JP4303624B2 - 搬送装置 - Google Patents
搬送装置 Download PDFInfo
- Publication number
- JP4303624B2 JP4303624B2 JP2004093327A JP2004093327A JP4303624B2 JP 4303624 B2 JP4303624 B2 JP 4303624B2 JP 2004093327 A JP2004093327 A JP 2004093327A JP 2004093327 A JP2004093327 A JP 2004093327A JP 4303624 B2 JP4303624 B2 JP 4303624B2
- Authority
- JP
- Japan
- Prior art keywords
- force
- vehicle body
- contact
- handle
- contact sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000005259 measurement Methods 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000001141 propulsive effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
Images
Landscapes
- Handcart (AREA)
Description
Fhx=k1×(dr+dl)
Fhy=k2×dc
Mhψ=k3×(dr−dl)+k4×dc
(k1,k2,k3,k4は定数)を求めている。
Fax=Kx・Fhx
Fay=Ky・Fhy
ωaψ=Kψ・(Mhψ+Lh・Fhy)
また、制御手段5が速度制御により搬送装置の動作を制御している場合は、操作力(Fhx、Fhy、Mhψ)によって制御中心Sに働いた作用力(Fhx、Fhy、Mhψ+Lh・Fhy)を求め、その各成分にアシストゲイン(Kx、Ky、Kψ)を乗じることにより搬送装置の速度(Vax、Vay、ωaψ)を算出し、この速度になるような補助駆動力を算出して駆動源2に出力する。搬送装置の速度(Vax、Vay、ωaψ)は次の式で算出できる。
Vax=Kx・Fhx
Vay=Ky・Fhy
ωaψ=Kψ・(Mhψ+Lh・Fhy)
そして、駆動源2は制御手段5からの入力に基づいて補助駆動力を発生し、これを駆動車輪10a、10aに伝えることにより操作力Fhを補助(アシスト)する。
2 駆動源
3 ハンドル
4 接触センサ
5 制御手段
Claims (3)
- 操作者の操作力により移動する車体と、操作力の大きさに応じて車体の移動方向への補助駆動力を発生させる駆動源とを備えた搬送装置であって、車体の外面に操作者が把持するハンドルを設けると共にハンドル以外の車体の外面であってこの車体のハンドルを設けた面と同じ面の、前記ハンドルの周辺近傍に接触センサを設け、接触センサへの接触を感知することにより駆動源による補助駆動力を制限あるいは停止するための制御手段を備えて成ることを特徴とする搬送装置。
- 駆動源の作動を制限することにより駆動源による補助駆動力を制限あるいは停止することを特徴とする請求項1に記載の搬送装置。
- 接触センサが接触力を測定可能とし、接触センサの接触力の測定結果に基づいて駆動源による補助駆動力を制限あるいは停止することを特徴とする請求項1又は2に記載の搬送装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004093327A JP4303624B2 (ja) | 2004-03-26 | 2004-03-26 | 搬送装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004093327A JP4303624B2 (ja) | 2004-03-26 | 2004-03-26 | 搬送装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005280385A JP2005280385A (ja) | 2005-10-13 |
JP4303624B2 true JP4303624B2 (ja) | 2009-07-29 |
Family
ID=35179247
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004093327A Expired - Lifetime JP4303624B2 (ja) | 2004-03-26 | 2004-03-26 | 搬送装置 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP4303624B2 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5571343B2 (ja) * | 2009-09-25 | 2014-08-13 | パナソニックヘルスケア株式会社 | 配膳車 |
JP6039893B2 (ja) | 2011-10-13 | 2016-12-07 | Kyb株式会社 | 電動アシスト台車 |
JP6934408B2 (ja) * | 2017-11-29 | 2021-09-15 | ホシザキ株式会社 | 配膳車 |
DE202020104319U1 (de) | 2020-05-29 | 2021-08-31 | Locomotec Gmbh | Haptisches Bediengerät und Antriebsvorrichtung |
-
2004
- 2004-03-26 JP JP2004093327A patent/JP4303624B2/ja not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JP2005280385A (ja) | 2005-10-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6463818B2 (ja) | 電動式移動台車 | |
US8255105B2 (en) | Steering device, boarding type moving body with steering device, and steering method for moving body | |
JP2004359008A (ja) | 搬送車両及びその制御方法 | |
US7730980B2 (en) | Steering device for floor cleaning machine | |
EP3377275B1 (en) | Control system for self-moving platforms | |
KR20120001845U (ko) | 힘 감지용 조작 핸들이 장착된 전동식 카트 | |
JP2018020680A (ja) | 台車 | |
JP4303624B2 (ja) | 搬送装置 | |
JP3170438B2 (ja) | 手押し車 | |
JP2006240361A (ja) | 操作力アシストシステム及び電気掃除機 | |
JP3826687B2 (ja) | 全方向移動台車 | |
JP2011245958A (ja) | パワーアシスト付運搬車 | |
KR101797053B1 (ko) | 전동식 이동 대차 | |
KR101883644B1 (ko) | 전동식 이동 대차 | |
JP2002321624A (ja) | 移動装置 | |
JP3165358B2 (ja) | 手押し車 | |
JP2000211519A (ja) | 補助動力付き運搬車 | |
JP2975294B2 (ja) | 手押し車 | |
JP2002067964A (ja) | マルチスイッチ及びそれを応用した電動運搬装置 | |
KR20180046911A (ko) | 전동식 이동 대차 | |
JPH06304207A (ja) | 電動車両 | |
JPH1169515A (ja) | 搬送装置 | |
JPH10329781A (ja) | 操作力検出手段及びこれを用いた二輪車用アシスト装置 | |
NL2020887B1 (en) | Motorized walking aid | |
JP2006168489A (ja) | パワーアシスト運搬車 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20070425 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20070508 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20070709 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20070807 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20090424 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120501 Year of fee payment: 3 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 4303624 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120501 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120501 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130501 Year of fee payment: 4 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 Free format text: JAPANESE INTERMEDIATE CODE: R313111 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
S533 | Written request for registration of change of name |
Free format text: JAPANESE INTERMEDIATE CODE: R313533 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |