JP2013079077A - Electric assist truck - Google Patents

Electric assist truck Download PDF

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JP2013079077A
JP2013079077A JP2013021161A JP2013021161A JP2013079077A JP 2013079077 A JP2013079077 A JP 2013079077A JP 2013021161 A JP2013021161 A JP 2013021161A JP 2013021161 A JP2013021161 A JP 2013021161A JP 2013079077 A JP2013079077 A JP 2013079077A
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frame
wheel
drive
electric assist
truck
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JP5819333B2 (en
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Yoshiharu Asai
快春 浅井
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Taikoh Co Ltd
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Taikoh Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide an electric assist truck that puts less strain on a worker when the worker places a heavy load onto a loading space and pick it up therefrom, reduces a risk of damaging the worker's waist upon the work, and of which a length is restricted to have ability to turn in a small radius.SOLUTION: The truck includes: a truck frame 2; an operation handle 11 installed on a rear side of the truck frame 2; a plurality of free wheels 15 disposed on a lower surface of the truck frame 2; a drive wheel 16 disposed in the center of the lower surface of the truck frame 2 so as to land simultaneously with the free wheel 15; and a drive means 18 and a drive control means 10 which are embedded inside the truck frame 2 and rotate and drive the drive wheel 16. Pipe members are assembled in a box shape into the truck frame 2. The truck frame at least includes a lower surface frame 3 to which the free wheel 15 is attached and an upper face frame 4 constituting the loading space.

Description

本発明は、電動アシスト台車に関するものであり、より詳細には、一般的な台車に電動動力輪を付加することにより、重量物の移送に便ならしめた電動アシスト台車に関するものである。   The present invention relates to an electric assist cart, and more particularly, to an electric assist cart that facilitates the transfer of heavy objects by adding electric power wheels to a general cart.

例えば、一般的な自動車製造工場における自動車組立作業は、主にロボットを用いた流れ作業により行われるが、そのために、多岐に渡る組立工程を含む組立ラインが形成される。そして、各組立工程において、組み付けるパーツの受け渡しが行われるが、その受け渡しに先立って当該パーツを受け渡し場所に移送するために、人力による手押し台車が用いられることが少なくないが、パーツの中にはかなり重量の嵩むものがあり、これを台車に載せて手押しで運ぶ作業はかなりの重労働となる(本発明においては、100kg以上の重量のパーツの搬送を想定している。)。   For example, an automobile assembly operation in a general automobile manufacturing factory is mainly performed by a flow operation using a robot. For this purpose, an assembly line including various assembly processes is formed. And, in each assembly process, parts to be assembled are delivered, but in order to transfer the parts to the delivery place prior to the delivery, a hand cart is often used. Some of them have a considerable weight, and the work of carrying them by hand on a cart is a heavy labor (in the present invention, it is assumed that parts weighing 100 kg or more are transported).

このような重量物の搬送に対処するため、従来、電動駆動輪を付加した、所謂電動アシスト台車が種々提案されている(特開平10−109647号公報、特開2001−130414号公報、特開2006−290319号公報、特開2008−280021号公報等)。これらの電動アシスト台車はいずれも、荷台の下に一般的なキャスター構造を有する車輪を備えると共に、荷台の下又は荷台を外れた部分に電動の駆動輪を備え、また、その駆動輪を駆動するモーターと当該モーターの電源となるバッテリーを搭載して成るものである。   In order to cope with the transport of such heavy objects, various so-called electric assist carts to which electric driving wheels are added have been proposed (Japanese Patent Laid-Open Nos. 10-109647, 2001-130414, and Japanese Patent Laid-Open No. 2001-130414). 2006-290319 publication, Unexamined-Japanese-Patent No. 2008-280021 etc.). Each of these electric assist carts includes a wheel having a general caster structure under the loading platform, and also includes an electric driving wheel below or below the loading platform, and drives the driving wheel. It is equipped with a motor and a battery that serves as a power source for the motor.

