JP2011148330A - Motor-driven cart - Google Patents

Motor-driven cart Download PDF

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JP2011148330A
JP2011148330A JP2010009123A JP2010009123A JP2011148330A JP 2011148330 A JP2011148330 A JP 2011148330A JP 2010009123 A JP2010009123 A JP 2010009123A JP 2010009123 A JP2010009123 A JP 2010009123A JP 2011148330 A JP2011148330 A JP 2011148330A
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motor
wheel
steering
control unit
operation control
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JP5041556B2 (en
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Futoshi Suzuki
太志 鈴木
Hideki Sakai
英希 酒井
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Araki Manufacturing Co Ltd
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Araki Manufacturing Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor-driven cart with power assist including functions of turning/slant traveling/traversing to facilitate steering and allowing even an unskilled person to easily operate, with little fluctuation of traveling performance by live load. <P>SOLUTION: In this motor-driven cart, front wheels 2 and rear wheels 3 are disposed on four corners at the bottom part of the cart, an operation control part 5 including an operation part 6 is provided, and a motor-driven wheel 4 controlled in turning direction and driving force by the operation control part 5 is disposed. The operation control part 5 includes a power assist control part 55 for power-assisting the motor-driven wheel 4, a sensor 7 for detecting forward and backward traveling operation force applied to the operation part 6, and an angle sensor 8 for detecting a turning angle of the motor-driven wheel 4 by the operation part 6. The front wheels 2 include a steering mechanism part 10 for steering the front wheels 2 by a signal outputted from the angle sensor 8. The steering mechanism part 10 includes functions of steering to the same phase and opposite phase of the front wheels 2 in relation to the motor-driven wheel 4 and neutral fixing of the front wheels 2. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

本発明は、重量物を容易に運搬することができる電動台車に関するものである。   The present invention relates to an electric cart that can easily carry heavy objects.

従来から、重量物の運搬には電動台車が用いられており、例えば特許文献１には、操作部に加えられる前後方向の操作力を検出し、前進・後退・停止を行うとともに、操作部に加えられる左右方向の操作力を検出し、右左旋回や横行を行なえるようにした電動台車が記載されている。またこの特許文献１の電動台車は、操作部に加えられる操作力を検出して駆動輪を回転させるパワーアシスト機能も備えている。   Conventionally, an electric carriage has been used for transporting heavy objects. For example, Patent Document 1 detects an operation force in the front-rear direction applied to the operation unit, and performs forward / backward / stop operation. There is described an electric trolley that detects an applied left / right operation force and can turn right and left or traverse. In addition, the electric cart of Patent Document 1 also has a power assist function for detecting the operation force applied to the operation unit and rotating the drive wheels.

しかし上記のような従来の電動台車は、台車にかかる荷重を２個の操舵輪と２個の駆動輪ユニットにより受ける構造であるため、台車の積載重量により駆動輪にかかる荷重が変動する。このため積載重量により走行性能が大幅に変動する。しかも左右旋回は操作部を左右にスライドさせて行う構造である。このために電動台車を自由に操作できるようになるまでにかなりの経験が必要であり、誰でも容易に操作できるものではなかった。   However, since the conventional electric cart as described above receives a load applied to the cart by two steering wheels and two drive wheel units, the load applied to the drive wheels varies depending on the loaded weight of the cart. For this reason, the running performance varies greatly depending on the loaded weight. Moreover, the left / right turning is performed by sliding the operation unit to the left and right. For this reason, considerable experience is required before the electric carriage can be freely operated, and it has not been easy for anyone to operate.

特開２００４−７４８７５号公報JP 2004-74875 A

従って本発明の目的は上記した従来の問題点を解決し、積載荷重による走行性能の変動が少なく、転回・斜行・横行の機能を備え舵取りも容易で未熟練者であっても容易に操作することができるパワーアシスト付きの電動台車を提供することである。   Therefore, the object of the present invention is to solve the above-mentioned conventional problems, there is little fluctuation in running performance due to the loaded load, it has turning, skewing and traversing functions, and steering is easy and even an unskilled person can operate it easily. It is to provide an electric cart with power assist that can be performed.

