JP2019073041A - Carrier apparatus - Google Patents

Abstract

To provide a carrier apparatus capable of properly carrying an object of carriage.SOLUTION: An assist carrier cart 100 that carries a luggage 900 includes a cart body 1 that has wheels 11 to be driven to move the assist carrier cart 100 on a movement path R, a displacement unit 2 that is displaced in a direction parallel to the movement path R from a reference position relevant to the cart body 1 on receipt of an external force exerted in a direction, in which the assist carrier cart 100 is moved, by a user, and that is disposed on the cart body 1, a displacement detection unit that detects a displacement of the displacement unit 2 with respect to the reference position, and a driving control unit that controls driving of the wheels 11 on the basis of a result of detection by the displacement detection unit. The displacement unit 2 is located on an upper side of the cart body 1 and has the luggage 900 placed on it.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transport apparatus.

  In the past, a cart with a caster was known as an apparatus for transporting a load. In this caster with a caster, while the luggage is placed on the caster with the caster, the user transports the luggage by moving the caster with the caster by pushing and pulling the caster, but various problems may occur. Was present.

  That is, for example, when the load to be transported is relatively heavy, a relatively large force is required to move or turn (for example, turn, etc.) the cart with a caster, and a large amount of effort is required to transport the load. Could have required. In particular, when a level difference (for example, a level difference due to a curing iron plate or a cable placed on the floor surface, etc.) exists on the floor surface, a larger force is required to move the caster with a wheel, etc. It could take much more effort to transport the Also, for example, when moving a slope with a caster truck, if the user erroneously releases the caster truck, the caster truck escapes, and the caster truck strikes the surrounding people and is injured. There is a possibility that the caster with the caster may hit a wall or the like to damage the load being transported.

  Then, the conveyance apparatus of patent document 1 and the movable trolley of patent document 2 were known as a trolley | bogie which can support movement operation by a user, for example. The conveyance device of Patent Document 1 includes an inclination angle sensor for detecting an inclination angle in the traveling direction of the conveyance device, and controls the driving force of the wheels of the conveyance device based on the detection result of the inclination angle sensor. Thus, regardless of whether it is a flat road or a slope, movement is configured based on a constant force from the user. In addition, the moving carriage of Patent Document 2 includes a force sensor that detects an external force applied to the moving carriage, and is configured to control the movement of the moving carriage based on the detection result of the force sensor. It was

JP-A-09-249129 Japanese Patent Application Publication No. 2004-344435

  However, in the transfer device of Patent Document 1 and the movable carriage of Patent Document 2, there is a possibility that the load can not be transferred properly. That is, in the transfer device of Patent Document 1, for example, when there is a step on a flat road, the step can not be detected by the inclination angle sensor, so the driving force of the wheel is insufficient. There was a possibility that it would be difficult to transport the load over the step. Further, in the movable carriage of Patent Document 2, for example, the force sensor is configured to detect not only the external force in the horizontal direction which is the movement direction of the movable carriage, but also the external force in the vertical direction orthogonal to the horizontal direction. Since the movement of the movable carriage is controlled based on the vertical force as well, when the luggage is carried by the movable carriage, the luggage collapses on the movable carriage and the vertical force moves. When it was applied to the cart unintentionally, there was a possibility that the moving speed of the mobile cart may change (including stop) against the user's intention or the moving direction may be changed. .

  SUMMARY OF THE INVENTION In view of the above-described facts, the present invention has an object to provide a transport apparatus capable of transporting a transport target properly.

  In order to solve the problems described above and to achieve the object, a transport apparatus according to claim 1 is a transport apparatus for transporting a transport target, the movement being driven to move the transport apparatus on a moving path A carriage portion provided with means, and a displacement portion displaced from a reference position with respect to the carriage portion in a direction parallel to the movement path by receiving an external force from a user in a direction of moving the transport device; Drive for controlling driving of the moving means based on detection results of the displacement portion provided in the carriage portion, displacement detection means for detecting displacement of the displacement portion with respect to the reference position, and detection results of the displacement detection means Control means.

  The transport device according to claim 2 is the transport device according to claim 1, wherein the displacement portion is provided on the upper side of the carriage portion, and the transport target is placed.

  The conveyance device according to claim 3 is the conveyance device according to claim 1 or 2, wherein the displacement detection means detects at least a direction of displacement of the displacement portion with respect to the reference position, and the drive control means The drive of the moving means is controlled such that the transport device moves in a direction corresponding to the direction of displacement of the displacement portion with respect to the reference position detected by the displacement detection means.

  The conveyance device according to claim 4 is the conveyance device according to any one of claims 1 to 3, wherein the displacement detection means detects at least an amount of displacement of the displacement portion with respect to the reference position, The drive control means controls the drive of the moving means with a driving force corresponding to the amount of displacement of the displacement portion with respect to the reference position detected by the displacement detection means.

  The conveyance device according to claim 5 is the conveyance device according to any one of claims 1 to 4, wherein the posture detection means for detecting the posture of the conveyance device, and the drive control means are the posture detection means. The driving of the moving means is controlled based on the detection result of

  The conveyance device according to claim 6 is the conveyance device according to any one of claims 1 to 5, wherein the displacement portion is elastically displaced with respect to the reference position. And connecting means connected to the carriage.

  According to the transport apparatus of the first aspect, the drive of the moving means is controlled based on the detection result of the displacement detecting means for detecting the displacement of the displacement portion displaced in the direction parallel to the moving path with respect to the reference position. For example, since the drive of the moving means can be controlled by the displacement adjustable by the user, it is possible to appropriately convey the object to be conveyed. In addition, by detecting and controlling the displacement of the displacement unit displaced in the direction parallel to the movement path, for example, the displacement (for example, the conveyance target is shifted or fallen) against the user's intention of movement. Since the detection of the displacement in the vertical direction and the like can be eliminated, it is possible to appropriately transport the transport target.

  According to the transport apparatus of the second aspect, for example, the user who applies the external force to the displacement portion by providing the displacement portion on the upper side of the carriage portion and placing the conveyance target on the displacement portion On the other hand, since at least a part of the weight of the object to be conveyed can be felt, the displacement portion can be carefully displaced, and rapid acceleration of the conveying device can be prevented to improve safety. It becomes.

  According to the transport device of the third aspect, for example, the direction intended by the user is controlled by controlling the drive of the moving means such that the transport device moves in the direction corresponding to the direction of displacement of the displacement portion with respect to the reference position. Since it is possible to move the transport device, it is possible to make a small turn and to improve the usability of the transport device. Also, for example, when the displacement unit is displaced in a direction intended by the user to move the conveyance device, and when the displacement unit of the conveyance device contacts an obstacle, the direction in which the displacement unit is intended by the user is Since it will be displaced to the opposite side, the transport device is prevented from continuing to move despite contact with an obstacle present in the direction intended by the user, and the obstacle or the transport device is damaged. It is possible to prevent the

  According to the conveyance device of the fourth aspect, for example, the conveyance device is driven by the driving force intended by the user by controlling the drive of the moving means by the driving force corresponding to the amount of displacement of the displacement portion with respect to the reference position. Of the floor surface (for example, steps due to curing iron plates and cables placed on the floor surface etc.) can be easily overcome, and usability of the transport device can be improved. Become.