しかるに、これら従来の電動アシスト台車においては、荷台が地表近くにあるため、人力で、例えば、本発明において想定しているような100kgもの重量物を荷台に載せ、また、そこから持ち上げてパーツ受け渡し部に配置する作業を屈んで行う必要がある。そのため、かかる作業を反復するような場合は、作業者が腰等を傷めやすいという問題が起こる。   However, in these conventional electric assist carts, since the loading platform is close to the ground surface, for example, a heavy load of 100 kg as assumed in the present invention is placed on the loading platform, and the parts are lifted from the loading platform to deliver the parts. It is necessary to bend the work of placing in the section. Therefore, when such work is repeated, there arises a problem that the operator easily hurts the waist and the like.

また、これらの電動アシスト台車におけるモーターやバッテリーは、荷台から外れた、作業者が台車を押す際に握持するハンドル部の下部に設けられることが多いため、邪魔になるだけでなく、その分台車が縦長となる。その結果、前後の車輪の内外輪差が大きくなって小回りが利かないものとなり、組立ラインに沿って直角に方向転換する際等に不便さを感じる、といった問題もある。   In addition, the motors and batteries in these electric assist carts are often installed under the handle part that is removed from the loading platform and gripped when an operator pushes the cart. The trolley is vertically long. As a result, there is a problem that the difference between the inner and outer wheels of the front and rear wheels becomes large and the small turning is not good, and inconvenience is felt when changing the direction at right angles along the assembly line.

特開平10−109647号公報JP-A-10-109647 特開2001−130414号公報JP 2001-130414 A 特開2006−290319号公報JP 2006-290319 A 特開2008−280021号公報JP 2008-280021 A

上述したように、従来の電動アシスト台車の場合には、荷台の位置が低いために作業者にかかる負担が大きく、駆動部が突出して邪魔になり、また、台車が縦長となるために小回りが利きにくいといった問題があった。   As described above, in the case of the conventional electric assist cart, the load on the operator is large because the position of the loading platform is low, the driving unit protrudes and becomes obstructive, and the bogie is vertically long so that a small turn is required. There was a problem that it was difficult to work.

本発明は、このような従来の電動アシスト台車の場合における問題を解決するためになされたもので、荷台の位置を高くすることで、作業者が重量物を荷台へ載置したり、そこからピックアップしたりする際に受ける負担が少なく、以て、作業者が当該作業に際して腰を傷めたりする危険が軽減され、また、駆動部が邪魔にならず、台車の長さが押さえられて小回りが利くものとすることができ、更に、無人走行も可能な電動アシスト台車を提供することを課題とする。   The present invention was made to solve the problem in the case of such a conventional electric assist cart, and by increasing the position of the loading platform, an operator can place a heavy object on the loading platform, or from there This reduces the burden of the operator from hurting his / her waist during the operation, reduces the risk of the driver from getting in the way, reduces the length of the carriage, and reduces the turn. It is another object of the present invention to provide an electric assist cart that can be operated and that can be unmanned.

上記課題を解決するための請求項1に記載の発明は、台車フレームと、前記台車フレームの後面側に設置される操作ハンドルと、前記台車フレームの下面に配備される自在輪と、前記台車フレームに前記自在輪と同時接地するように配備される前記自在輪よりも大輪の駆動輪と、前記台車フレームの内側に組み込まれて前記駆動輪を回転駆動する駆動手段及び駆動制御手段とで構成され、前記台車フレームはパイプ材を箱形状に組み立てて構成され、少なくとも、四隅に前記自在輪が取り付けられる下面枠と荷台を構成する上面枠とを含み、前記駆動輪は前記下面枠の中央部に一輪配置されることを特徴とする電動アシスト台車である。   The invention according to claim 1 for solving the above-described problems includes a bogie frame, an operation handle installed on a rear surface side of the bogie frame, a free wheel disposed on a lower surface of the bogie frame, and the bogie frame. And a drive wheel that is larger than the universal wheel that is arranged so as to be in contact with the universal wheel at the same time, and a drive means and a drive control means that are incorporated inside the carriage frame and rotationally drive the drive wheel. The bogie frame is constructed by assembling pipe materials into a box shape, and includes at least a lower surface frame to which the universal wheel is attached at four corners and an upper surface frame constituting a cargo bed, and the driving wheel is provided at a central portion of the lower surface frame. It is an electric assist cart characterized by being arranged in a single wheel.

