JP2019073134A - Electric-assisted truck - Google Patents

Electric-assisted truck Download PDF

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JP2019073134A
JP2019073134A JP2017199965A JP2017199965A JP2019073134A JP 2019073134 A JP2019073134 A JP 2019073134A JP 2017199965 A JP2017199965 A JP 2017199965A JP 2017199965 A JP2017199965 A JP 2017199965A JP 2019073134 A JP2019073134 A JP 2019073134A
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frame
loading platform
attached
wheels
handle
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JP6997434B2 (en
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典昌 坂本
Norimasa Sakamoto
典昌 坂本
学 中川
Manabu Nakagawa
学 中川
和彦 野村
Kazuhiko Nomura
和彦 野村
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Koei Co Ltd
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Koei Co Ltd
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Abstract

To provide an electric-assisted truck that turns with a small minimum turning radius and can be comfortably and accurately operated by an operator.SOLUTION: An electric-assisted truck 1 according to the present invention includes: a frame 10; a load-carrying platform 20; a lifting device 30 that lifts the load-carrying platform up and down relative to the frame; drive wheels 40 and driven wheels 50 that are attached to a lower side of the frame; an operation handle 60 by which an operator controls the operation of the load-carrying platform and the drive wheels; and a control unit 70 that controls the operation of the load-carrying platform and the drive wheels in accordance with the operation of the operation handle. The drive wheels are attached to the center of the frame in the front to back direction to be located at the right side and the left side, and the driven wheels are attached to four corners of the frame in the front to back direction and in the right to left direction. The operation handle is attached to the load-carrying platform to integrally move up and down with the load-carrying platform. The operation handle is divided into right and left operation portions 60R, 60L. The left operation portion 60L operates a left-side drive wheel 40L of the drive wheels when being gripped by the left hand of the operator. The right operation portion 60R operates a right-side drive wheel 40R when being gripped by the right hand of the operator.SELECTED DRAWING: Figure 1

Description

本発明は、旋回時の最小回転半径が小さく、作業者が快適且つ正確に操縦できる電動アシスト台車に関する。   The present invention relates to a motor-assisted vehicle having a small minimum turning radius at the time of turning and capable of being steered comfortably and accurately by an operator.

工場や倉庫等で使用する台車として、電動アシスト機能を備えたものが知られている。
例えば特許文献１には、荷台の上面から上方に立ち上がる逆Ｕ字型の操作ハンドルと、荷台の下面の前後左右四隅の車輪のうち操作ハンドルに近い側（作業者にとって手前側）の左右二輪を駆動輪とする電動アシスト台車が開示されている。
操作ハンドルの左右の下端はトルクセンサに繋がっており、作業者が操作ハンドルの上部を左右の手で掴んだ状態で例えば右手で押すと、右側のトルクセンサが検出する駆動トルクが左側のトルクセンサが検出する駆動トルクと比較して大きくなるため、コントローラの指令によって右側の駆動輪に付与されるアシスト力が左側の駆動輪に付与されるアシスト力よりも大きくなり、台車が左方向に旋回する。このように、作業者が操作ハンドルを左右の手で掴んで押し引きすることで生じる左右の駆動トルクの相違に応じて左右の駆動輪に付与するアシスト力を相違させるので、作業者は違和感をあまり持つことなく台車を操縦できる。 As a dolly used at a factory or a warehouse, one having an electric assist function is known.
For example, in Patent Document 1, a reverse U-shaped operation handle rising upward from the upper surface of the loading platform, and left and right two wheels on the side closer to the operating handle (front side for the operator) among the front, rear, left and right corners of the lower surface of the loading platform An electrically assisted cart as a driving wheel is disclosed.
The left and right lower ends of the operating handle are connected to a torque sensor, and when the operator grips the upper part of the operating handle with the left and right hands, for example, the right side torque sensor detects the driving torque detected by the right torque sensor. The assist force applied to the right drive wheel by the controller's command is greater than the assist force applied to the left drive wheel, and the truck turns in the left direction. . In this manner, since the assist force applied to the left and right drive wheels is different according to the difference between the left and right drive torques caused by the operator holding and pushing and pulling the operation handle with the left and right hands, the worker feels uncomfortable You can steer the truck without having too much.

また、特許文献2には、車体フレームの一部に取り付けられる逆Ｕ字型の操作ハンドルと、車体フレームと荷台の間に配置される電動昇降シリンダと、荷台の下面であって操作ハンドルに近い側に取り付けられる左右の自在輪と、操作ハンドルに遠い側に取り付けられる左右の駆動輪を備える搬送台車が開示されている。
作業者は特許文献1と同様に逆Ｕ字型の操作ハンドルを左右の手で掴んで押し引きすることで左右の駆動輪に付与するアシスト力を相違させて旋回することができ、また、電動昇降シリンダによって荷台の高さを自在に調節できる。 Further, according to Patent Document 2, an inverted U-shaped operation handle attached to a part of a vehicle body frame, an electric elevating cylinder disposed between the vehicle body frame and the bed, and a lower surface of the bed and close to the operation handle A transport carriage is disclosed comprising left and right universal wheels mounted on the side and left and right drive wheels mounted on the side far from the operating handle.
The operator can turn with different assist forces applied to the left and right drive wheels by holding and pushing / pulling the reverse U-shaped operation handle with the left and right hands in the same manner as in Patent Document 1 The height of the platform can be freely adjusted by the lifting cylinder.