上記の課題を解決するためになされた本発明は、台車底部の四隅に前輪と後輪とを配設するとともに、操作部を備えた運転制御部を設け、該運転制御部により旋回方向及び駆動力を制御される電動駆動輪を配設した電動台車であって、運転制御部は電動駆動輪をパワーアシストするパワーアシスト制御部と、操作部に加えられる前後進の操作力を検出するセンサと、操作部による電動駆動輪の旋回角度を検出する角度センサとを備え、前輪にはこの角度センサから出力された信号により前輪を操舵する操舵機構部を設けたことを特徴とするものである。   In order to solve the above problems, the present invention provides a front wheel and a rear wheel at the four corners of the bottom of the carriage, and also provides an operation control unit having an operation unit. An electric cart provided with electric drive wheels whose force is controlled, wherein the operation control unit is a power assist control unit for power assisting the electric drive wheels, and a sensor for detecting a forward / backward operation force applied to the operation unit, And an angle sensor for detecting the turning angle of the electrically driven wheels by the operation unit, and the front wheels are provided with a steering mechanism unit for steering the front wheels by a signal output from the angle sensor.

なお請求項２のように、電動駆動輪が接地圧調整機構を備えたものであることが好ましい。また、請求項３のように、運転制御部に前輪を中立固定または電動駆動輪と同位相または逆位相に切換える走行モード切換スイッチを設けたものであることが好ましい。   As in claim 2, it is preferable that the electric drive wheel is provided with a ground pressure adjusting mechanism. Further, as in claim 3, it is preferable that the operation control unit is provided with a traveling mode changeover switch for switching the front wheel to the neutral fixed state or the same phase as that of the electrically driven wheel or the opposite phase.

本発明の電動台車は、台車底部の四隅に配設された前輪と後輪とによって積載荷重を支持するものであり、電動駆動輪の接地圧は積載荷重にかかわらずほぼ一定とすることができるので、積載重量の増減により走行性能の変動がない。また、電動駆動輪をパワーアシストするので、力の弱い女性であっても重量物の運搬が可能である。しかも電動台車は転回・斜行・横行走行が可能であるため、旋回する余裕のない隘路に進入したり、前後に余裕のない空間に駐車したり、前後に余裕のない空間から通路に移動したり、斜路への進入や、横付けも容易で熟練を要することもなく誰でもが容易に扱うことができる。   The electric cart of the present invention supports the load by the front wheels and the rear wheels disposed at the four corners of the bottom of the cart, and the ground contact pressure of the electric drive wheels can be made almost constant regardless of the load. Therefore, there is no fluctuation in running performance due to increase / decrease in loading weight. In addition, since the electric drive wheels are power-assisted, even a weak woman can carry heavy objects. In addition, since the electric cart can be turned, skewed, and traversed, it can enter a narrow road where there is no room for turning, park in a space where there is no room before and after, or move from a space where there is no room before and after to a passage. Anyone can easily handle it without entering the slopes and without any skill.

なお、請求項３のように、運転制御部に前輪を中立固定または電動駆動輪と同位相または逆位相に切換える走行モード切換スイッチを設けたものとしておけば、前輪を中立固定させた状態での方向転換を行う通常走行や、前輪を電動駆動輪に対して同位相や逆位相に切換えて斜行・横行走行及び転回走行を容易に行うことができるので、通路に応じて適宜走行モードを切換えて走行することができる。   As in claim 3, if the driving control unit is provided with a traveling mode changeover switch for switching the front wheel to neutral fixing or the same phase as that of the electrically driven wheel or the opposite phase, the front wheel is fixed in a neutral state. It is possible to easily switch between normal driving for changing directions and skew, traverse driving and turning by switching the front wheels to the same or opposite phase with respect to the electrically driven wheels. Can drive.