  According to the transport apparatus of the fifth aspect, by controlling the drive of the moving means based on the detection result of the attitude detecting means, for example, the moving means in consideration of the inclination of the floor surface on which the transport apparatus moves. It is possible to control the driving of the vehicle, which requires a great deal of power when going up a hill, or prevents the driver from traveling away when going down a hill, thus improving the usability and safety of the transport apparatus. It is possible to further improve.

  According to the conveyance device of the sixth aspect, the displacement portion is elastically displaced with respect to the reference position, and for example, the displacement of the displacement portion is removed by applying the external force to the displacement portion by removing the external force. It is possible to transport the transport target in accordance with the user's intention. In particular, for example, when the transport device is configured to stop when it is not subjected to an external force, the user can stop the transport device by releasing his / her hand from the displacement portion of the transport device. The device can be reliably prevented from escaping, and the safety of the transfer device can be further improved.

It is a perspective view which shows the assist conveyance trolley of the state in which the luggage | load which concerns on this Embodiment was mounted. It is a front view of an assistant conveyance truck. It is a side view of an assistant conveyance truck. It is a top view of an assistant conveyance truck. It is a bottom view of an assistant conveyance truck. It is a top view of the trolley | bogie part in an assist conveyance trolley. It is a block diagram of an assistant conveyance truck. It is a flowchart of drive control processing. It is a flowchart of drive processing. It is a side view of the assist conveyance truck in the state where the load was placed, and (a) shows the state where it has stopped on the flat movement path, (b) has stopped on the movement path of the slope. Show the condition. It is an example of a drive state of an assistant transportation truck, (a) shows stop, (b) shows advance, (c) shows reverse, (d) shows traverse. It is an example of a drive state of an assistant conveyance truck, and (a) shows slanting and (b) shows turning. It is an example of a drive state of an assistant conveyance truck, and has shown the state where it has stopped on the move of the slope shown in (b) of Drawing 10. FIG. 7 is a side view of the assist transport carriage on an exemplary travel path.

  Hereinafter, an embodiment of an assist conveyance carriage according to the present invention will be described in detail with reference to the attached drawings. First, the basic concept of the [I] embodiment will be described, then the specific contents of the [II] embodiment will be described, and finally, modifications to the [III] embodiment will be described. However, the present invention is not limited by the embodiments.

[I] Basic Concept of the Embodiment First, the basic concept of the embodiment will be described. Embodiments generally relate to a transport apparatus.

  Here, the “conveying device” is a device that conveys the object to be conveyed, and specifically, it is moved and conveyed on the moving path, and for example, the user presses at least a part of the conveying device It moves by pulling or, for example, includes a carriage unit, a displacement unit, a displacement detection unit, and a drive control unit.

  In addition, "conveyance object" is a thing or a person conveyed by the conveyance apparatus, and is a concept including, for example, any package such as a material, a tool, or a shipment, or a user of the conveyance apparatus, etc. As this, it mounts on at least one of a trolley | bogie part or a displacement part. The “moving path” is a road surface on which the transport device moves, and, for example, a flat road (hereinafter, also referred to as “flat traveling path”) which is a horizontal road surface, and a slope which is a road surface having an inclination (hereinafter It is a concept that includes a travel path on a slope.

  The "carriage portion" is a part of the transfer device, and more specifically, a portion provided with moving means driven to move the transfer device on the moving path. The "moving means" is a means driven to move the transport device on the moving path, and is a concept including, for example, any wheel, caterpillar, and the like. “Move the transport device on the moving path” is, for example, a concept including moving the transport device forward, reverse, traverse, oblique, or turning on the transport path.

  Further, the “displacement portion” is another part of the transport device, and specifically, by receiving an external force from the user in the direction of moving the transport device, the displacement portion is parallel to the movement path from the reference position with respect to the carriage portion. It is a displacement part which is displaced in any direction, and is a part provided on the carriage part. The positional relationship between the displacement portion and the carriage portion is arbitrary. For example, the displacement portion may be provided on the upper side of the carriage portion, the displacement portion may be provided on the lower side of the carriage portion, and the same height as the carriage portion The displacement portions may be provided adjacent to each other.

  Further, the “reference position” is a relative position serving as a reference for detecting displacement, specifically, the relative position of the displacement portion with respect to the carriage portion, and for example, no external force is applied and it is stopped. It is a concept including the relative position etc. of the displacement part to the bogie part in the conveyance device in the case where it is present. The “external force” is a force that the transport device receives from other than itself, and is a concept including, for example, a force that the user receives from the user by pushing or pulling the transport device.

  The "displacement detection means" is means for detecting the displacement of the displacement portion relative to the reference position, and the "drive control means" controls the drive of the movement means based on the detection result of the displacement detection means. Means to

  Then, in the embodiment described below, the “target to be transported” is a package, the “moving means” is a wheel, and a displacement portion is provided on the upper side of the carriage portion, and the displacement portion The case where the object to be transported is placed will be described.

[II] Specific Content of the Embodiment Next, the specific content of the embodiment will be described.

(Constitution)
First, the configuration of the assist conveyance carriage according to the present embodiment will be described. FIG. 1 is a perspective view showing the assist transfer carriage in a state in which the luggage according to the present embodiment is placed, FIG. 2 is a front view of the assist transfer carriage, and FIG. 3 is a side view of the assist transfer carriage FIG. 4 is a plan view of the assist conveyance carriage, FIG. 5 is a bottom view of the assist conveyance carriage, FIG. 6 is a plan view of a carriage portion of the assist conveyance carriage, and FIG. It is a block diagram of an assistant conveyance truck. In addition, about the component provided between the trolley | bogie part 1 and the displacement part 2 in FIG. 1, illustration is abbreviate | omitted for convenience of explanation, Moreover, in each figure, the component of the assist conveyance trolley 100 The electrical wiring between them is not shown for convenience of explanation. Further, FIGS. 1 to 4 illustrate the assist conveyance carriage 100 in a state of being provided on the movement path R. Further, the X-Y-Z directions shown in FIGS. 1 to 5 are orthogonal to each other. Specifically, the Z direction is a vertical direction (a direction in which gravity acts), and the X direction and the Y direction are perpendicular. As a horizontal direction orthogonal to the direction, for example, the Z direction is referred to as the height direction, the + Z direction is referred to as the upper side (plane), the −Z direction is referred to as the lower side (bottom surface), and the Y direction Is referred to as the front-rear direction, the + Y direction is referred to as the front side (front), the −Z direction is referred to as the back side (back), the X direction is referred to as the left-right direction (side), and the + X direction is referred to as the left side In the description, the X direction is referred to as the right side (XYZ direction is illustrated, and the same applies to the other drawings).