また、特許文献3には、荷台の後方から上方にのびる左右の棒状のフレームと、左右のフレームに取り付けられる左側押圧検出部及び右側押圧検出部と、左右の端部が左側押圧検出部と右側押圧検出部に連結される一本の棒状のハンドル部を備える電動アシスト台車が開示されている。
この台車も作業者が一本の棒状のハンドル部を左右の手で掴んで押し引きすることで左右の駆動輪に付与するアシスト力を相違させて旋回させる仕組みである。 Further, in Patent Document 3, left and right rod-like frames extending upward from the rear of the loading platform, a left side pressing detection unit and a right side pressing detection unit attached to the left and right frames, and left and right ends are a left side pressing detection unit and a right side A motor-assisted vehicle is disclosed that includes a rod-like handle portion coupled to a pressure detection unit.
This bogie also has a mechanism in which the assisting force applied to the left and right driving wheels is differentiated and turned by the operator holding and pressing one rod-like handle portion with the left and right hands.

また、特許文献4には、特許文献1と同様に荷台の上面から上方に立ち上がる逆Ｕ字型の操作ハンドルを備える電動アシスト車が開示されている。
操作ハンドルの上部には作業者が左手で掴むための把持部と右手で掴むための把持部が独立して取り付けられており、作業者が左右の把持部を左右の手で掴んだ状態で左右独立して押し引きすることで左右の駆動輪に付与するアシスト力を相違させて旋回させる仕組みである。 Further, Patent Document 4 discloses an electric assist vehicle provided with an inverted U-shaped operation handle which rises upward from the upper surface of the loading platform in the same manner as Patent Document 1.
On the upper part of the operation handle, a gripping part for the operator to grip with the left hand and a gripping part for gripping with the right hand are independently attached, and the operator grips the left and right gripping parts with the left and right hands By independently pushing and pulling, the assist forces to be applied to the left and right drive wheels are made different and turned.

特許第5719606号公報Patent No. 5719606 gazette 特開2013−86546号公報JP, 2013-86546, A 特開2017−77835号公報JP 2017-77835 A 特許第5852197号公報Patent No. 5852197 gazette

しかし、上記各特許文献に開示された技術は次のような問題がある。
すなわち、特許文献1〜3の技術ではハンドルの左右にのびる棒状部分を左右の手で掴んで押し引きする仕組みであり、左右いずれか一方の手（例えば右手）でハンドルの右側を前方に押した場合に、ハンドルの左側も僅かに前方又は後方に移動する。これにより、右の駆動輪が前方に回転するだけでなく、必ず左の駆動輪も前方又は後方に回転してしまうため、作業者が意図したよりも台車の旋回速度及び旋回角度が大きく又は少なくなってしまう。つまり、作業者の意思が駆動輪の動作に正確にフィードバックされないため、作業者が操縦に違和感を持つという問題がある。
また、特許文献1、3及び4の技術では前後左右の4輪のうち作業者の手前側の左右の二輪を駆動輪としているため、旋回時の最小回転半径が大きくなるという問題もある。 However, the techniques disclosed in the above patent documents have the following problems.
That is, in the techniques of Patent Documents 1 to 3, the left and right hands grip the rod-like portions extending to the left and right of the handle and push and pull it, and either right or left hand pushes the right side of the handle forward. In some cases, the left side of the handle also moves slightly forward or backward. As a result, not only the right drive wheel rotates forward but also the left drive wheel always rotates forward or backward, so that the swing speed and the swing angle of the truck are larger or smaller than intended by the operator. turn into. That is, since the intention of the worker is not accurately fed back to the movement of the drive wheel, there is a problem that the worker feels uncomfortable in the operation.
Further, in the techniques of Patent Documents 1, 3 and 4, since the two wheels on the front side of the operator among the front and rear four wheels are used as drive wheels, there is a problem that the minimum turning radius at the time of turning becomes large.