本発明の好ましい実施形態を示す斜視図である。It is a perspective view which shows preferable embodiment of this invention. 同じく側面図である。It is a side view similarly. 同じく平面図である。It is also a plan view. 前輪を示す斜視図である。It is a perspective view which shows a front wheel. 同じく側面図である。It is a side view similarly. 同じく底面図である。It is a bottom view similarly. 電動駆動輪の接地圧調整機構を示す正面図である。It is a front view which shows the ground pressure adjustment mechanism of an electrically driven wheel. 電動駆動輪の取付け構造を示す側面図である。It is a side view which shows the attachment structure of an electric drive wheel. 走行動作を示すタイムチャートである。It is a time chart which shows driving | running | working operation | movement.

以下に本発明の好ましい実施形態を、図面に基づいて詳細に説明する。
図１において１は台車であり、その底部の四隅に荷重を受けるための２個の前輪２と２個の後輪３とが配設されている。また、台車１の中心線上の後方位置にはハンドルよりなる操作部６を備えた運転制御部５が、図７に示される軸５ｂを中心として左右に回転できるように設けられており、その下面に電動駆動輪４が固定されている。このため操作部６により運転制御部５を回動させれば、電動駆動輪４は直接左右に旋回されるものとしているが、ジョイステック状の操作部６による操舵角度を例えば後記する角度センサ８により検出して電動駆動輪４をモータで旋回させるパワーアシスト機能を持たせてもよい。 Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.
In FIG. 1, reference numeral 1 denotes a cart, and two front wheels 2 and two rear wheels 3 for receiving a load are disposed at four corners of the bottom of the cart. Further, at the rear position on the center line of the carriage 1, an operation control unit 5 having an operation unit 6 made of a handle is provided so as to be able to rotate left and right about a shaft 5b shown in FIG. The electric drive wheel 4 is fixed to the front. For this reason, if the operation control unit 5 is rotated by the operation unit 6, the electric drive wheels 4 are directly turned left and right. It is possible to provide a power assist function for detecting the motor drive wheel 4 and turning the electric drive wheels 4 with a motor.

この実施形態では、運転制御部５は台車１の後方位置に図７に示されるブラケット５ａを介して取付けられ、電動駆動輪４は運転制御部５の下面に台車１の中心線上に配置させているが、前輪２より後方に配置されていればよく、台車１の中心線上に配置させる必要はない。   In this embodiment, the operation control unit 5 is attached to the rear position of the carriage 1 via a bracket 5 a shown in FIG. 7, and the electric drive wheels 4 are arranged on the center line of the carriage 1 on the lower surface of the operation control unit 5. However, it is only necessary to be arranged behind the front wheel 2, and it is not necessary to arrange it on the center line of the carriage 1.

電動駆動輪４には操作部６の操作に基づいてトルクが制御される駆動用モータ４ａが取付けられている。左右の前輪２は角度センサ８により検出された角度に基づいて制御されるモータ９を設けた操舵機構部１０を介して台車１に取付けられている。また、左右の後輪３は独立の自在車輪よりなるもので、該後輪３の垂直取付軸の中心線と車輪中心の垂直軸線とをずらすことにより常に進行方向に後輪３が向くようになっている。   A drive motor 4 a whose torque is controlled based on the operation of the operation unit 6 is attached to the electric drive wheel 4. The left and right front wheels 2 are attached to the carriage 1 via a steering mechanism 10 provided with a motor 9 that is controlled based on an angle detected by an angle sensor 8. The left and right rear wheels 3 are made of independent free wheels, and the rear wheel 3 is always directed in the traveling direction by shifting the center line of the vertical mounting shaft of the rear wheel 3 and the vertical axis of the wheel center. It has become.