  The assist conveyance carriage 100 is a conveyance device, for example, for conveying the luggage 900 of FIG. 1 and includes, for example, the carriage 1, the displacement unit 2, the recording unit 31 of FIG. 7, and the control unit 32. .

(Configuration-Bogie)
The carriage unit 1 of FIG. 1 is a part of the assist conveyance carriage 100 and is the above-described carriage unit. Although the specific type and configuration of the carriage 1 are arbitrary, for example, they are provided parallel to the moving path R, and are generally in the form of a rectangular flat plate, and the displacement portion It is provided in the lower side (-Z direction) of the said displacement part 2 in the state facing 2 and is formed with arbitrary materials, such as a metal material, a resin material, or a wood. The carriage 1 includes, for example, the wheel 11, the motor 12, the battery 13, the attitude sensor 14, the circuit board 15, the displacement sensor 16, the opposing support 17, and the parallel support 18 in FIG.

(Configuration-Bogie-Wheel)
The wheel 11 of FIG. 5 is the moving means described above. Although the specific type and configuration of the wheel 11 are arbitrary, for example, a total of four wheels are provided at the four corners of the carriage portion 1 in a mutually similar configuration. It is provided in the carriage unit 1 and it is known that the assist conveyance carriage 100 can be moved in any direction by rotating around a rotation axis parallel to the left and right direction (X direction). It is configured using a Mecanum wheel or the like.

(Configuration-Bogie-Motor)
The motor 12 of FIG. 5 is a drive means for rotationally driving the wheel 11. Although the specific type and configuration of the motor 12 are arbitrary, for example, a total of four are provided at four corners in the lower side (-Z direction) surface of the carriage 1 and have the same configuration. It is configured using a well-known geared motor or the like having a built-in gear.

(Configuration-Bogie-Battery)
The battery 13 of FIG. 5 is a power supply means for supplying operating power to the electrical components of the assist conveyance carriage 100. Although the specific type and configuration of the battery 13 are arbitrary, for example, the battery 13 is configured using a primary battery or a secondary battery such as a lithium ion battery.

(Configuration-Bogie-Attitude Sensor)
The attitude sensor 14 of FIG. 5 is a detection means for detecting the attitude of the assist conveyance carriage 100. Note that "the attitude of the assist conveyance carriage 100" is the inclination of the assist conveyance carriage 100, for example, the inclination of the assist conveyance carriage 100 with respect to the horizontal direction, and as one example, the movement of the assist conveyance carriage 100 It is a concept determined based on the slope of the road R. Although the specific type and configuration of the attitude sensor 14 are arbitrary, for example, the attitude sensor 14 is configured using a known 6-axis attitude sensor or the like.

(Configuration-Bogie-Circuit board)
The circuit board 15 of FIG. 5 is a mounting means for mounting an electric circuit. Although the specific type and configuration of the circuit board 15 are arbitrary, for example, the circuit board 15 is configured as a rigid circuit board on which a microcomputer and a motor driver are mounted. Although the mounting positions of the circuit board 15, the battery 13 and the posture sensor 14 with respect to the carriage 1 are arbitrary, for example, in consideration of any event such as the center of gravity of the assist conveyance carriage 100, It is mounted in the position shown in FIG. 5 in the plane of the side (-Z direction).

(Composition-bogie-displacement sensor)
The displacement sensor 16 of FIG. 6 is a detection means for detecting the displacement of the displacement portion 2 with respect to the above-described reference position. Although the specific type and configuration of the displacement sensor 16 are arbitrary, for example, a total of two components are provided on the upper surface (-Z direction) of the carriage 1 and have a similar configuration to each other, and the details In the vicinity of the center of the carriage 1 in the left-right direction (X direction), and at the front side (+ Y direction) and the rear side (-Y direction) of the carriage 1 in the front-back direction (Y direction) It is The displacement sensor 16 is configured using, for example, a known optical sensor, but as shown on the right side of the drawing of FIG. The laser light reflected by 2 is received through the sensor hole 161 to detect the direction of displacement of the displacement portion 2 with respect to the carriage 1 and the amount of displacement.

(Configuration-bogie-opposing support)
The opposing support part 17 of FIG. 6 is an opposing support means which supports the displacement part 2 in the direction (Z direction in FIG. 1) in which the carriage part 1 and the displacement part 2 oppose each other. Although the specific type and configuration of the opposing support portion 17 are arbitrary, for example, the displacement portion 2 is supported so that the displacement portion 2 is displaced in the direction parallel to the movement path R from the reference position with respect to the carriage portion 1 In addition, a total of four are provided one by one at positions adjacent to the four wheels 11 in the upper side (+ Z direction) of the carriage 1 and have a similar configuration to each other. Further, as shown in, for example, the lower right of FIG. 6, the opposing support portion 17 includes a spiral spring 171 and a steel ball 172. The spiral spring 171 is a holding means for holding the steel ball 172 on the carriage 1 and, for example, one end on the outer circumferential side is fixed to the carriage 1 and the other end on the inner circumferential side is free. The cage is configured to hold the steel ball 172. The steel ball 172 is a mounting means on which the displacement portion 2 is mounted, and can be rotationally moved within a predetermined range (a range in which the steel ball 172 does not fall from the carriage 1) on the other end side of the spiral spring 171, for example. It is what is held.

(Configuration-Bogie-Parallel support)
The parallel support portion 18 of FIG. 6 is a connection means for connecting the displacement portion 2 to the carriage portion 1 so that the displacement portion 2 is elastically displaced with respect to the reference position. Specifically, the carriage portion The parallel support means elastically supports the displacement portion 2 in a direction parallel to 1 (a direction parallel to the XY plane in FIG. 1). Although the specific type and configuration of the parallel support portion 18 are arbitrary, for example, a total of four members provided between the carriage portion 1 and the displacement portion 2 have a similar configuration to each other, and details will be given. , One each on each side of the carriage 1 and the displacement part 2. Also, as shown in the lower side of the drawing of FIG. 6, for example, the parallel support portion 18 is configured using a pair of helical springs (that is, two helical springs). As shown in FIG. 2, adjacent one end of each of the two helical springs is fixed to the carriage 1 and the other end of each of the two helical springs is fixed to the displacement portion 2.

(Composition-displacement part)
The displacement part 2 of FIG. 1 is another part of the assist conveyance carriage 100, and is the above-mentioned displacement part. Although the specific type and configuration of the displacement portion 2 are arbitrary, for example, the displacement portion 2 is provided in parallel to the carriage portion 1 and is roughly in the shape of a rectangular flat plate, and the carriage portion The area is slightly larger than 1 and is provided on the upper side (+ Z direction) of the carriage 1 in a state of facing the carriage 1, and a metal material, a resin material, or It is formed of any material such as wood. The displacement unit 2 includes, for example, a clue rod 21.