また、特許文献2の技術では、操作ハンドルの高さを変えることができないので、荷台を操作ハンドルよりも高い位置から低い位置まで下降させた際に荷台と操作ハンドルの間に手や荷物を挟み込んでしまうおそれがあるという問題や、台車への荷物の積み下ろしの際に操作ハンドルが邪魔になるという問題がある。
更に、作業者の身長に合わせて操作ハンドルの高さを変えることができないので、本来的には操作ハンドルを水平方向に押し引きするのが好ましいところ、作業者の身長が平均よりも高い又は低い場合には操作ハンドルを水平面に対して斜め方向に押し引きしてしまう結果、操作ハンドルを介して伝わる駆動トルクの値をトルクセンサが誤検出してしまうという問題もある。
また、台車を用いた運搬作業では、例えば台車を旋回させる際に作業者が無意識のうちに体をひねりながらハンドルを押し引きしたり、上記のとおりハンドルの高さが作業者の身長に合っていないため、腰を曲げながらハンドルを押し引きしたりする結果、肩凝りや腰痛等の身体的負担が生じるという問題もある。 Further, with the technology of Patent Document 2, the height of the operating handle can not be changed, so when the platform is lowered from a position higher than the operating handle to a lower position, a hand or a load is sandwiched between the platform and the operating handle. There is a problem that there is a risk that the operation handle may get in the way when loading and unloading the load to the cart.
Furthermore, since the height of the operating handle can not be changed according to the worker's height, it is preferable to push and pull the operating handle horizontally in principle, but the worker's height is higher or lower than average. In this case, as a result of pushing and pulling the operating handle obliquely with respect to the horizontal surface, there is also a problem that the torque sensor erroneously detects the value of the driving torque transmitted through the operating handle.
In addition, in carrying work using a dolly, for example, when turning the dolly, the operator unconsciously twists the body and pushes and pulls the handle, or the height of the handle matches the height of the worker as described above. There is also a problem in that physical strain such as stiff shoulders and low back pain is caused as a result of pushing and pulling the handle while bending the waist.

本発明はこのような問題を考慮して、旋回時の最小回転半径が小さく、作業者が快適且つ正確に操縦できる電動アシスト台車を提供することを目的とする。   In view of such problems, the present invention has an object to provide a motor-assisted vehicle having a small minimum turning radius at the time of turning so that the operator can steer comfortably and accurately.

本発明の電動アシスト台車は、フレームと、荷台と、前記荷台を前記フレームに対して昇降させる昇降装置と、前記フレームの下側に取り付けられる駆動輪及び従動輪と、前記荷台及び前記駆動輪の動作を作業者が操作するための操作ハンドルと、前記操作ハンドルの操作に応じて前記荷台及び前記駆動輪の動作を制御する制御部とを備える電動アシスト台車において、前記駆動輪は前記フレームの前後方向の中央の左右に取り付けられ、前記従動輪は前記フレームの前後左右の四隅に取り付けられ、前記操作ハンドルは前記荷台に取り付けられて前記荷台と一体に昇降可能であると共に、作業者が左手で握ることで前記駆動輪のうち左側駆動輪を操作するための左操作部と、右手で握ることで右側駆動輪を操作するための右操作部に分離していることを特徴とする。
また、前記制御部と、前記昇降装置と、前記駆動輪を駆動させる電動モータと、前記昇降装置及び前記電動モータに電力を供給するバッテリーが、平面視した場合に前記荷台に隠れて見えない位置に配置されていることを特徴とする。 The electric assist cart according to the present invention comprises a frame, a loading platform, a lifting device for raising and lowering the loading platform relative to the frame, a driving wheel and a driven wheel attached to the lower side of the frame, the loading platform and the driving wheel. In the motor-assisted vehicle, the drive wheel includes the front and rear sides of the frame, and the control wheel is configured to control the operation of the bed and the drive wheel according to the operation of the operation handle. The driven wheels are attached to the left and right sides of the frame, and the operation handle is attached to the loading platform so that it can be raised and lowered integrally with the loading platform and the operator can use the left hand. The left operating portion for operating the left driving wheel among the driving wheels by gripping and the right operating portion for operating the right driving wheel by gripping with the right hand are separated And said that you are.
In addition, the position where the control unit, the lifting and lowering device, the electric motor for driving the drive wheel, the lifting and lowering device and the battery for supplying electric power to the electric motor are hidden by the loading platform in plan view It is characterized in that it is arranged in

本発明では、操作ハンドルが左側駆動輪を操作するための左操作部と右側駆動輪を操作するための右操作部に分離している。したがって、作業者は左操作部だけ又は右操作部だけを操作する（前方に押す又は後方に引く）ことで、左側駆動輪だけ又は右側駆動輪だけを駆動させることができる。これにより、作業者自身が左操作部と右操作部のいずれか一方又は両方を押し引きすることで台車に付与される推進力と、左側駆動輪や右側駆動輪の駆動によって台車に付与される推進力（アシスト力）とが合わさり、作業者が意図した通りに快適且つ正確に操縦することができる。
また、本発明の電動アシスト台車は駆動輪をフレームの前後方向の中央の左右に取り付け、従動輪をフレームの前後左右の四隅に取り付けることで六輪を備える。これにより、従来のように駆動輪を作業者の手前側の左右の二輪にする場合と比較して、電動アシスト台車の最小回転半径を小さくすることができ、更にほぼその場で回転させることもできる。 In the present invention, the operation handle is separated into a left operation portion for operating the left drive wheel and a right operation portion for operating the right drive wheel. Therefore, the operator can drive only the left drive wheel or the right drive wheel by operating (pushing forward or pulling backward) only the left operating portion or the right operating portion. As a result, when the operator himself pushes and pulls one or both of the left operation part and the right operation part, the propulsion force applied to the carriage and the drive of the left drive wheel and the right drive wheel are applied to the carriage. The driving force (assisting force) is combined, and the operator can steer comfortably and accurately as intended.
Further, the motor-driven assist bogie according to the present invention has six wheels by mounting the drive wheels on the left and right of the center of the frame in the front-rear direction and the driven wheels on the four corners of the frame. As a result, the minimum turning radius of the electric assist cart can be reduced as compared with the conventional case where the driving wheels are set to the two wheels on the front side of the operator, and further rotation can be performed almost on the spot. it can.

また、本発明では操作ハンドルを荷台に取り付けることで荷台と一体に昇降させる。これにより従来のように荷台を下降させた際に荷台と操作ハンドルの間に手や荷物を挟み込んでしまう等のトラブルを防止できる。また、操作ハンドルが邪魔になることなく、荷台に対して前後左右方向から荷物を積むことができる。
更に、作業者の身長（手の位置）に合わせて操作ハンドルの高さを変えることで左操作部及び右操作部をほぼ水平方向に押し引きすることができる。これにより左操作部及び右操作部の移動量をセンサが誤検出してしまう可能性が低くなり、電動アシスト台車を正確に操作することができる。また、台車を旋回させる際に左操作部及び右操作部をほぼ水平方向に押し引きすればよいので、従来のように作業者が無意識のうちに体をひねったり、腰を曲げたりしながらハンドルを押し引きする動作が無くなり、身体的負担を解消できる。
また、制御部、昇降装置、電動モータ及びバッテリーを、平面視した場合に荷台に隠れて見えない位置に配置することで、荷台の面積を広くして最大積載荷重を増やすことができる。 Further, in the present invention, the operation handle is attached to the loading platform so as to be moved up and down integrally with the loading platform. As a result, when the loading platform is lowered as in the prior art, it is possible to prevent problems such as pinching a hand or a load between the loading platform and the operation handle. In addition, the cargo can be loaded from the front, rear, left, and right with respect to the loading platform without the operation handle being in the way.
Furthermore, by changing the height of the operation handle in accordance with the height (the position of the hand) of the worker, it is possible to push and pull the left operation portion and the right operation portion in a substantially horizontal direction. As a result, the possibility that the sensor erroneously detects the amount of movement of the left operation unit and the right operation unit is reduced, and the electric assist cart can be operated accurately. In addition, since it is sufficient to push and pull the left operation unit and the right operation unit in a substantially horizontal direction when turning the carriage, the handle while the body unknowingly twists the body and bends the waist as in the prior art. The movement to push and pull is lost, and the physical burden can be eliminated.
In addition, by arranging the control unit, the elevating device, the electric motor, and the battery in a position where they are hidden from view in the plan view, the area of the bed can be increased to increase the maximum load capacity.

第1の実施の形態の電動アシスト台車の右側面図(a)、正面図(b)、背面図(c)及び平面図(d)A right side view (a), a front view (b), a rear view (c) and a plan view (d) of the electric assist cart according to the first embodiment 電動アシスト台車の斜視図Perspective view of the electric assist cart 電動アシスト台車のブロック図Block diagram of the electric assist cart 第2の実施の形態の電動アシスト台車の斜視図A perspective view of the electric assist cart according to the second embodiment

［第1の実施の形態］
本発明の電動アシスト台車の第1の実施の形態について説明する。
図1〜図3に示すように、電動アシスト台車1はフレーム10、荷台20、昇降装置30、駆動輪40、従動輪50、操作ハンドル60及び制御部70から概略構成される。昇降装置30、制御部70、駆動輪40を駆動させるための電動モータ80（左側電動モータ80L及び右側電動モータ80R）及びバッテリー81は平面視した場合に荷台20に隠れて見えない位置に配置されている（図1(d)参照）。 First Embodiment
A first embodiment of a motor-assisted vehicle according to the present invention will be described.
As shown in FIGS. 1 to 3, the electric assist cart 1 is roughly configured of a frame 10, a loading platform 20, a lifting device 30, driving wheels 40, driven wheels 50, an operating handle 60, and a control unit 70. Lifting device 30, control unit 70, electric motor 80 (left electric motor 80L and right electric motor 80R) for driving drive wheel 40, and battery 81 are arranged in a position where they can not be seen behind cargo bed 20 in plan view. (See Figure 1 (d)).

フレーム10は荷台20、駆動輪40、従動輪50等を取り付けるために設けられ、本実施の形態では水平方向にのびる四角枠状の部材である。
荷台20はフレーム10の上方に取り付けられる。荷台20の前後左右方向の寸法はフレーム10の寸法とほぼ同じ或いは若干大きくなっている。 The frame 10 is provided to attach the loading platform 20, the driving wheel 40, the driven wheel 50 and the like, and in the present embodiment, is a rectangular frame shaped member extending in the horizontal direction.
The loading platform 20 is mounted above the frame 10. The dimensions in the front, rear, left, and right directions of the loading platform 20 are substantially the same as or slightly larger than the dimensions of the frame 10.

昇降装置30は荷台20をフレーム10に対して昇降させるために設けられ、パンタアーム31及び油圧シリンダ32を備えている。
パンタアーム31を構成する左右のＸ字状のアーム31aは下端がフレーム10に取り付けられ、上端が荷台20に取り付けられている。左右のアーム31a同士は連結軸上33a及び連結軸下33bによって連結されている。
油圧シリンダ32は左右1本ずつ、そのヘッド側が連結軸下33bに取り付けられ、ロッド側が連結軸上33aに取り付けられている。電動式油圧ポンプ82によって高圧の作動油を油圧シリンダ32内に送り込むことでロッド側がのびて連結軸上33aが押し上げられ、荷台20が上昇する構造になっている。なお、荷台20に載せる荷物の重量や駆動時の騒音の許容値等に応じて油圧シリンダ32以外に電動シリンダやエアシリンダ等の周知のアクチュエータを選択してもよい。
電動式油圧ポンプ82への電力の供給は上記バッテリー81により行われる。 The lifting device 30 is provided to raise and lower the loading platform 20 with respect to the frame 10, and includes a pant arm 31 and a hydraulic cylinder 32.
The lower ends of the left and right X-shaped arms 31 a constituting the pantarm 31 are attached to the frame 10, and the upper ends are attached to the loading platform 20. The left and right arms 31a are connected by an upper connection shaft 33a and a lower connection shaft 33b.
The left and right hydraulic cylinders 32 are attached to the lower side of the connecting shaft 33b at the head side, and are attached to the upper side of the connecting shaft 33a at the rod side. By feeding high-pressure hydraulic oil into the hydraulic cylinder 32 by the electric hydraulic pump 82, the rod side is extended, the connection shaft 33a is pushed up, and the loading platform 20 is lifted. In addition to the hydraulic cylinder 32, a known actuator such as an electric cylinder or an air cylinder may be selected according to the weight of the load placed on the loading platform 20, the allowable value of the noise at the time of driving, and the like.
The supply of power to the electric hydraulic pump 82 is performed by the battery 81.

駆動輪40はフレーム10の下側であって前後方向の中央の左右に取り付けられる。駆動輪40は転舵不能であり、電動モータ80の回転力を受けて前後方向にのみ回転する。電動モータ80と駆動輪40の間に減速機を介在させてもよい。本実施の形態では駆動輪40を、サスペンション41を介してフレーム10に取り付けており、これにより路面に凹凸や切り屑等が存在している場合でも駆動輪40が一定圧で路面に接するようにしている。
電動モータ80に電力を供給するためのバッテリー81はフレーム10の下側に取り付けられている。
従動輪50はフレーム10の下側であって前後方向の四隅に取り付けられる。従動輪50は路面との間の摩擦抵抗を受けて転舵し、進行方向を向いた状態で回転する。 The drive wheels 40 are attached to the lower side of the frame 10 and to the left and right of the center in the front-rear direction. The driving wheel 40 is not steerable, and rotates only in the front-rear direction by receiving the rotational force of the electric motor 80. A speed reducer may be interposed between the electric motor 80 and the drive wheel 40. In the present embodiment, the driving wheel 40 is attached to the frame 10 via the suspension 41 so that the driving wheel 40 contacts the road surface at a constant pressure even when unevenness or chips are present on the road surface. ing.
A battery 81 for supplying power to the electric motor 80 is attached to the lower side of the frame 10.
The driven wheels 50 are attached to the lower side of the frame 10 at four corners in the front-rear direction. The driven wheel 50 is steered by the frictional resistance to the road surface, and rotates in the direction of travel.

操作ハンドル60は作業者が荷台20及び駆動輪40の動作を操作するためのものであり、荷台20に取り付けられて荷台20と一体に昇降可能になっている。
操作ハンドル60は作業者が左手で握ることで駆動輪40のうち左側駆動輪40Lを操作するための左操作部60Lと、右手で握ることで右側駆動輪40Rを操作するための右操作部60Rに分離している。具体的には、荷台20の側面にボックス61が取り付けられており、ボックス61内に左側変位センサ62L、右側変位センサ62Rが格納されている。左操作部60L及び右操作部60Rは左側アーム63L及び右側アーム63Rを介して左側変位センサ62L及び右側変位センサ62Rに連結されている。左側変位センサ62L及び右側変位センサ62Rは、作業者が左操作部60L及び右操作部60Rを前後方向に移動させた際に生じる左側アーム63L及び右側アーム63Rの歪みや撓みを検出し、検出信号を制御部70に送信する。
左操作部60L及び右操作部60Rの前後方向への移動量は数ミリ程度で充分であるが適宜調節可能である。 The operation handle 60 is for the operator to operate the operation of the loading platform 20 and the drive wheel 40, and is attached to the loading platform 20 so as to be able to move up and down integrally with the loading platform 20.
The operation handle 60 is a left operation portion 60L for operating the left drive wheel 40L of the drive wheels 40 when the operator holds it with the left hand, and a right operation portion 60R for operating the right drive wheel 40R with the right hand. It is separated. Specifically, a box 61 is attached to the side surface of the loading platform 20, and a left displacement sensor 62L and a right displacement sensor 62R are stored in the box 61. The left operation unit 60L and the right operation unit 60R are connected to the left displacement sensor 62L and the right displacement sensor 62R via the left arm 63L and the right arm 63R. The left displacement sensor 62L and the right displacement sensor 62R detect distortion and deflection of the left arm 63L and the right arm 63R that occur when the operator moves the left operation portion 60L and the right operation portion 60R in the front-rear direction, and the detection signal Are sent to the control unit 70.
The movement amount of the left operation unit 60L and the right operation unit 60R in the front-rear direction is sufficient with several millimeters, but can be appropriately adjusted.

ボックス61には電動アシスト台車1の電源のオン／オフを切り替えるための電源スイッチ64、荷台20を上昇させるための上昇ボタン65、下降させるための下降ボタン66が取り付けられている。作業者が電源スイッチ64のオン／オフを操作したり、上昇ボタン65／下降ボタン66を操作したりした場合はオン／オフ信号や上昇／下降信号が制御部70に送信される。
なお、上昇ボタン65及び下降ボタン66は荷台20の側面であって操作ハンドル60と反対側にも取り付けられている。これにより作業者は操作ハンドル60から離れた位置に居る場合でも荷台20を昇降させることができる。
また、操作ハンドル60、上昇ボタン65及び下降ボタン66を保護するためのガード67が取り付けられている。 Attached to the box 61 are a power switch 64 for switching on / off the power of the motor-assisted vehicle 1, an elevation button 65 for raising the loading space 20, and a lowering button 66 for lowering it. When the worker operates on / off of the power switch 64 or operates the up button 65 / down button 66, an on / off signal or up / down signal is transmitted to the control unit 70.
The raising button 65 and the lowering button 66 are also attached to the side of the bed 20 and on the opposite side to the operation handle 60. As a result, even when the operator is at a position away from the operation handle 60, the loading platform 20 can be raised and lowered.
Further, a guard 67 for protecting the operating handle 60, the raising button 65 and the lowering button 66 is attached.