運転制御部５は操作部６の操作に基づいて台車１の前後進を行うとともに操舵を行うものであり、運転制御部５には操作部６の前後動を検出するとともに操作部６の中立位置を検出するセンサ７と、該センサ７により検出された操作力の信号に基づいて駆動用モータ４ａのトルクを制御するパワーアシスト制御部５５とを備えている。センサ７は変位センサまたは歪センサ等により操作部６の前後移動量を検出するもので、操作部６の前方への移動量に基づいてパワーアシスト制御部５５は電動駆動輪４の前進とトルクを制御し、操作部６の後方への移動量に基づいて電動駆動輪４の後進とトルクを制御し、操作部６の中立位置において駆動用モータ４ａの停止制御が行われる。   The operation control unit 5 performs forward and backward movement and steering of the carriage 1 based on the operation of the operation unit 6. The operation control unit 5 detects the forward / backward movement of the operation unit 6 and the neutral position of the operation unit 6. And a power assist control unit 55 for controlling the torque of the driving motor 4a based on the signal of the operating force detected by the sensor 7. The sensor 7 detects the amount of forward / backward movement of the operation unit 6 using a displacement sensor or a strain sensor. Based on the amount of forward movement of the operation unit 6, the power assist control unit 55 calculates the forward movement and torque of the electric drive wheels 4. Based on the amount of backward movement of the operation unit 6, the reverse drive and torque of the electric drive wheel 4 are controlled, and stop control of the drive motor 4 a is performed at the neutral position of the operation unit 6.

操作部６の操舵角度を検出する角度センサ８は運転制御部５に設けられる。また図４〜図６に示すように、前輪２にはこの角度センサ８から出力された信号により前輪を操舵する操舵機構部１０が設けられている。図７に示すように、角度センサ８は運転制御部５に取付けられたポテンションメータ８ａと、ポテンションメータ８ａの回転軸に固定されたタイミングプーリ８ｃと、運転制御部５の軸５ｂに固定されたタイミングプーリ１３ａと、これらのタイミングプーリ間に掛けられたタイミングベルト８ｄとからなる。   An angle sensor 8 that detects the steering angle of the operation unit 6 is provided in the operation control unit 5. As shown in FIGS. 4 to 6, the front wheel 2 is provided with a steering mechanism unit 10 for steering the front wheel by a signal output from the angle sensor 8. As shown in FIG. 7, the angle sensor 8 is fixed to the potentiometer 8a attached to the operation controller 5, the timing pulley 8c fixed to the rotation shaft of the potentiometer 8a, and the shaft 5b of the operation controller 5. Timing pulley 13a and a timing belt 8d hung between these timing pulleys.

操舵のためにハンドルよりなる操作部６を左右に旋回すれば、運転制御部５は軸５ｂを中心として回転する。このため軸５ｂに固定されたタイミングプーリ１３ａの回りをタイミングプーリ８ｃが円軌道を描いて移動することとなり、両者はタイミングベルト８ｄにより連結されているため、運転制御部５に設けられたポテンションメータ８ａは運転制御部５に対して相対的に回転する。このようにして、ポテンションメータ８ａは操作部６の回転角度をパルスとして取り出すことができる。   If the operation unit 6 made of a steering wheel is turned left and right for steering, the operation control unit 5 rotates about the shaft 5b. For this reason, the timing pulley 8c moves in a circular path around the timing pulley 13a fixed to the shaft 5b. Since both are connected by the timing belt 8d, the potentiometer provided in the operation control unit 5 is used. The meter 8 a rotates relative to the operation control unit 5. In this way, the potentiometer 8a can extract the rotation angle of the operation unit 6 as a pulse.

操舵機構部１０は図４、５、６に示されるように、操舵角検出用のポテンションメータ９ａと、操舵用モータ９と、該操舵用モータ９による操舵角を各前輪２に伝達する連繋機構２０とよりなる。連繋機構２０は左右の前輪２の垂直取付軸に軸支されるチェンホイル２０ａと、該各チェンホイル２０ａ間に巻装されるチェン２０ｂと、操舵用モータ９のチェンホイル９ｃと、該チェンホイル９ｃと前記一方のチェンホイル２０ａに並設されたチェンホイル２０ｃ間に巻装されるチェン２０ｄとからなる。また、ポテンションメータ９ａのタイミングプーリ９ａａと操舵用モータ９ｂのタイミングプーリ９ｂｂはタイミングベルト９ｃｃにより巻き掛けられて、操舵用モータ９を制御している。   As shown in FIGS. 4, 5, and 6, the steering mechanism unit 10 is a potentiometer 9 a for detecting a steering angle, a steering motor 9, and a linkage that transmits a steering angle by the steering motor 9 to each front wheel 2. It consists of the mechanism 20. The linkage mechanism 20 includes a chain wheel 20a that is pivotally supported on the vertical mounting shafts of the left and right front wheels 2, a chain 20b wound between the chain wheels 20a, a chain wheel 9c of the steering motor 9, and the chain wheel. 9c and a chain 20d wound between chain wheels 20c arranged in parallel with the one chain wheel 20a. The timing pulley 9aa of the potentiometer 9a and the timing pulley 9bb of the steering motor 9b are wound around a timing belt 9cc to control the steering motor 9.

前記環状のチェン２０ｂの中間部には一対の長さ調整部材１１が取り付けられてテンションを調整できるようになっている。該長さ調整部材１１はチェン２０ｂの中間両端部に取り付けられる雌ねじ部１１ａ、１１ｂと、該雌ねじ部１１ａ、１１ｂに螺挿される雄ねじを両端に形成した角杆１１ｃとよりなり、角杆１１ｃを正逆いずれかに回動させることによりテンションを調整できるようになっている。また、前輪２は垂直取付軸線と車輪中心の垂直軸線とを一致させて、操舵用モータ９による操舵角が前輪２の操舵角と一致するようになっている。このような機構により、ポテンションメータ８ａから出力される電動駆動輪４の操舵角に応じて前輪２を操舵することができる。   A pair of length adjusting members 11 are attached to an intermediate portion of the annular chain 20b so that the tension can be adjusted. The length adjusting member 11 includes female screw portions 11a and 11b attached to both ends of the chain 20b, and square hooks 11c formed with male screws screwed into the female screw parts 11a and 11b at both ends. The tension can be adjusted by rotating it forward or backward. Further, the front wheel 2 is configured such that the vertical mounting axis and the vertical axis of the wheel center coincide with each other so that the steering angle by the steering motor 9 coincides with the steering angle of the front wheel 2. With such a mechanism, the front wheels 2 can be steered according to the steering angle of the electrically driven wheels 4 output from the potentiometer 8a.

また、運転制御部５の上面に設けられた図３に示した走行モード切換スイッチ１９を切換えることにより、電動駆動輪４に対して前輪２を同位相あるいは逆位相または中立固定することができるようになっている。同位相に操舵すれば斜行・横行走行を行うことができ、逆位相とすれば転回走行が可能となり、前輪２を中立固定すれば、前輪２を固定した状態で方向転換を行う通常走行が可能となる。   Further, the front wheel 2 can be fixed in phase, opposite phase or neutral with respect to the electrically driven wheels 4 by switching the travel mode changeover switch 19 shown in FIG. 3 provided on the upper surface of the operation control unit 5. It has become. Steering in the same phase allows you to run diagonally and transversely, and if it is in the opposite phase, you can turn around, and if you fix the front wheel 2 in a neutral position, normal driving that changes direction with the front wheel 2 fixed is possible. It becomes possible.

