.
a and a strain gauge 22b are attached. Further, a strain gauge 22c is attached at a position facing the strain gauge 22a, and the strain gauge 2 is disposed at a position facing the strain gauge 22b.
d is attached. Then, a bridge circuit as shown in FIG. That is,
The strain gauge 22a, the strain gauge 22b, the strain gauge 22c, and the strain gauge 22d are connected so as to form a ring in this order.

In the bridge circuit, a terminal portion 36 is provided between the strain gauge 22a and the strain gauge 22d.
And a terminal portion 37 is provided between the strain gauge 22b and the strain gauge 22c. In the bridge circuit, a terminal portion 38 is provided between the strain gauge 22a and the strain gauge 22b, and a terminal portion 39 is provided between the strain gauge 22c and the strain gauge 22d.

Here, as described above, when pressure is applied to the handle 12 by the operator, that is, when pressure in the direction of the arrow I is applied, the voltage E is applied between the terminal portion 36 and the terminal portion 37. The output voltage between the terminal portion 38 and the terminal portion 39 is e ₀ = E · K _s · ε ₀
It is represented by K _s indicates a gauge factor, and ε ₀ indicates strain gauges 22a, 22b,
The absolute value of distortion at 22c and 22d is shown.

  (Effect in this Embodiment)

In the cart 100 according to the present embodiment, each wheel can be steered by the steering motor 5. Thereby, for example, when a roll material of about 5000 kg is transported and the required degree of positioning is high, even if the operator cannot perform positioning once, the cart 1
By turning each wheel by the steering motor 5 without repeatedly turning the direction of 00, the direction of the carriage 100 can be turned back in a short time. Thereby, the operativity of the trolley | bogie 100 improves remarkably, and work efficiency improves.

Further, the operator can run and turn the cart 100 in a desired direction only by applying pressure to the handle 12. Thereby, it is not necessary to provide a plurality of operation units for running or turning the carriage 100. Therefore, the operator can move the cart 100 without performing a complicated operation.

Further, when the traveling motor 4 is attached to one of the wheels (traveling steering wheel 6) arranged in one diagonal direction, the influence of the centrifugal force is caused when the carriage 100 travels in the lateral direction (left-right direction in FIG. 1). The cart 100 can be stably stopped without receiving. Moreover, by configuring in this way, the carriage 100 can travel without being affected by the eccentric load. That is, even when the load of the truck 100 is eccentric because the loading position of the cargo handling object is biased, the truck 100 can travel stably.

Furthermore, in the cart 100 according to the present embodiment, since the cart 100 cannot be driven unless the L lever 13 and the L lever 14 are gripped by an operator, it is possible to prevent an accident caused by a sudden start. It is possible to improve safety.

  (Other embodiments)

In the above embodiment, the electromagnetic brake 8a is used to fix the rotation of the handle 12. However, the present invention is not limited to this, and a clutch (tooth clutch) or a stepping type lock mechanism may be adopted. Good.

Moreover, in the said embodiment, although the wheel provided in the trolley | bogie 100 was four, three may be sufficient.
In this case, the traveling motor 4 and the steering motor 5 are provided on at least two of the three wheels. Accordingly, the at least two wheels can be driven and steered.
Thereby, it becomes possible to switch the direction of the carriage 100 in a short time.

Although the embodiment of the cart according to the present invention has been described above, the present invention can be implemented in a mode in which various improvements, corrections or modifications are added based on the knowledge of those skilled in the art without departing from the spirit of the present invention. These embodiments all belong to the technical scope of the present invention.

The trolley | bogie which concerns on this invention can be utilized effectively, especially when conveying a heavy handling object.

It is a schematic diagram which shows the structure of the trolley | bogie which concerns on this Embodiment. It is a block diagram which shows the control system of a trolley | bogie. It is explanatory drawing which shows the structure of the front-back operation force detector. It is explanatory drawing which shows the structure of a torque detector.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Chassis 2 Control part 4 Traveling motor 5 Steering motor 6 Traveling steering wheel 7 Steering wheel 8a Electromagnetic brake 10 Handle support | pillar 11 Switch box 12 Handle 13 L lever 14 R lever 15 L switch 16 R switch 17 Leaf spring 18 Bearing 19 Potentiometer (potentiometer) )
21 Front / rear operating force detector 22 Torque detector 100 Dolly

Claims (4)

A chassis on which an object to be handled is placed;
A plurality of wheels provided at the lower four corners of the chassis;
A steering motor for respectively steering at least two of the plurality of wheels;
A traveling motor that rotates two wheels respectively steered by the steering motor;
A handle that is pivotable in a horizontal plane and fixed in a desired position;
A handle angle detector for detecting the angle of the handle;
A column supporting the handle;
A torque detector for detecting torsional distortion of the support column when pressure in the direction of rotation is applied to the handle while the handle is fixed;
An elastic member attached to the column;
A front-rear operating force detector that detects bending distortion of the elastic member when pressure in one direction or the opposite direction is applied to the handle in a state where the handle is fixed;
A control unit that drives and controls the steering motor and the traveling motor based on the angle of the handle detected by the handle angle detector and the detection results by the torque detector and the front / rear operating force detector. A cart characterized by that. A left lever and a right lever arranged in the vicinity of the handle, and a first electromagnetic brake for fixing the handle;
The control unit controls the first electromagnetic brake so that the first electromagnetic brake fixes the handle based on the movement of the left lever, and based on the movement of the right lever after the left lever is moved. The carriage according to claim 1, wherein the traveling motor is driven. The second electromagnetic brake according to claim 1, further comprising a second electromagnetic brake that prevents the travel motor from being driven when the fixed state is released so that the handle can be rotated. Trolley. The cart according to any one of claims 1 to 3, wherein each of the travel motors that respectively rotate the two wheels is arranged diagonally in a lower portion of the chassis.

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