制御部70は操作ハンドル60の操作に応じて荷台20及び駆動輪40の動作を制御するために設けられ、フレーム10の下側に取り付けたボックス71の内部に格納される。
制御部70はCPU、ROM、RAM等で構成されており、ROMに格納されたプログラムにしたがってCPUやRAMを動作させる。具体的には制御部70は左側変位センサ62L及び右側変位センサ62Rが送信した上記検出信号を受信し、作業者が左操作部60L及び右操作部60Rに与えた力（以下、「付与力」という）の大きさ及び付与力の方向を算出する。次に、制御部70は付与力及び付与力の方向に応じて左側電動モータ80L及び右側電動モータ80Rに発生させる駆動トルク及び左側電動モータ80L及び右側電動モータ80Rの回転方向を算出し、駆動輪40を回転させる。
上述のとおり、駆動輪40はフレーム10の前後方向の中央の左右に取り付けられているので、例えば左側駆動輪40L及び右側駆動輪40Rに連結する左側電動モータ80L及び右側電動モータ80Rに対して等しい駆動トルクを与えて等しい方向に回転させると、電動アシスト台車1は前後方向に進む。また、左側電動モータ80L及び右側電動モータ80Rに与える駆動トルクを変えて等しい方向に回転させると電動アシスト台車1は曲がりながら進む。また、左側電動モータ80L及び右側電動モータ80Rに与える駆動トルクを等しくして異なる方向に回転させると電動アシスト台車1はその場で回転する。
また、制御部70は電源スイッチ64のオン／オフ信号や上昇ボタン65／下降ボタン66の上昇／下降信号を受信し、電源をオン／オフしたり、電動式油圧ポンプ82を駆動させて油圧シリンダ32によって荷台20を上昇又は下降させたりする。 The control unit 70 is provided to control the operation of the loading platform 20 and the drive wheel 40 according to the operation of the operation handle 60 and is stored inside a box 71 attached to the lower side of the frame 10.
The control unit 70 is configured by a CPU, a ROM, a RAM, and the like, and operates the CPU and the RAM according to a program stored in the ROM. Specifically, the control unit 70 receives the detection signals transmitted by the left displacement sensor 62L and the right displacement sensor 62R, and forces applied by the operator to the left operation unit 60L and the right operation unit 60R (hereinafter referred to as “applied force” Calculate the size and direction of the applied force. Next, the control unit 70 calculates the driving torque to be generated by the left electric motor 80L and the right electric motor 80R and the rotation direction of the left electric motor 80L and the right electric motor 80R according to the applied force and the direction of applied force. Rotate 40
As described above, since the drive wheels 40 are attached to the left and right of the center in the front-rear direction of the frame 10, they are equal to, for example, the left electric motor 80L and the right electric motor 80R connected to the left drive wheel 40L and the right drive wheel 40R. When the drive torque is given to rotate in the same direction, the electric assist cart 1 advances in the front-rear direction. Further, when the drive torques applied to the left electric motor 80L and the right electric motor 80R are changed and rotated in the same direction, the electric assist cart 1 advances while bending. In addition, when the drive torques applied to the left electric motor 80L and the right electric motor 80R are equalized and rotated in different directions, the electric assist cart 1 rotates on the spot.
In addition, the control unit 70 receives an on / off signal of the power switch 64 and an up / down signal of the up button 65 / down button 66 to turn on / off the power or drive the electric hydraulic pump 82 to operate the hydraulic cylinder. The loading platform 20 is raised or lowered by 32.

［第2の実施の形態］
本発明の電動アシスト台車1の第2の実施の形態について説明するが、上記第1の実施の形態の電動アシスト台車1と同一の構成となる箇所については同一の符号を付してその説明を省略する。
図4に示すように、本実施の形態の電動アシスト台車2は昇降装置30がボールネジ90、ブレーキ付きモータ91等を備える点に特徴を有する。
具体的には、ブレーキ付きモータ91が減速機92を介して連結軸下33bに取り付けられており、減速機92にボールネジ90の基部が取り付けられている。ボールネジ90はナックル93と螺合しており、ナックル93が連結軸上33aに取り付けられている。また、荷台20とフレーム10の前後左右の側縁をジャバラ94で繋ぐことで昇降装置30の動作時における異物の噛み込みを防止している。
ブレーキ付きモータ91を回転させ、減速機92を介してボールネジ90を軸回りに回転させることで、ナックル93がボールネジ90に沿って移動し、これにより荷台を昇降させることができる。
昇降装置30をボールネジ90、ブレーキ付きモータ91等で構成して電気的に駆動させることで以下の利点がある。
・油圧式と比較して作動油を必要としないので油臭や油漏れがなく、環境をクリーンに保つことができる。
・油圧式と比較して昇降時の騒音を抑えることができる。
・油圧式と比較して部品点数を抑えることができ、重量を軽減させ、メンテナンス性を向上させることができる。
・ボールネジ90、ブレーキ付きモータ91、減速機92を用いることで昇降動作が安定し、また、荷台20の自然下降を防止できる。
・荷台20の停止精度が向上するため、コンベアラインやロボットによるワークの段積み、段バラシ、段差解消等に対応できる。 Second Embodiment
The second embodiment of the motor-assisted vehicle 1 according to the present invention will be described. The same components as those of the motor-assisted vehicle 1 according to the first embodiment described above are designated by the same reference numerals. I omit it.
As shown in FIG. 4, the motor-assisted vehicle 2 of the present embodiment is characterized in that the lifting device 30 includes a ball screw 90, a motor with a brake 91, and the like.
Specifically, the braked motor 91 is attached to the lower connection shaft 33 b via the reduction gear 92, and the base of the ball screw 90 is attached to the reduction gear 92. The ball screw 90 is screwed with the knuckle 93, and the knuckle 93 is attached to the connecting shaft 33a. Further, the side edges of the loading platform 20 and the front and rear, right and left sides of the frame 10 are connected by the bellows 94 to prevent biting of foreign substances at the time of operation of the lifting device 30.
The knuckle 93 can be moved along the ball screw 90 by rotating the motor 91 with a brake and rotating the ball screw 90 around the axis via the reduction gear 92, and the bed can be raised and lowered.
The following advantages can be obtained by configuring the lifting device 30 with the ball screw 90, the motor with a brake 91, etc. and driving them electrically.
・ There is no oil smell and oil leak because it does not require hydraulic oil compared with hydraulic type, and the environment can be kept clean.
・ It is possible to suppress the noise at the time of lifting as compared with the hydraulic type.
-The number of parts can be reduced as compared with the hydraulic type, weight can be reduced, and maintainability can be improved.
By using the ball screw 90, the motor with brake 91, and the reduction gear 92, the raising and lowering operation is stabilized, and the natural lowering of the loading block 20 can be prevented.
-Since the stop accuracy of the loading platform 20 is improved, it is possible to cope with stacking of works by a conveyor line or a robot, stage separation, and level difference elimination.