(Composition-displacement part-cue bar)
The clue bar 21 is a holding means held by the user to push and pull the assist conveyance carriage 100, and is a holding means used to hold the load 900 placed on the displacement portion 2. . Although the specific type and configuration of the clue rod 21 are arbitrary, for example, a total of four are provided at the four corners of the displacement portion 2. In addition, although the method of holding the load 900 using the clue rod 21 is arbitrary, for example, a rope is wound around four clue rods 21 to prevent the drop of the load 900 or the load 900 using a string. May be connected to the clue bar 21 to prevent the package 900 from falling. In addition, when a load such as a long building material (not shown) is transported, the load can be held without using a rope or a cord by laying the load on the displacement portion 2.

(Configuration-Recording section)
The recording unit 31 in FIG. 7 is a recording unit that records a program necessary for the operation of the assist conveyance carriage 100 and various data. Although the specific type and configuration of the recording unit 31 are arbitrary, for example, the recording unit 31 is configured using an EEPROM, a flash memory or the like, and can be mounted on the circuit board 15 of FIG. However, instead of the EEPROM or the flash memory or together with the EEPROM or the flash memory, an external recording device such as a hard disk, a magnetic recording medium such as a magnetic disk, an optical recording medium such as a DVD or Blu-ray disc, a ROM, a USB memory, SD Any other recording media can be used, including electrical recording media such as cards.

(Configuration-control unit)
The control unit 32 in FIG. 7 is a control unit that controls the assist conveyance carriage 100, and more specifically, a CPU, various programs to be interpreted and executed on the CPU (a basic control program such as OS, or OS It is a computer which comprises an internal memory such as a RAM for storing a program and various data, including an application program which is activated and realizes a specific function. Although the specific type and configuration of the control unit 32 are arbitrary, for example, it can be configured as a microcomputer mounted on the circuit board 15 of FIG. 5.

  Also, the control unit 32 functionally and conceptually includes a displacement detection unit 321, a drive control unit 322, and an attitude detection unit 323. The displacement detection unit 321 is a displacement detection unit that detects the displacement of the displacement unit 2 with respect to the reference position. The drive control unit 322 is a drive control unit that controls the drive of the wheel 11 based on the detection result of the displacement detection unit 321. The attitude detection unit 323 is an attitude detection unit that detects the attitude of the assist conveyance carriage 100. The processing performed by each unit of the control unit 32 will be described later.

(processing)
Next, a drive control process performed by the assist conveyance carriage 100 configured as described above will be described. FIG. 8 is a flowchart of the drive control process (steps will be abbreviated as “S” in the following description of each process). FIG. 9 is a flowchart of drive processing. FIG. 10 is a side view of the assist conveyance carriage in a state in which a load is placed, where (a) shows a state of stopping on a flat moving path, and (b) shows a moving path of a slope. Shows the stopped state. FIG. 11 shows an example of the driving state of the assist conveyance carriage, where (a) shows stop, (b) shows forward, (c) shows reverse, and (d) shows traverse. There is. FIG. 12 shows an example of the driving state of the assist conveyance carriage, in which (a) shows a skew, and (b) shows a turning. FIG. 13 shows an example of the driving state of the assist conveyance carriage, and shows a state of stopping on the traveling path of the slope shown in FIG. 10 (b). FIG. 14 is a side view of the assist transport carriage on the illustrated moving path. In addition, in FIG. 10, the illustration of a part of structure of the assist conveyance trolley 100 is abbreviate | omitted for convenience of explanation, and in FIGS. 11-13, the state seen from the upper side (+ Z direction) for convenience of explanation is shown. In addition, the illustration of a part of the configuration of the assist conveyance carriage 100 is omitted. Further, in FIG. 14, the inclination of 3 degrees is illustrated as being steeper than the actual inclination of 3 degrees for the convenience of description.

  The “drive control process” is a process for controlling the drive of the wheels 11 of the assist conveyance carriage 100, and the “drive process” is a process executed during the drive control process, and more specifically, to the wheels It is a process of applying a driving force. Although the timing to execute this drive control processing is arbitrary, for example, the power supply switch (not shown) of the assist conveyance carriage 100 is turned on, and the operating power from the battery 13 becomes an electrical component of the assistance conveyance carriage 100 It will be described from the place where the execution is started, assuming that it is started to repeatedly execute when supplied. Here, for example, an example in which the user pushes the assist conveyance vehicle 100 in the movement path R illustrated in FIG. 14 to convey the package 900 will be described. Further, for example, it is assumed that the assist transport carriage 100 is provided with a brake mechanism (not shown), and first, the assist transport carriage 100 is provided on the flat movement path R on the right side of the drawing as shown in FIG. It will be explained that the wheel 11 is locked and stopped by the brake mechanism.

  First, at SA1 in FIG. 8, the drive control unit 322 determines whether or not displacement has occurred. Specifically, although it is arbitrary, for example, the detection result of the displacement sensor 16 is monitored, and it is determined based on the detection result whether or not the displacement unit 2 is displaced with respect to the reference position. In practice, processing is performed in consideration of a certain margin in accordance with actual operation. However, since known techniques can be applied to the point of considering this margin, the description will be omitted. And in detail about SA1, when the displacement sensor 16 does not detect displacement, it determines with the displacement part 2 not having been displaced with respect to the reference position (NO of SA1), and determines that displacement has been detected. Execute SA1 repeatedly until it is done. When the displacement sensor 16 detects a displacement, it is determined that the displacement unit 2 is displaced with respect to the reference position (YES in SA1), and the process shifts to SA2. Here, for example, as shown in FIGS. 10 (a) and 11 (a), a state in which the assist conveyance carriage 100 is stopped and no external force is applied to the displacement portion 2 (that is, the displacement portion 2 is shown in FIG. The drive control unit 322 performs displacement using the relative position of the displacement unit 2 to the carriage unit 1 as a reference position in a state where the elastic support of the parallel support unit 18 of FIG. 2 and FIG. The detection result of the sensor 16 is continuously acquired, the external force from the user is not yet applied to the displacement unit 2, and the acquired detection result indicates that the displacement unit 2 is displaced with respect to the reference position. If not, since the displacement sensor 16 does not detect displacement, it is determined that the displacement portion 2 is not displaced with respect to the reference position, while an external force from the user is applied to the displacement portion 2 and displaced. The above-mentioned acquired detection result is the reference level If the displacement unit 2 is shown that has been displaced with respect to, the displacement sensor 16 detects a displacement, determines that the displacement unit 2 is displaced with respect to the reference position.

  In SA2 of FIG. 8, the drive control unit 322 releases the brake. Specifically, although optional, the brake is released by accessing the brake mechanism (not shown) and releasing the lock of the wheel 11, for example. In this case, the wheel 11 can rotate.

