JP2013086544A - 電動アシスト台車 - Google Patents
電動アシスト台車 Download PDFInfo
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- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
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- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
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- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
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- B60L50/66—Arrangements of batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/12—Dynamic electric regenerative braking for vehicles propelled by dc motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/001—Steering devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
- B62B5/0073—Measuring a force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60L2200/00—Type of vehicles
- B60L2200/30—Trolleys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/36—Temperature of vehicle components or parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/16—Driver interactions by display
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- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- B62B2203/10—Grasping, holding, supporting the objects comprising lifting means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
【解決手段】荷物を載置可能な車体フレーム1と、車体フレーム1に設けられる駆動輪11と、作業者によって押圧操作され車体フレーム1に駆動力を入力可能な操作部5と、操作部5が押圧操作されることによって車体フレーム1に作用する駆動トルクを検出するトルクセンサ6と、トルクセンサ6によって検出された駆動トルクに応じて駆動輪11に付与するアシスト力を演算するコントローラ30と、コントローラ30によって演算されたアシスト力を駆動輪11に付与する電動モータ15とを備え、コントローラ30は、電動モータ15に、第一設定値以上の大きさの電流が第一設定時間だけ連続して流れたことを判定する電流判定部31と、電流判定部31の判定に基づいて電動モータ15に供給可能な電流の最大値を前記第一設定値と比較して小さくする電流制御部32とを備える。
【選択図】図5
Description
1 車体フレーム
3 荷台
5 操作ハンドル
6 トルクセンサ
11 駆動輪
12 自在輪
15 電動モータ
15a 電流検出部
16 ブレーキ
16a ブレーキソレノイド
24 ブレーキ解除スイッチ
25 荷台昇降スイッチ
27 インジケータ
30 コントローラ
31 電流判定部
32 電流制御部
Claims (6)
- 作業者によって付与される駆動力にアシスト力が付与されて走行可能な電動アシスト台車であって、
荷物を載置可能な車体フレームと、
前記車体フレームに設けられる駆動輪と、
作業者によって押圧操作され、前記車体フレームに駆動力を入力可能な操作部と、
前記操作部が押圧操作されることによって前記車体フレームに作用する駆動トルクを検出するトルク検出部と、
前記トルク検出部によって検出された駆動トルクに応じて、前記駆動輪に付与するアシスト力を演算するコントローラと、
前記コントローラによって演算されたアシスト力を前記駆動輪に付与する電動モータと、を備え、
前記コントローラは、
前記電動モータに、第一設定値以上の大きさの電流が第一設定時間だけ連続して流れたことを判定する電流判定部と、
前記電流判定部の判定に基づいて、前記電動モータに供給可能な電流の最大値を前記第一設定値と比較して小さくする電流制御部と、を備えることを特徴とする電動アシスト台車。 - 前記第一設定値は、アシスト時に前記電動モータに供給される電流の最大値に設定され、
前記第一設定時間は、動作による発熱から前記コントローラを保護可能な時間に設定されることを特徴とする請求項1に記載の電動アシスト台車。 - 前記電流制御部は、前記電動モータに供給可能な電流の最大値を徐々に小さくすることを特徴とする請求項1又は2に記載の電動アシスト台車。
- 前記電流制御部は、前記電動モータに、前記第一設定値と比較して大きく設定される第二設定値以上の大きさの電流が第二設定時間だけ連続して流れた場合に、前記電動モータへの電流の出力を停止することを特徴とする請求項2又は3に記載の電動アシスト台車。
- 前記コントローラは、PWM制御によって前記電動モータを駆動し、
前記電流制御部は、前記PWM制御におけるデューティ比が最大の状態が第三設定時間だけ連続した場合に、前記電動モータへの電流の出力を停止することを特徴とする請求項1から4のいずれか一つに記載の電動アシスト台車。 - 前記コントローラは、前記電動モータの電流値がフィードバックされる電流検出部を有し、
前記電流制御部は、前記電動モータに供給した電流値と前記電流検出部にフィードバックされた電流値との偏差が設定範囲外となった状態が第四設定時間だけ連続した場合に、前記電動モータへの電流の出力を停止することを特徴とする請求項1から5のいずれか一つに記載の電動アシスト台車。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011225971A JP6039893B2 (ja) | 2011-10-13 | 2011-10-13 | 電動アシスト台車 |
CN201280050582.3A CN103857579B (zh) | 2011-10-13 | 2012-10-03 | 电动辅助台车 |
US14/351,358 US9045152B2 (en) | 2011-10-13 | 2012-10-03 | Electric assist cart |
PCT/JP2012/075683 WO2013054713A1 (ja) | 2011-10-13 | 2012-10-03 | 電動アシスト台車 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011225971A JP6039893B2 (ja) | 2011-10-13 | 2011-10-13 | 電動アシスト台車 |
Publications (2)
Publication Number | Publication Date |
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JP2013086544A true JP2013086544A (ja) | 2013-05-13 |
JP6039893B2 JP6039893B2 (ja) | 2016-12-07 |
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Application Number | Title | Priority Date | Filing Date |
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JP2011225971A Expired - Fee Related JP6039893B2 (ja) | 2011-10-13 | 2011-10-13 | 電動アシスト台車 |
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---|---|
US (1) | US9045152B2 (ja) |
JP (1) | JP6039893B2 (ja) |
CN (1) | CN103857579B (ja) |
WO (1) | WO2013054713A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023119435A1 (ja) * | 2021-12-21 | 2023-06-29 | 本田技研工業株式会社 | アシスト装置 |
Families Citing this family (18)
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ITUA20163152A1 (it) * | 2016-05-05 | 2017-11-05 | Hifive S R L | Carrello da golf a propulsione ibrida |
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US10583852B2 (en) | 2016-11-02 | 2020-03-10 | Radio Flyer Inc. | Foldable wagon |
DE102017200155A1 (de) * | 2017-01-09 | 2018-07-12 | Ford Motor Company | Motorangetriebener Einkaufstrolley |
JP6864488B2 (ja) * | 2017-01-31 | 2021-04-28 | 株式会社マキタ | 手押し式電動運搬車 |
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USD879885S1 (en) | 2018-09-26 | 2020-03-31 | Radio Flyer Inc. | Wagon frame |
USD879205S1 (en) | 2018-09-26 | 2020-03-24 | Radio Flyer Inc. | Wagon |
DE102020004190A1 (de) * | 2019-08-08 | 2021-02-11 | Makita Corporation | Handwagen |
AU2020217450A1 (en) | 2019-08-15 | 2021-03-04 | Radio Flyer Inc. | Foldable beach wagon |
KR20220074824A (ko) | 2019-10-09 | 2022-06-03 | 라디오플라이어인코포레이티드 | 젖혀지는 시트백을 갖는 왜건 |
US11718337B2 (en) | 2019-10-23 | 2023-08-08 | Radio Flyer Inc. | Handle release and locking mechanism |
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JP6039893B2 (ja) | 2016-12-07 |
US9045152B2 (en) | 2015-06-02 |
US20140244093A1 (en) | 2014-08-28 |
CN103857579B (zh) | 2016-02-24 |
WO2013054713A1 (ja) | 2013-04-18 |
CN103857579A (zh) | 2014-06-11 |
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