一実施形態においては、前記駆動輪が前記駆動手段によって回転駆動されることにより無人走行可能にされ、また、前記台車フレームに中間枠を設け、前記駆動輪が前記中間枠に設置される支持フレームによって軸支されるように構成され、また、前記自在輪として多軸式のものが用いられる。   In one embodiment, the driving wheel is allowed to run unmanned by being driven to rotate by the driving means, and an intermediate frame is provided on the carriage frame, and the driving wheel is installed on the intermediate frame. Further, a multi-axis type is used as the universal ring.

本発明は上記のとおりであって、自在輪よりもかなり大輪の駆動輪が、四隅に自在輪を備えた台車フレームの下面枠の中央部に一輪配置される構成のため、駆動輪が台車全体のほぼ荷重中心位置に位置することになる。かくして、駆動輪の動きが、駆動輪を囲むように且つ駆動輪からほぼ等距離に配置されている4つの自在輪にバランスよく伝達され、各自在輪は、有人走行の場合のみならず無人走行の場合においても、駆動輪の前進・後退動作、並びに、方向転換動作に無理なくスムーズに追随するために小回りが利き、省エネ効果を期待することができる電動アシスト台車が得られる効果がある。   The present invention is as described above, and the driving wheel, which is considerably larger than the free wheel, is arranged at the center of the bottom frame of the bogie frame having the free wheel at the four corners. It will be located at the load center position. Thus, the movement of the drive wheel is transmitted in a well-balanced manner to the four free wheels arranged around the drive wheel and at an approximately equal distance from the drive wheel. In this case as well, there is an effect of obtaining an electric assist cart that can make a small turn and can expect an energy saving effect in order to smoothly and smoothly follow the forward / backward movement of the drive wheels and the direction change operation.

そして、流れ作業により行われる自動車製造工程等における、人力による作業パートを、流れに遅れず、且つ、作業者に大きな負担をかけることなく実施することが可能となる効果がある。   In addition, there is an effect that it is possible to implement a work part by manpower in an automobile manufacturing process or the like performed by flow work without delaying the flow and without placing a heavy burden on the worker.

本発明の一実施形態の構成を示す側面図である。It is a side view which shows the structure of one Embodiment of this invention. 本発明の一実施形態の使用状態を示す斜視図である。It is a perspective view which shows the use condition of one Embodiment of this invention. 本発明の一実施形態において設置されるリミットスイッチの作用を示す図である。It is a figure which shows the effect | action of the limit switch installed in one Embodiment of this invention. 本発明の他の実施形態を示す正面図である。It is a front view which shows other embodiment of this invention. 本発明の他の実施形態の作用を示す図である。It is a figure which shows the effect | action of other embodiment of this invention.

本発明を実施するための好ましい形態について、添付図面に依拠して説明する。図1に示されるように、本発明に係る電動アシスト台車1は、大別して台車フレーム2と、台車フレーム2の後面側に設置される操作ハンドル11と、台車フレーム2の下面に配置される、通例4個の自在輪15と、台車フレーム2の下面中央部に配備される駆動輪16と、台車フレーム2の内側に組み込まれて駆動輪16を駆動する駆動部(モーター18)と、駆動部を制御する駆動制御部10とで構成される。   Preferred embodiments for carrying out the present invention will be described with reference to the accompanying drawings. As shown in FIG. 1, the electric assist cart 1 according to the present invention is roughly divided into a cart frame 2, an operation handle 11 installed on the rear surface side of the cart frame 2, and a lower surface of the cart frame 2. Typically, four universal wheels 15, a drive wheel 16 disposed at the center of the lower surface of the carriage frame 2, a drive unit (motor 18) that is incorporated inside the carriage frame 2 and drives the drive wheel 16, and a drive unit And a drive control unit 10 for controlling the motor.