  At SA3 in FIG. 8, the control unit 32 performs drive processing. Specifically, for example, in order to drive at least one or more of the four wheels 11 so as to assist an external force from the user, for example, the drive processing of FIG. 9 is activated. The drive processing here may be realized by analog signal processing, but here, for convenience of explanation, a case where control is mainly performed on each part will be described.

  The displacement detection unit 321 detects a displacement at SB1 in FIG. Specifically, although it is arbitrary, for example, the detection result of the displacement sensor 16 is acquired, and the direction and amount of displacement of the displacement portion 2 with respect to the reference position are detected from the acquired detection result. Here, for example, when an external force is applied to the displacement portion 2 from the user shown in FIG. 11B to displace the carriage, the relative position of the displacement portion 2 with respect to the carriage portion 1 shown in FIG. The displacement D1 shown in FIG. 11 (b) is detected as a displacement with respect to the reference position with the reference position as a reference position. The displacement D1 is, for example, a reference point which is a point on the displacement portion 2 facing the sensor hole 161 of the displacement sensor 16 when the displacement portion 2 is provided at the reference position (see FIG. 11A). This is a concept corresponding to the positional relationship between P1 and the point on the displacement portion 2 facing the sensor hole 161 of the displacement sensor 16 after displacement of the displacement portion 2, and as shown, the direction of displacement is “front side (+ Y Direction) and the amount of displacement is “for example 10 mm”. Here, for example, in accordance with an external force from the user, all displacements such as displacements D2 to D5 in FIGS. 11 (c) and (d) and FIGS. 12 (a) and 12 (b) are detected. .

  The posture detection unit 323 detects the posture at SB2 in FIG. Specifically, although it is arbitrary, for example, the detection result of the posture sensor 14 is acquired, and the posture (that is, the inclination of the assist conveyance carriage 100 with respect to the horizontal direction) of the assist conveyance carriage 100 is detected based on the acquired detection result Do. Here, for example, when the assist conveyance carriage 100 is provided on the flat moving path R shown in FIG. 14, “0 degrees” is detected, and the assist conveyance carriage 100 is on the slope shown in FIG. 14. When provided in the moving path R, “3 degrees” is detected.

  In SB3 of FIG. 9, the drive control unit 322 determines the direction in which the assist conveyance carriage 100 is moved. Specifically, although it is arbitrary, for example, the displacement detected at SB1 is acquired, and based on the acquired displacement, the moving direction of the assist conveyance vehicle 100 intended by the user is estimated, and the estimated direction is assisted It determines as the direction which moves the conveyance trolley 100. FIG. In addition, although the estimation method of the direction which the assist conveyance trolley 100 which the user intends is arbitrary is arbitrary, for example, when a user moves the assist conveyance trolley 100, the direction of the external force given to the displacement part 2 and the said external force An experiment or simulation for correlating the relationship with the displacement of the displacement part 2 in the case of receiving the command, and the relationship between the displacement direction of the displacement part 2 and the direction of movement of the assist conveyance vehicle 100 intended by the user It may be defined and estimated based on this definition. Here, for example, when displacements detected in SB1 are displacements D1 to D5 in FIGS. 11 (b), (c), (d) and FIGS. 12 (a) and 12 (b), for each displacement D1 to D5 As shown by the arrows in each figure as the direction of movement, "forward direction", "reverse direction", "transverse direction", "slant direction", and "pivotal direction" are determined.

  At SB4 in FIG. 9, the drive control unit 322 determines the driving force. Specifically, although it is arbitrary, for example, in the case where the user moves the assist conveyance carriage 100 along the flat movement route R and the case where the assist conveyance carriage 100 is moved along the hill movement route R, the displacement portion 2 when the external force required to displace 2 differs from each other, and when the user moves the assist conveyance carriage 100 upward (in the + Y direction) on the traveling path R of the slope (that is, the traveling path of the uphill) In the case of moving the assist conveyance carriage 100 by R), the point that a relatively large external force is required to displace the displacement part 2 and the user moves the assist conveyance carriage 100 down the moving path R of the slope (-Y (In the case of moving the assist conveyance carriage 100 in the downhill traveling route R), in consideration of the fact that a relatively small external force is sufficient for displacing the displacement portion 2, etc. To determine the gain of the driving force to the amount of the second displacement (amplification factor), it determines the driving force.

  In detail, with regard to SB4, first, the posture of the assist conveyance carriage 100 detected in SB2 and the direction in which the assist conveyance carriage 100 determined in SB3 is moved are acquired, and a flat movement path is obtained based on the acquired posture and movement direction. It is specified whether the assist conveyance carriage 100 is moved by R, the assist conveyance carriage 100 is moved along the uphill travel path R, or the assist conveyance carriage 100 is moved along the downhill travel path R. Next, based on this identification result, the gain of the uphill travel path R among the uphill travel path R, the flat travel path R, and the downhill R is the largest and the flat travel path R The gain is determined so that the gain is the next largest and the downhill R gain is the smallest. In the determination of the gain, for the uphill and the downhill, the gain is determined to be larger as the uphill becomes steeper, and the gain is determined to be smaller as the downhill becomes steeper. Next, the amount of displacement detected in SB1 is acquired, and the driving force is determined based on the acquired amount of displacement and the aforementioned determined gain. Here, for example, the displacement D1 (displacement amount is “10 mm”, for example) is detected at SB1, “0 degree” is detected at SB2, and “forward direction” is determined at SB3. In this case, a driving force (hereinafter, an exemplary driving force) corresponding to these is determined at SB4.

  The drive control unit 322 drives the wheel 11 at SB4 in FIG. Specifically, although it is arbitrary, for example, the direction to move the assist conveyance carriage 100 determined at SB3 is acquired, and the drive force determined at SB4 is acquired, and then the direction acquired by the assist conveyance carriage 100 as described above After assisting the external force from the user by driving the wheels 11 with the obtained driving force via the motor driver and the motor 12 of the circuit board 15 so as to move to the above, the drive processing is returned. Here, for example, the wheel 11 is driven by the “exemplary driving force” such that the assist conveyance carriage 100 moves forward.

  At SA4 in FIG. 8, the drive control unit 322 determines whether the movement of the assist conveyance carriage 100 has stopped. Specifically, although it is arbitrary, for example, a rotation sensor (not shown) for detecting the rotation of the wheel 11 is provided, and the determination is made based on the detection result of the rotation sensor. Then, when the rotation sensor detects the rotation of the wheel 11, it is determined that the movement of the assist conveyance carriage 100 is not stopped (NO in SA4), and the process shifts to SA3. When the rotation sensor does not detect the rotation of the wheel 11, it is determined that the movement of the assist conveyance carriage 100 has stopped (YES in SA4), and the process shifts to SA5. Here, for example, when the user cancels the application of the external force to the assist conveyance carriage 100 in the flat movement path R, the displacement portion 2 returns to the reference position by the elastic force of the parallel support portion 18 and the displacement portion 2 The amount of displacement is zero, the driving force is zero, and the movement of the assist conveyance carriage 100 stops. In this case, the rotation sensor does not detect the rotation of the wheel 11, and the movement of the assistance conveyance carriage 100 stops. It is determined that

  The drive control unit 322 applies a brake at SA5 in FIG. Specifically, although optional, for example, the brake is applied by locking the wheel 11 with a brake mechanism (not shown). Thus, the drive control process is completed.