図７に示すように、電動駆動輪４には接地圧調整機構１２が設けられている。接地圧調整機構１２は、運転制御部５の下端に旋回軸５ｂを介して水平回動自在に取付けられる鉤形の取付フレーム１３と、該取付フレーム１３の側板に取付けられる軸受１４と、該軸受１４に揺動自在に枢着される電動駆動輪取付板１５と、電動駆動輪取付板１５に取付けられて揺動自在とされる電動駆動輪４を常時一定圧で下方に付勢するスプリング１６とよりなり、台車１の積載重量により接地圧が変動しないようにするとともに、地面の凹凸に追従して駆動力が確実に伝達されて円滑な走行が得られる。さらに、ハンドルよりなる操作部６の操作感も積載荷重により重くなることがない。   As shown in FIG. 7, the electric driving wheel 4 is provided with a ground pressure adjusting mechanism 12. The ground pressure adjusting mechanism 12 includes a bowl-shaped mounting frame 13 that is horizontally mounted on the lower end of the operation control unit 5 via a pivot shaft 5b, a bearing 14 that is mounted on a side plate of the mounting frame 13, and the bearing 14, an electric drive wheel mounting plate 15 pivotably mounted on the motor 14, and a spring 16 attached to the electric drive wheel mounting plate 15 to urge the electric drive wheel 4 to swing freely downward at a constant pressure. Thus, the ground pressure is prevented from fluctuating due to the loaded weight of the carriage 1, and the driving force is reliably transmitted following the unevenness of the ground, so that smooth running can be obtained. Further, the operation feeling of the operation unit 6 formed of a handle does not become heavy due to the load.

なお、図１に示す１７は各モータ等に電源を供給するバッテリ、図３に示す１８は運転制御部５に設けられる非常停止用スイッチである。   1 is a battery for supplying power to each motor or the like, and 18 shown in FIG. 3 is an emergency stop switch provided in the operation control unit 5.

このような電動台車の通常走行は、作業者が操作部６を前方に移動させれば、センサ７は操作部６の前方移動を検知し、その検知信号はパワーアシスト制御部５５を介して電動駆動輪４の駆動用モータ４ａを正回転させ、電動駆動輪４を正転させるので台車１は前進することとなる。台車１の前進時、トルクを増したい場合は、操作部６をさらに前方に移動させればセンサ７はその移動を検知し、その検知信号に基づいてパワーアシスト制御部５５は駆動用モータ４ａのトルクを上昇させる。このようなパワーアシスト機能により、重量物を楽に運搬することができる。   In such normal traveling of the electric carriage, if the operator moves the operation unit 6 forward, the sensor 7 detects the forward movement of the operation unit 6, and the detection signal is electrically transmitted via the power assist control unit 55. Since the drive motor 4a of the drive wheel 4 is rotated forward and the electric drive wheel 4 is rotated forward, the carriage 1 moves forward. When it is desired to increase the torque when the carriage 1 moves forward, if the operation unit 6 is moved further forward, the sensor 7 detects the movement, and the power assist control unit 55 detects the movement of the drive motor 4a based on the detection signal. Increase torque. Such a power assist function makes it possible to carry heavy objects easily.

また、台車１を後進させる場合は、作業者は操作部６を後方に移動させれば、センサ７は操作部６の移動を検知し、その検知信号はパワーアシスト制御部５５を介して電動駆動輪４の駆動用モータ４ａを逆回転させて電動駆動輪４を逆転させるので台車１は後進することとなる。後進時にトルクを増したい場合は、操作部６をさらに後方に移動させれば、センサ７はその移動を検知し、その検知信号に基づいてパワーアシスト制御部５５は駆動用モータ４ａの逆転トルクを上昇させる。   When the carriage 1 is moved backward, if the operator moves the operation unit 6 backward, the sensor 7 detects the movement of the operation unit 6, and the detection signal is electrically driven via the power assist control unit 55. Since the drive motor 4a for the wheel 4 is reversely rotated to reverse the electric drive wheel 4, the carriage 1 moves backward. If it is desired to increase the torque during backward travel, the sensor 7 detects the movement if the operation unit 6 is further moved rearward, and the power assist control unit 55 determines the reverse torque of the drive motor 4a based on the detection signal. Raise.

台車１を左右に方向転換させたい場合は、ハンドルとしての操作部６を左右に水平回動させる操舵を行えば、運転制御部５は左右に回動されることとなり、この回動操舵角は直接電動駆動輪４に伝達される。通常走行の場合、前輪２は中立位置に固定されているので、台車１は電動駆動輪４の操舵角に基づいて中立固定された前輪２をドリフトさせながら方向転換を行うこととなる。このとき荷重を受ける自在車輪の後輪３は台車１の走行方向に従って自由に向きを変えることとなる。   When it is desired to change the direction of the carriage 1 to the left and right, if the steering is performed by horizontally turning the operation unit 6 as a handle to the left and right, the operation control unit 5 is turned to the left and right. Directly transmitted to the electric drive wheel 4. In the case of normal traveling, the front wheel 2 is fixed at the neutral position, so the carriage 1 changes direction while drifting the neutrally fixed front wheel 2 based on the steering angle of the electric drive wheels 4. At this time, the rear wheel 3 of the free wheel that receives the load is freely turned in accordance with the traveling direction of the carriage 1.

また、台車１に斜行、横行等の走行をさせたい場合は、運転制御部５に上面に設けられている走行モード切換スイッチ１９を斜行・横行走行モードに切換え、前輪２と電動駆動輪４とが同位相に操舵されるようにする。この走行モードの切換えにより、前輪２を電動駆動輪４と同位相に操舵制御することとなる。このように前輪２と電動駆動輪４とが同位相に操舵されることにより、操作部６の操舵角度に基づいて台車１は斜行走行または横行走行を行うので、旋回する余裕のない隘路に進入したり、前後に余裕のない空間に駐車したり、前後に余裕のない空間から通路に移動したり、斜路への進入や、横付けも等も簡単にできることとなる。また、斜行・横行走行の際、このとき荷重を受ける自在車輪の後輪３は台車１の走行方向に自由に向きを変えるので円滑に走行できる。   Further, when it is desired to run the carriage 1 obliquely or transversely, the operation mode switching switch 19 provided on the upper surface of the operation control unit 5 is switched to the oblique / transverse running mode, and the front wheels 2 and the electrically driven wheels are switched. 4 is steered to the same phase. By switching the traveling mode, the front wheels 2 are steered to the same phase as the electric drive wheels 4. Since the front wheel 2 and the electrically driven wheels 4 are steered in the same phase as described above, the carriage 1 runs obliquely or transversely on the basis of the steering angle of the operation unit 6. It is possible to easily enter, park in a space where there is no room before and after, move to a passage from a space where there is no room before and after, enter the ramp, and place it sideways. Further, when the vehicle travels obliquely or transversely, the rear wheel 3 of the free wheel that receives the load at this time is freely changed in the traveling direction of the carriage 1 and can therefore travel smoothly.

台車１を左右に転回させる場合は、操作部６を左右に水平回動させる操舵を行えば、運転制御部５は左右に回動されることとなり、この回動操舵角は直接電動駆動輪４に伝達される。また操作部６の操舵角は操舵機構部１０のポテンションメータ９ａに入力され、前輪２は電動駆動輪４とは逆位相に操舵制御されるので、台車１は３輪全輪が操舵されコーナーを円滑に転回することができる。このとき荷重を受ける自在車輪の後輪３は台車１の走行方向に従って自由に向きを変えるので走行に支障は生じない。   When the carriage 1 is turned left and right, the steering controller 5 is turned left and right by steering the operation unit 6 horizontally to the left and right. Is transmitted to. Further, the steering angle of the operation unit 6 is input to the potentiometer 9a of the steering mechanism unit 10, and the front wheel 2 is steered in a phase opposite to that of the electrically driven wheels 4, so that the bogie 1 is a corner where all three wheels are steered. Can be turned smoothly. At this time, the rear wheel 3 of the free wheel that receives the load is freely changed in direction according to the traveling direction of the carriage 1, so that there is no problem in traveling.

図９に以上に述べた通常走行、転回走行、斜行・横行走行におけるタイムチャートを示した。   FIG. 9 shows a time chart in the above-described normal traveling, turning traveling, and slant / transverse traveling.

１ 台車
２ 前輪
３ 後輪
４ 電動駆動輪
4a 駆動用モータ
５ 運転制御部
5a ブラケット
5b 旋回軸
5d 軸受
６ 操作部
７ センサ
８ 角度センサ
8a ポテンションメータ
９ 操舵用モータ
9a ポテンションメータ
9c チェンホイル
9aa タイミングプーリ
9bb タイミングプーリ
9cc タイミングベルト
10 操舵機構部
11 長さ調整部材
11a 雌ねじ部
11b 雌ねじ部
11c 角杆
12 接地圧調整機構
13 支持フレーム
14 軸受
15 電動駆動輪取付板
16 スプリング
17 バッテリ
18 非常停止スイッチ
19 走行モード切換スイッチ
20 連繋機構
20a チェンホイル
20b チェン
20c チェンホイル
20d チェン
55 パワーアシスト制御部 1 Bogie 2 Front Wheel 3 Rear Wheel 4 Electric Drive Wheel
4a Drive motor 5 Operation controller
5a bracket
5b Swivel axis
5d Bearing 6 Operation part 7 Sensor 8 Angle sensor
8a Potentiometer 9 Steering motor
9a Potentiometer
9c chain foil
9aa Timing pulley
9bb timing pulley
9cc timing belt
10 Steering mechanism
11 Length adjustment member
11a Female thread
11b Female thread
11c
12 Ground pressure adjustment mechanism
13 Support frame
14 Bearing
15 Electric drive wheel mounting plate
16 Spring
17 battery
18 Emergency stop switch
19 Travel mode selector switch
20 Linkage mechanism
20a chain foil
20b Chen
20c chain foil
20d Chen
55 Power assist controller

Claims (3)

台車底部の四隅に前輪と後輪とを配設するとともに、台車に操作部を備えた運転制御部を設け、該運転制御部により旋回方向及び駆動力を制御される電動駆動輪を配設した電動台車であって、運転制御部は電動駆動輪をパワーアシストするパワーアシスト制御部と、操作部に加えられる前後進の操作力を検出するセンサと、操作部による電動駆動輪の旋回角度を検出する角度センサとを備え、前輪にはこの角度センサから出力された信号により前輪を操舵する操舵機構部を設けたことを特徴とする電動台車。   A front wheel and a rear wheel are arranged at the four corners of the bottom of the carriage, and an operation control unit having an operation unit is provided on the carriage, and electric driving wheels whose turning direction and driving force are controlled by the operation control unit are arranged. It is an electric cart, and the operation control unit detects a power assist control unit for power assisting the electric drive wheel, a sensor for detecting a forward / backward operation force applied to the operation unit, and a turning angle of the electric drive wheel by the operation unit. And an angle sensor, and a front wheel is provided with a steering mechanism for steering the front wheel by a signal output from the angle sensor. 電動駆動輪が、接地圧調整機構を備えたものであることを特徴とする請求項１記載の電動台車。   2. The electric cart according to claim 1, wherein the electric driving wheel includes a ground pressure adjusting mechanism. 運転制御部に前輪を中立固定または電動駆動輪と同位相または逆位相に切換える走行モード切換スイッチを設けたことを特徴とする請求項１記載の電動台車。   2. The electric cart according to claim 1, wherein the operation control unit is provided with a travel mode changeover switch for switching the front wheel to a neutral fixed state or the same phase as or an opposite phase to that of the electric drive wheel.
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