台車フレーム2は、通例、金属製パイプ材を箱形状に組み立てて構成され、少なくとも自在輪15が取り付けられる下面枠3と、荷台を構成する上面枠4とを備え、更に好ましくは、駆動部を支持する中間枠5を備える。台車フレーム2の後面枠6、即ち、作業者が立つ側の枠は前面枠7よりも高く形成され、その上部に操作ハンドル11が固定設置される。操作ハンドル11は、好ましくは、二輪車のハンドルの如き、握持しやすいグリップ形状のものとし、作業者が操作しやすい高さに設置される。   The carriage frame 2 is generally configured by assembling a metal pipe material into a box shape, and includes a lower surface frame 3 to which at least the free wheel 15 is attached, and an upper surface frame 4 constituting a cargo bed, and more preferably, a drive unit. A supporting intermediate frame 5 is provided. The rear frame 6 of the carriage frame 2, that is, the frame on which the operator stands is formed higher than the front frame 7, and the operation handle 11 is fixedly installed on the upper portion thereof. The operation handle 11 preferably has a grip shape that is easy to grip, such as a handle of a two-wheeled vehicle, and is installed at a height that is easy for an operator to operate.

言うまでもなくこの操作ハンドル11は、台車を押したり方向転換させたりする際に握持するものであるが、更に、バイクにおけるグリップ操作と同様の回動操作により、あるいは、押しボタン式等のスイッチを設置してのスイッチ操作により、駆動輪16の回転を制御するための信号を駆動制御部10に送信できるようにされる。例えば、前者のグリップ操作による場合は、操作ハンドル11内に回転型可変抵抗が組み込まれ、操作ハンドル11の回転に応じて、駆動輪16を回転駆動するモーター18への供給電流の制御が可能となるように構成される。   Needless to say, the operation handle 11 is gripped when pushing or changing the direction of the carriage. Further, the operation handle 11 is operated by a turning operation similar to a grip operation in a motorcycle or a push button type switch. A signal for controlling the rotation of the drive wheel 16 can be transmitted to the drive control unit 10 by the switch operation after installation. For example, in the case of the former grip operation, a rotary variable resistor is incorporated in the operation handle 11, and the supply current to the motor 18 that rotationally drives the drive wheel 16 can be controlled according to the rotation of the operation handle 11. It is comprised so that it may become.

下面枠3の四隅には、旋回自在の自在輪15が取り付けられる。この自在輪15としては、方向転換自由性及び追随性に富む多軸式(軸心を異にする複数の軸を有するもので、通常2軸)のものを用いることが推奨される(図1参照)。また、下面枠3の中央部に駆動輪16が配置される。駆動輪16は、その径が自在輪15の径よりもかなり大のものとされ、例えば、中間枠5から延びる軸支フレーム17によって軸支される。軸支フレーム17の上部には駆動制御部10が配置され、また、軸支フレーム17内に、モーター18からの回転駆動力を駆動輪16の車輪軸に伝達するための、チェーン、ベルト又はギア等の伝動手段が組み込まれる。   At the four corners of the lower surface frame 3, swivelable freewheels 15 are attached. As this free wheel 15, it is recommended to use a multi-shaft type (having a plurality of shafts with different axis centers and usually two shafts) that is rich in direction change freedom and followability (FIG. 1). reference). A driving wheel 16 is disposed at the center of the lower surface frame 3. The drive wheel 16 has a diameter that is considerably larger than the diameter of the free wheel 15, and is supported by a shaft support frame 17 extending from the intermediate frame 5, for example. A drive control unit 10 is disposed at the upper part of the shaft support frame 17, and a chain, a belt, or a gear for transmitting the rotational driving force from the motor 18 to the wheel shaft of the drive wheel 16 in the shaft support frame 17. Etc. are incorporated.