(Process-specific example)
Next, a specific example will be described in which the load control process is applied to transport the load 900 by the assist transport carriage 100. Here, a typical case will be described. For example, in the case of transporting from the flat moving path R on the right side of the drawing of FIG. 14 up the slope to the left side of the drawing (hereinafter, the case of transporting up the slope) When transporting down the slope from the flat traveling route R on the left side to the right in the drawing (hereinafter, transporting when moving down the slope road), climb up the slope from the stopped state on the traveling route R of the slope and flat on the left side of the drawing In the case of conveyance to the movement path R (hereinafter, in the case of conveyance upward from the middle of a slope), an unshown obstacle is shown during conveyance to the front side (+ Y direction) of the flat movement path R on the right side of FIG. A specific example of the case where the assist conveyance carriage 100 contacts (in the case where an obstacle is contacted during conveyance to the front side (+ Y direction)) will be described.

(Process-specific example-When transporting up a slope)
When conveying up the slope, the assist conveyance carriage 100 is provided on the flat moving path R on the right side of the drawing as illustrated in FIG. An external force is applied to the front side (+ Y direction). In this case, the displacement portion 2 of the assist conveyance carriage 100 is displaced as shown in FIG. 11B from the reference position shown in FIGS. 10A and 11A, and the displacement portion 2 is at the reference position. It is determined that the vehicle has been displaced (YES in SA1 in FIG. 8), the brake is released in SA2, the driving process in FIG. 9 is performed in SA3, and the movement of the assist conveyance carriage 100 is stopped in SA4 The drive processing is repeatedly performed until it is determined (YES in SA4). While the flat moving path R in FIG. 14 is moved forward (in the + Y direction) in this repeated drive processing, the movement of the assist conveyance carriage 100 is assisted by the driving force based on a constant gain, In addition, since the gain is assisted in the uphill and assisted, the user moves the assist conveyance carriage 100 by applying an external force of the same size as in the case of the flat traveling route R also in the uphill. As a result, it is possible to safely and easily transport the flat traveling path R on the right side of the drawing to the flat traveling path R on the left side of the drawing. Thereafter, when the user cancels the application of the external force to the assist conveyance carriage 100, it is determined that the movement of the assist conveyance carriage 100 is stopped (YES in SA4 of FIG. 8), and the brake is applied in SA5.

(Process-specific example-When transporting down a slope)
When transporting down a slope, the assist conveyance carriage 100 is provided on the flat moving path R on the left side of the drawing of FIG. Apply an external force in the In this case, the displacement portion 2 of the assist conveyance carriage 100 is displaced as shown in FIG. 11 (c) from the reference position shown in FIGS. 10 (a) and 11 (a). , Drive processing will be repeated. While the flat moving path R in FIG. 14 is moved backward (in the -Y direction) in this repeated drive processing, the movement of the assist conveyance carriage 100 is assisted by the driving force based on a constant gain. Also, on a downhill, the assist is performed by reducing the gain, so that the user moves the assist conveyance carriage 100 by applying an external force of the same size as in the case of the flat traveling route R even on a downhill. As a result, it becomes possible to safely and easily transport the flat traveling route R on the left side of the drawing to the flat traveling route R on the right side of the drawing. In this case, in particular, in order to prevent the assist conveyance carriage 100 from moving by accelerating the downhill under its own weight, processing is performed such that the brake mechanism (not shown) is intermittently used to move at a constant speed. May be Thereafter, when the user cancels the application of the external force to the assist conveyance carriage 100, it is determined that the movement of the assist conveyance carriage 100 is stopped (YES in SA4 of FIG. 8), and the brake is applied in SA5.

(Process-specific example-When carrying up from the middle of a slope)
When transporting from the middle of a slope, the assist transport carriage 100 is provided on the traveling path R of the slope in the center of the drawing of FIG. 14, but in this case the brake is applied and the displacement portion 2 of the assist transport carriage 100 is 10 (a) and 11 (a) as shown in FIG. 10 (b) and FIG. 13 due to the weight of the load 900, but this FIG. Each processing is performed by using the positions of (b) and FIG. 13 as a reference position. Then, the user applies an external force in the forward direction (+ Y direction) to the displacement portion 2 of the assist conveyance carriage 100. In this case, the displacement portion 2 of the assist conveyance carriage 100 is displaced from the reference position shown in FIG. 10 (b) and FIG. 13, and the same operation as in the case of "conveying up a slope". I do.

(Process-Specific example-Case of touching an obstacle during transportation to the front side (+ Y direction))
When contacting an obstacle during conveyance to the front side (+ Y direction), the obstacle contacts at least a part of the front side (+ Y direction) of the displacement portion 2 in FIG. The displacement portion 2 moves relatively backward with respect to the carriage portion 1 (−Y direction), and the user grasps the contact with the obstacle to stop applying the external force, so the displacement portion 2 is supported in parallel The elastic force of the portion 18 returns to the reference position, the displacement amount of the displacement portion 2 becomes zero, the driving force becomes zero, and the movement of the assist conveyance carriage 100 is stopped. That is, the displacement part 2 will exhibit a function like an obstacle detection sensor, and it becomes possible to ensure the safety during conveyance.

(Effect of this embodiment)
According to the present embodiment, the drive of the wheel 11 is controlled based on the detection result of the displacement detection unit 321 that detects the displacement of the displacement unit 2 displaced in the direction parallel to the movement path R with respect to the reference position. For example, since the drive of the wheel 11 can be controlled by the displacement adjustable by the user, it is possible to properly transport the load 900 to be transported. In addition, by detecting and controlling the displacement of the displacement unit 2 displaced in the direction parallel to the movement path R, for example, the displacement (for example, the luggage 900 shifts or falls) against the user's movement intention. Since the detection of the resulting vertical displacement etc. can be eliminated, it is possible to transport the load 900 properly.

  In addition, for example, for a user who applies an external force to the displacement unit 2, the luggage 900 is provided by the displacement unit 2 being provided on the upper side of the carriage unit 1 and the luggage 900 being placed on the displacement unit 2. Since at least a part of the weight can be felt, the displacement portion 2 can be carefully displaced, and it is possible to improve safety by preventing sudden acceleration of the assist conveyance carriage 100 or the like.