本発明は、旋回時の最小回転半径が小さく、作業者が快適且つ正確に操縦できる電動アシスト台車であり、産業上の利用可能性を有する。   The present invention is a motor-assisted vehicle that has a small minimum turning radius at the time of turning and can be steered comfortably and accurately by the operator, and has industrial applicability.

1 電動アシスト台車
2 電動アシスト台車
10 フレーム
20 荷台
30 昇降装置
31 パンタアーム
31a アーム
32 油圧シリンダ
33a 連結軸上
33b 連結軸下
40 駆動輪
40L 左側駆動輪
40R 右側駆動輪
41 サスペンション
50 従動輪
60 操作ハンドル
60L 左操作部
60R 右操作部
61 ボックス
62L 左側変位センサ
62R 右側変位センサ
63L 左側アーム
63R 右側アーム
64 電源スイッチ
65 上昇ボタン
66 下降ボタン
67 ガード
70 制御部
71 ボックス
80 電動モータ
80L 左側電動モータ
80R 右側電動モータ
81 バッテリー
82 電動式油圧ポンプ
90 ボールネジ
91 ブレーキ付きモータ
92 減速機
93 ナックル
94 ジャバラ 1 Electric assist cart
2 Electric assist cart
10 frames
20 carrier
30 Lifting device
31 Panta Arm
31a arm
32 hydraulic cylinders
33a on connecting shaft
33b below the connecting shaft
40 drive wheels
40L left drive wheel
40R right drive wheel
41 Suspension
50 driven wheels
60 operation handle
60L left operation part
60R right operation part
61 box
62L left side displacement sensor
62R Right side displacement sensor
63L left arm
63R right arm
64 Power switch
65 climb button
66 DOWN button
67 guard
70 Control unit
71 box
80 electric motor
80L left electric motor
80R right electric motor
81 Battery
82 Electric hydraulic pump
90 ball screw
91 Motor with brake
92 reducer
93 knuckle
94 Bellows

Claims (2)

フレームと、荷台と、前記荷台を前記フレームに対して昇降させる昇降装置と、前記フレームの下側に取り付けられる駆動輪及び従動輪と、前記荷台及び前記駆動輪の動作を作業者が操作するための操作ハンドルと、前記操作ハンドルの操作に応じて前記荷台及び前記駆動輪の動作を制御する制御部とを備える電動アシスト台車において、
前記駆動輪は前記フレームの前後方向の中央の左右に取り付けられ、
前記従動輪は前記フレームの前後左右の四隅に取り付けられ、
前記操作ハンドルは前記荷台に取り付けられて前記荷台と一体に昇降可能であると共に、作業者が左手で握ることで前記駆動輪のうち左側駆動輪を操作するための左操作部と、右手で握ることで右側駆動輪を操作するための右操作部に分離していることを特徴とする電動アシスト台車。
A frame, a loading platform, a lifting device for lifting and lowering the loading platform relative to the frame, driving wheels and driven wheels attached to the lower side of the frame, and operations of the loading platform and the driving wheels And a control unit configured to control the operation of the loading platform and the drive wheel in accordance with the operation of the operation handle.
The drive wheels are attached to the left and right center of the frame in the front-rear direction,
The driven wheels are attached to the front, rear, left, and right corners of the frame,
The operation handle is attached to the loading platform and can be lifted and lowered integrally with the loading platform, and the operator holds the left handle by the left hand for operating the left drive wheel among the drive wheels and the right handle An electric assist cart characterized in that it is separated into a right operation part for operating the right drive wheel.
前記制御部と、前記昇降装置と、前記駆動輪を駆動させる電動モータと、前記昇降装置及び前記電動モータに電力を供給するバッテリーが、平面視した場合に前記荷台に隠れて見えない位置に配置されてい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。

The control unit, the lifting and lowering device, the electric motor for driving the drive wheel, and the battery for supplying power to the lifting and lowering device and the electric motor are disposed at positions hidden behind the loading platform in plan view The electrically assisted cart according to claim 1, characterized in that:

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CN111703524A (en) * 2020-06-10 2020-09-25 北京汽车集团越野车有限公司 Universal lifting tool
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CN114312943A (en) * 2021-12-27 2022-04-12 徐州凯驰智能科技有限公司 Energy-concerving and environment-protective type bottom stretch out and draw back regulation formula plastic products transportation equipment

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