モーター18は、例えば、中間枠5に取り付けられて設置され、それの電源となるバッテリー19は、下面枠3(図1参照)又は中間枠5(図2参照)に、それぞれ枠外に突出
しないようにして設置される。なお、図2に示される例では、バッテリー19と駆動制御部10とが、1つのケース内に収められている。
For example, the motor 18 is installed and installed on the intermediate frame 5, and the battery 19 serving as a power source thereof does not protrude from the lower frame 3 (see FIG. 1) or the intermediate frame 5 (see FIG. 2). Installed. In the example shown in FIG. 2, the battery 19 and the drive control unit 10 are housed in one case.

上面枠4には、荷台を構成するための台20が置かれる。台20は、上面枠4上に単に置くだけであってもよいが、例えば、その裏面に、上面枠4に内接する又は外接する枠部を設ける等の手段で、横滑りしないようにして載置し、あるいは、完全に固定することとしてもよい。また、台20は、作業者が重量パーツ30をハンドリングしやすい高さと考えられる、地上から90乃至100cm程度の高さ位置となるように配置される。   The upper frame 4 is provided with a platform 20 for constituting a loading platform. The table 20 may simply be placed on the upper surface frame 4. For example, the table 20 is placed so as not to slide sideways by means such as providing a frame portion inscribed or circumscribed on the upper surface frame 4 on the back surface thereof. Alternatively, it may be completely fixed. Further, the platform 20 is disposed so as to be at a height of about 90 to 100 cm from the ground, which is considered to be a height at which an operator can easily handle the heavy parts 30.

本発明に係る電動アシスト台車1は、モーター18を作動させた状態で操作ハンドル11を押し放すことにより、無人走行させることができる。即ち、自走させて無人搬送することが可能である。この無人走行は、駆動輪16の回転によるものであり、その際多軸式の自在輪15は何ら抵抗なく追随するため、電動アシスト台車1は、ふらつくことなく直進する。なお、その場合、上記グリップ操作又はスイッチ操作、あるいは、他の操作によりモーター18を正逆回転制御可能にし、その正逆切り替えにより、前進方向又は後退方向の自動走行が可能となるようにすることが好ましい。   The electric assist cart 1 according to the present invention can be driven unattended by pushing and releasing the operation handle 11 with the motor 18 operated. That is, it can be self-propelled and transported unattended. This unmanned traveling is due to the rotation of the drive wheels 16, and the multi-axis free wheel 15 follows without any resistance, so that the electric assist cart 1 moves straight without wobbling. In this case, the motor 18 can be controlled to rotate forward and backward by the grip operation, switch operation, or other operations, and automatic traveling in the forward direction or the backward direction can be performed by switching the forward and reverse directions. Is preferred.

好ましい実施形態においては、前面枠7に、あるいは、前面枠7と後面枠6の双方に、リミットスイッチを組み込んだバンパー22が設置される(図1参照)。通例、バンパー22は、台車フレーム2と同じ幅にされる。このバンパー22は、例えば、電動アシスト台車1の無人走行時において壁面等に当たることにより動作して、駆動制御部10に非常停止信号を送信し、この非常停止信号を受けた駆動制御部10は、直ちにモーター18への電源を遮断して電動アシスト台車1を停止させる。   In a preferred embodiment, a bumper 22 incorporating a limit switch is installed on the front frame 7 or on both the front frame 7 and the rear frame 6 (see FIG. 1). Typically, the bumper 22 is the same width as the bogie frame 2. The bumper 22 operates, for example, by hitting a wall surface or the like when the electric assist cart 1 is unmanned, and transmits an emergency stop signal to the drive control unit 10. Immediately after the power to the motor 18 is cut off, the electric assist cart 1 is stopped.