  Further, by controlling the driving of the wheels 11 so that the assist conveyance carriage 100 moves in the direction corresponding to the direction of displacement of the displacement portion 2 with respect to the reference position, for example, the assist conveyance carriage 100 is moved in the direction intended by the user. As a result, it is possible to make a small turn and to improve the usability of the assist conveyance carriage 100. Also, for example, when the assist conveyance carriage 100 is moved by displacing the displacement unit 2 in the direction intended by the user, when the displacement unit 2 of the assist conveyance carriage 100 contacts an obstacle, the displacement unit 2 Since the user is displaced in the opposite direction to the direction intended by the user, the assist conveyance carriage 100 is prevented from continuing to move despite contact with an obstacle present in the direction intended by the user. It is possible to prevent the obstacle or the assist conveyance vehicle 100 from being damaged.

  In addition, by controlling the driving of the wheel 11 with the driving force corresponding to the displacement amount of the displacement portion 2 with respect to the reference position, for example, the assist transport carriage 100 can be moved with the driving force intended by the user. It is possible to easily get over the level difference of the moving path R (for example, the level difference due to a curing iron plate or a cable placed on the floor surface of the moving path R) and improve the usability of the assist conveyance carriage 100 Become.

  Further, by controlling the drive of the wheel 11 based on the detection result of the posture detection unit 323, for example, the drive of the wheel 11 is considered in consideration of the inclination of the floor surface of the moving path R on which the assist conveyance carriage 100 moves. Since control can be performed, a large amount of power is required when going up a slope, or traveling can be prevented when going down a slope, and the usability and safety of the assist conveyance carriage 100 can be further enhanced. It is possible to improve.

  Further, by displacing the displacement portion 2 elastically with respect to the reference position, for example, by removing the external force on the displacement portion 2, the displacement of the displacement portion 2 can be returned to the state before applying the external force. Therefore, the package 900 can be transported according to the user's intention. In particular, for example, when the assist conveyance carriage 100 is configured to stop when no external force is received, the user stops the assist conveyance carriage 100 by releasing the hand from the displacement portion 2 of the assist conveyance carriage 100. Therefore, the assist transport carriage 100 can be reliably prevented from escaping, and the safety of the assist transport carriage 100 can be further improved.

[III] Modifications to the Embodiments The embodiments according to the present invention have been described above, but specific configurations and means of the present invention fall within the scope of the technical idea of each invention described in the claims. Can be optionally modified and improved. Hereinafter, such a modified example will be described.

(About problem to be solved and effect of invention)
First of all, the problems to be solved by the invention and the effects of the invention are not limited to the above contents, and may differ depending on the details of the implementation environment and configuration of the invention, and only some of the problems described above And may only play a part of the above mentioned effects.

(About distribution and integration)
In addition, each of the above-described electrical components is functionally conceptual, and does not necessarily have to be physically configured as illustrated. That is, the specific form of the distribution and integration of each part is not limited to the illustrated one, and all or a part thereof is functionally or physically dispersed or integrated in any unit according to various loads, usage conditions, etc. Can be configured. Furthermore, the “system” in the present application is not limited to one configured by a plurality of devices, but includes one configured by a single device. In addition, the “device” in the present application is not limited to one configured by a single device, but includes one configured by a plurality of devices.

(About shape, number, structure, time series)
With regard to the components illustrated in the embodiments and the drawings, the shape, the numerical value, or the structure or the time-series correlation of a plurality of components may be arbitrarily modified and improved within the scope of the technical idea of the present invention. Can. For example, the number of mutually similar components of the assist conveyance carriage 100 may be arbitrarily changed. For example, the wheel 11, the motor 12, the posture sensor 14, the displacement sensor 16, the opposing support 17, or a parallel support The number of eighteen may be changed arbitrarily.

(About the position of the component)
Further, the attachment positions of the components of the assist conveyance vehicle 100 of the above embodiment may be arbitrarily changed. For example, the attitude sensor 14 and the displacement sensor 16 may be provided on the displacement portion 2 side.

(About the wheel)
Also, instead of and / or together with the wheel 11 which is the Mecanum wheel of the above embodiment, a so-called omni wheel may be used, an omnidirectional caterpillar or a normal caterpillar may be used, and steering A wheel that changes direction may be used, and a wheel that only can move back and forth can not be used.

(About the sensor)
Further, any sensor other than 6-axis posture sensor such as a 3-axis sensor may be applied as the posture sensor 14 of the above embodiment, and an ultrasonic sensor, a contact may be used as the displacement sensor 16, for example. Any sensor other than an optical sensor such as a sensor may be applied.

(About the opposing support and the parallel support)
Moreover, as a structure for exhibiting the function of the opposing support part 17 of the said embodiment, and the parallel support part 18, things other than what was demonstrated in embodiment may be applied, for example, the seismic isolation mechanism of a building. The configuration of may be applied.

(About the cover)
Further, in order to prevent an object or person from being caught in a gap between the carriage unit 1 and the displacement unit 2 of the assist conveyance carriage 100 of the above embodiment, or that dust and the like enter, displacement with the carriage unit 1 is possible. A cover that covers the gap from the outside may be provided in a state in which mutual displacement with the unit 2 is enabled, or the carriage unit 1 and the displacement unit 2 may be accommodated in any housing.

(Other changes etc.)
Further, for example, the area of the carriage 1 is made larger than the area of the displacement 2, the carriage 1 is displaced from the displacement 2, or the height direction between the carriage 1 and the displacement 2 The distance may be increased in the Y direction, and the load 900 may be placed on the carriage unit 1. Also, for example, after the area of the carriage 1 is made larger than the area of the displacement 2 and the distance in the height direction (Y direction) between the carriage 1 and the displacement 2 is increased, A person may get on the part 1 and displace the displacement part 2 so that the person can be carried. Further, for example, the assist conveyance vehicle 100 may be provided with a remote control function, or an emergency stop switch may be provided. In addition, part of the functions of the assist conveyance carriage 100 may be omitted.

(About other controls)
In addition, when traveling on the traveling route R where the inclination is steep with the assist conveyance carriage 100, there is a risk of runaway, and therefore, control may be performed to stop. Specifically, when the posture detection unit 323 detects a predetermined threshold angle (for example, 5 degrees or more) or more, control is performed to apply a brake by locking the wheel 11 with a brake mechanism (not shown). You may

(Amount of displacement of displacement part)
Further, the amount of displacement of the assumed displacement portion 2 is arbitrary, and may be, for example, several mm to 10 mm including 10 mm as in the embodiment, or may be only several mm. It may be several centimeters or so.

(About application to other fields)
Also, for example, the technology of the embodiment may be applied to configure welfare mobility in which the person can be transported by swinging the foot and body by the body center-of-gravity shift operation, or by riding on a platform work vehicle A person may be configured to shake the foot and body and finely adjust the movement of the working mechanism of the high-level worker by moving the body center of gravity without getting down and maneuvering one by one.