また、別モードにおいては、この非常停止信号を受けた駆動制御部10は、直ちにモーター18への電源を遮断することなく、予め設定された時間又は回転数経過時に電源を遮断することとし、その間電動アシスト台車1を自走させる。このモードによった場合は、例えば、壁面に湾曲面31を形成しておき、電動アシスト台車1をその湾曲面31に向けて自走させて湾曲面31に当てることにより、その後も自走しようとする電動アシスト台車1を、その湾曲面31に沿って向きを変えさせ、更に、その後所定時間、換言すれば、所定距離自走させることにより、ほぼ所望の停止位置32に停止させるような操作が可能になる(図3参照)。   In another mode, the drive control unit 10 that has received this emergency stop signal immediately shuts off the power when a preset time or rotation speed has elapsed, without shutting off the power to the motor 18 immediately. The electric assist cart 1 is self-propelled. In this mode, for example, the curved surface 31 is formed on the wall surface, and the electric assist cart 1 is allowed to self-run toward the curved surface 31 and hit the curved surface 31 so as to be self-propelled thereafter. The operation is such that the electric assist cart 1 is changed in direction along the curved surface 31 and then stopped for a predetermined time, in other words, by self-propelling for a predetermined distance, so that the electric assist cart 1 is stopped almost at a desired stop position 32. (See FIG. 3).

このような変向を伴う無人走行は、例えば、電動アシスト台車1に複数のパーツ30を搭載して、製造ライン33の一方の側で操作する作業者が、製造ライン33の反対側に形成されている湾曲面31に向けて電動アシスト台車1を押し放して自走させ、反対側にいる次工程の作業者に、そこで使用するパーツ30を自動供給するような場合に利用することができる。電動アシスト台車1のこのような動作の際にも、方向転換自由性及び追随性に富む、多軸式の自在輪15が有効に機能する。   In the unmanned traveling with such a change, for example, an operator who mounts a plurality of parts 30 on the electric assist cart 1 and operates on one side of the production line 33 is formed on the opposite side of the production line 33. This can be used when the electric assist cart 1 is pushed and released toward the curved surface 31 to be self-propelled and the parts 30 to be used are automatically supplied to the worker in the next process on the opposite side. Even in the case of such an operation of the electric assist cart 1, the multi-shaft type free wheel 15 having a high degree of freedom in changing the direction and following is effective.

更に好ましい実施形態においては、台車フレーム2の任意の個所、好ましくは、周囲のどの位置からも手が届く個所に、非常停止ボタン24が1又は複数設置される。この非常停止ボタン24は、操作者、あるいは、周囲の作業者が、電動アシスト台車1を緊急停止させる場合に用いるものであり、この非常停止ボタン24からの信号が、モーター18を制御するための信号として最優先される。   In a further preferred embodiment, one or a plurality of emergency stop buttons 24 are installed at any location on the carriage frame 2, preferably at a location that can be reached from any surrounding position. The emergency stop button 24 is used when an operator or a surrounding worker makes an emergency stop of the electric assist cart 1. A signal from the emergency stop button 24 is used to control the motor 18. Priority is given to signals.

本発明に係る電動アシスト台車1は、軌道26に沿って自走させるようにすることもある。軌道26は、例えば、図4に示されるように、駆動輪16が走行する溝27を形成したもので、自在輪15は軌道26の外に位置する。この場合、駆動輪16の両側に、自走可能状態にあるか否かを検出する自走条件検出手段28が配備される。この自走条件検出手段28は、リミットスイッチ28aとレバー28bと車輪28cとで構成される。   The electric assist cart 1 according to the present invention may be self-propelled along the track 26. For example, as shown in FIG. 4, the track 26 is formed with a groove 27 in which the drive wheel 16 travels, and the free wheel 15 is located outside the track 26. In this case, self-running condition detecting means 28 for detecting whether or not the drive wheel 16 is in a self-running state is provided on both sides of the drive wheel 16. The self-running condition detecting means 28 is composed of a limit switch 28a, a lever 28b, and a wheel 28c.