(Supplementary note)
The transport apparatus according to Appendix 1 is a transport apparatus for transporting a transport target, and is provided with a carriage unit provided with moving means driven to move the transport apparatus on a moving path, and in a direction to move the transport apparatus. A displacement unit that is displaced in a direction parallel to the moving path from a reference position with respect to the carriage unit by receiving an external force from a user, the displacement unit provided in the carriage unit, and the displacement unit And a drive control unit configured to control driving of the moving unit based on a detection result of the displacement detection unit.

  The transport apparatus according to appendix 2 is the transport apparatus according to appendix 1, wherein the displacement portion is provided on the upper side of the carriage, and the transport target is placed.

  The transport apparatus according to appendix 3 is the transport apparatus according to appendix 1 or 2, wherein the displacement detection unit detects at least a direction of displacement of the displacement portion with respect to the reference position, and the drive control unit detects the displacement. The drive of the moving means is controlled such that the transport device moves in a direction corresponding to the direction of displacement of the displacement portion with respect to the reference position detected by the means.

  The conveyance device according to appendix 4 is the conveyance device according to any one of appendixes 1 to 3, wherein the displacement detection means detects at least an amount of displacement of the displacement portion with respect to the reference position, and the drive control means The drive of the moving means is controlled by a driving force corresponding to the amount of displacement of the displacement portion with respect to the reference position detected by the displacement detecting means.

  The conveyance device according to appendix 5 is the conveyance device according to any one of appendixes 1 to 4, wherein the posture detection means for detecting the posture of the conveyance device and the drive control means are the detection results of the posture detection means. Also controls the driving of the moving means.

  The transport apparatus according to appendix 6 is the transport apparatus according to any one of appendixes 1 to 5, wherein the displacement portion is resiliently displaced with respect to the reference position with respect to the carriage portion. And connection means for connecting.

(Effect of Supplementary Note)
According to the conveyance device described in Appendix 1, the drive of the moving means is controlled based on the detection result of the displacement detecting means for detecting the displacement of the displacement portion displaced in the direction parallel to the moving path with respect to the reference position. For example, since the drive of the moving means can be controlled by the displacement adjustable by the user, it is possible to appropriately convey the object to be conveyed. In addition, by detecting and controlling the displacement of the displacement unit displaced in the direction parallel to the movement path, for example, the displacement (for example, the conveyance target is shifted or fallen) against the user's intention of movement. Since the detection of the displacement in the vertical direction and the like can be eliminated, it is possible to appropriately transport the transport target.

  According to the conveyance device described in Appendix 2, the displacement portion is provided on the upper side of the carriage portion, and the conveyance target is placed on the displacement portion, for example, for a user who applies an external force to the displacement portion On the other hand, since at least a part of the weight of the object to be conveyed can be felt, the displacement portion can be carefully displaced, and it is possible to improve safety by preventing rapid acceleration of the conveying device and the like. Become.

  According to the conveyance device described in Appendix 3, for example, in the direction intended by the user, the drive of the movement means is controlled such that the conveyance device moves in a direction corresponding to the direction of displacement of the displacement portion with respect to the reference position. Since the transfer device can be moved, it is possible to make a small turn and improve the usability of the transfer device. Also, for example, when the displacement unit is displaced in a direction intended by the user to move the conveyance device, and when the displacement unit of the conveyance device contacts an obstacle, the direction in which the displacement unit is intended by the user is Since it will be displaced to the opposite side, the transport device is prevented from continuing to move despite contact with an obstacle present in the direction intended by the user, and the obstacle or the transport device is damaged. It is possible to prevent the

  According to the conveyance device described in appendix 4, by controlling the driving of the moving means by the driving force corresponding to the amount of displacement of the displacement portion with respect to the reference position, for example, the conveyance device is driven by the driving force intended by the user. Since it can be moved, it is possible to easily get over the level difference of the floor (for example, the level difference due to the curing iron plate or the cable placed on the floor, etc.), and it becomes possible to improve the usability of the transfer device. .

  According to the conveyance device described in appendix 5, by controlling the drive of the movement means based on the detection result of the posture detection means, for example, in consideration of the inclination of the floor surface on which the conveyance device is moved, Since the drive can be controlled, a great deal of power is required when going up a hill, or it is possible to prevent a runaway when going down a hill, further enhancing the usability and safety of the transport apparatus. It is possible to improve.

  According to the conveyance device described in Appendix 6, the displacement of the displacement portion is removed by, for example, removing the external force on the displacement portion by elastically displacing the displacement portion with respect to the reference position. Since the state can be restored, it is possible to transport the transport target in accordance with the user's intention. In particular, for example, when the transport device is configured to stop when it is not subjected to an external force, the user can stop the transport device by releasing his / her hand from the displacement portion of the transport device. The device can be reliably prevented from escaping, and the safety of the transfer device can be further improved.

Reference Signs List 1 bogie 2 displacement portion 11 wheel 12 motor 13 battery 14 attitude sensor 15 circuit board 16 displacement sensor 17 opposing support portion 18 parallel support portion 21 clue rod 31 recording portion 32 control portion 100 assist conveyance carriage 161 sensor hole 171 spiral spring 172 steel Ball 321 Displacement detection unit 322 Drive control unit 323 Posture detection unit 900 Package D1 displacement D2 displacement D3 displacement D4 displacement D5 displacement P1 reference point R moving path

Claims (6)

A transport apparatus for transporting a transport target, wherein
A carriage portion provided with moving means driven to move the transfer device on a moving path;
The displacement unit is a displacement unit that displaces in a direction parallel to the moving path from a reference position with respect to the carriage unit by receiving an external force from the user in the direction of moving the conveyance device, and the displacement provided in the carriage unit Department,
Displacement detection means for detecting displacement of the displacement portion relative to the reference position;
Drive control means for controlling the drive of the moving means based on the detection result of the displacement detecting means;
A transport device comprising: The displacement portion is provided on the upper side of the carriage portion, and the transport target is placed.
The transport apparatus according to claim 1. The displacement detection means detects at least a direction of displacement of the displacement portion with respect to the reference position;
The drive control means controls driving of the moving means such that the transport device moves in a direction corresponding to the direction of displacement of the displacement portion with respect to the reference position detected by the displacement detection means.
The transport apparatus according to claim 1. The displacement detection means detects at least an amount of displacement of the displacement portion with respect to the reference position;
The drive control means controls the drive of the moving means with a driving force corresponding to the amount of displacement of the displacement portion with respect to the reference position detected by the displacement detection means.
The transport apparatus according to any one of claims 1 to 3. Posture detection means for detecting the posture of the transport device;
The drive control means controls the drive of the moving means based also on the detection result of the attitude detection means.
The transport apparatus according to any one of claims 1 to 4. And connecting means for connecting the displacement portion to the carriage so that the displacement portion is elastically displaced with respect to the reference position.
The conveyance apparatus as described in any one of Claims 1-5.

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