レバー28bはリミットスイッチ28aに回動自在に取り付けられていて、車輪28cが上下動するに伴って回動する。自走可能状態にあるのは、電動アシスト台車1が軌道26上にあるときであり、その際車輪28cは軌道26の上面上にあって、レバー28bは傾斜状態となる(図5(B)参照)。リミットスイッチ28aは、このレバー28bの傾斜状態を以て自走可能状態と判断し、駆動制御部10に相応の信号を送信する。   The lever 28b is rotatably attached to the limit switch 28a and rotates as the wheel 28c moves up and down. The self-propelled state is when the electric assist cart 1 is on the track 26. At this time, the wheel 28c is on the upper surface of the track 26, and the lever 28b is inclined (FIG. 5B). reference). The limit switch 28a determines that the lever 28b is in a self-propellable state based on the tilted state of the lever 28b, and transmits a corresponding signal to the drive control unit 10.

以上いずれの自走モードにおいても、作業者の操作によって送られる駆動輪16の回転制御のための信号が優先し、例えば、作業者から停止信号が送信されると、自走機能は直ちに停止するようにされる。また、本発明に係る電動アシスト台車1は、作業者による押送操作による走行時及び自走時のいずれにおいても、前進及び後退が可能となるようにされる。   In any of the above self-propelled modes, the signal for rotation control of the drive wheel 16 sent by the operator's operation has priority. For example, when a stop signal is transmitted from the operator, the self-propelled function is immediately stopped. To be done. In addition, the electric assist cart 1 according to the present invention is configured to be able to move forward and backward both when traveling by a pushing operation by an operator and when traveling independently.

上述したように本発明においては、自在輪15よりもかなり大輪の駆動輪16が、四隅に自在輪15を備えた下面枠3の中央部に一輪配置される構成のため、駆動輪16が台車全体のほぼ荷重中心位置に位置することになる。かくして、駆動輪16の動きが、駆動輪16を囲むように且つ駆動輪16からほぼ等距離に配置されている4つの自在輪15にバランスよく伝達され、各自在輪15は、有人走行の場合のみならず無人走行の場合においても、駆動輪16の前進・後退動作、並びに、方向転換動作に無理なくスムーズに追随することが可能となり、小回りが利くものとなるのである。   As described above, in the present invention, since the driving wheel 16 that is considerably larger than the free wheel 15 is arranged at the center of the lower surface frame 3 having the free wheel 15 at the four corners, the driving wheel 16 is a carriage. It will be located almost at the center of load overall. Thus, the movement of the drive wheel 16 is transmitted in a well-balanced manner to the four free wheels 15 that are disposed so as to surround the drive wheel 16 and at approximately the same distance from the drive wheel 16. Not only in the case of unmanned traveling, it is possible to smoothly and smoothly follow the forward / backward movement of the drive wheels 16 and the direction change operation, and the small turn is advantageous.

この発明をある程度詳細にその最も好ましい実施形態について説明してきたが、この発明の精神と範囲に反することなしに広範に異なる実施形態を構成することができることは明白なので、この発明は添付請求の範囲において限定した以外はその特定の実施形態に制約されるものではない。例えば、上記ハンドル11や非常停止ボタン24を介しての操作を遠隔操作によるものとすることができ、また、走行中や壁面等への異常接近時等において、音声を発生させたりすることができることは言うまでもない。   Although the present invention has been described in some detail with respect to its most preferred embodiments, it will be apparent that a wide variety of different embodiments can be constructed without departing from the spirit and scope of the invention, the invention being defined by the appended claims. It is not restricted to the specific embodiment other than limiting in. For example, the operation via the handle 11 or the emergency stop button 24 can be performed by remote operation, and sound can be generated during traveling or abnormal approach to a wall surface. Needless to say.

1 電動アシスト台車
2 台車フレーム
3 下面枠
4 上面枠
5 中間枠
6 後面枠
7 前面枠
10 駆動制御部
11 操作ハンドル
15 自在輪
16 駆動輪
17 軸支フレーム
18 モーター
22 バンパー
24 非常停止ボタン
28 自走条件検出手段
DESCRIPTION OF SYMBOLS 1 Electric assist cart 2 Bogie frame 3 Lower surface frame 4 Upper surface frame 5 Intermediate frame 6 Rear surface frame 7 Front frame 10 Drive control part 11 Operation handle 15 Free wheel 16 Drive wheel 17 Shaft frame 18 Motor 22 Bumper 24 Emergency stop button 28 Self-propelled Condition detection means

Claims (4)

台車フレームと、前記台車フレームの後面側に設置される操作ハンドルと、前記台車フレームの下面に配備される自在輪と、前記台車フレームに前記自在輪と同時接地するように配備される駆動輪と、前記台車フレームの内側に組み込まれて前記駆動輪を回転駆動する駆動手段及び駆動制御手段とで構成され、
前記台車フレームはパイプ材を箱形状に組み立てて構成され、少なくとも、四隅に前記自在輪が取り付けられる下面枠と荷台を構成する上面枠とを含み、前記駆動輪は前記台車フレームの下面の中央部に一輪配置されることを特徴とする電動アシスト台車。
A bogie frame, an operation handle installed on a rear surface side of the bogie frame, a free wheel provided on a lower surface of the bogie frame, and a drive wheel provided to be grounded simultaneously with the free wheel on the bogie frame; , And is constituted by drive means and drive control means that are incorporated inside the carriage frame and rotationally drive the drive wheels,
The bogie frame is constructed by assembling pipe materials into a box shape, and includes at least a lower surface frame to which the free wheel is attached at four corners and an upper surface frame constituting a cargo bed, and the driving wheel is a central portion of the lower surface of the bogie frame. An electric assist cart that is arranged in a single wheel.
前記駆動輪が前記駆動手段によって回転駆動されることにより無人走行可能にした、請求項1に記載の電動アシスト台車。   2. The electric assist cart according to claim 1, wherein the driving wheel is driven to rotate by the driving means to enable unmanned traveling. 前記台車フレームに中間枠を設け、前記駆動輪が前記中間枠に設置される支持フレームによって軸支されるようにした、請求項1又は2に記載の電動アシスト台車。   The electric assist cart according to claim 1, wherein an intermediate frame is provided on the cart frame, and the driving wheel is pivotally supported by a support frame installed on the intermediate frame. 前記自在輪として多軸式のものを用いた、請求項1乃至3のいずれかに記載の電動アシスト台車。   The electric assist cart according to any one of claims 1 to 3, wherein a multi-axis type is used as the free wheel.
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015178448A1 (en) * 2014-05-22 2015-11-26 ヤンマー株式会社 Work vehicle traveling system
JP2015222501A (en) * 2014-05-22 2015-12-10 ヤンマー株式会社 Emergency stop system
JP2018122690A (en) * 2017-01-31 2018-08-09 株式会社マキタ Hand push type motor-driven carrier

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08207774A (en) * 1994-09-09 1996-08-13 Mitsuo Nishijima Dolly
JP2001045614A (en) * 1999-07-27 2001-02-16 Futaba Corp Dolly provided with auxiliary power

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08207774A (en) * 1994-09-09 1996-08-13 Mitsuo Nishijima Dolly
JP2001045614A (en) * 1999-07-27 2001-02-16 Futaba Corp Dolly provided with auxiliary power

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015178448A1 (en) * 2014-05-22 2015-11-26 ヤンマー株式会社 Work vehicle traveling system
JP2015222501A (en) * 2014-05-22 2015-12-10 ヤンマー株式会社 Emergency stop system
JP2018122690A (en) * 2017-01-31 2018-08-09 株式会社マキタ Hand push type motor-driven carrier

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