JP6072975B2 - Bogie equipment - Google Patents

Description

  The present invention relates to a carriage device that has a drive device such as an electric motor and a pair of wheels driven by the drive device, and is used for conveyance purposes.

For example, as a cart device (electric assist cart, mobile cart) that transports a food or other transported object provided in a facility such as a hotel or hospital, it has an assist function that assists human power using the power of an electric motor. A dolly device is known.
As such a cart device, there is known a configuration in which a driving force of an electric motor is distributed to a pair of wheels by combining a single electric motor and a differential gear (see, for example, Patent Document 1). In this form, the left and right turn (curvature) of the cart device needs to be performed by the operator, but since it can be driven by a single electric motor, for example, it is connected to two electric motors and each electric motor. Compared with a two-motor type cart apparatus having a wheel that has been manufactured, it is possible to manufacture at a lower cost.

JP 2008-114630 A

  However, in the case of a cart apparatus as described in Patent Document 1, when trying to turn left and right while maintaining the speed during straight traveling, the outer wheels are excessively accelerated by the differential gear, and the operability is improved. It may be damaged. That is, if the carriage device is turned while the rotation speed of the electric motor is kept constant, the outer wheels are inadvertently increased in speed.

  An object of the present invention is to provide a cart apparatus that can perform stable forward and backward movement and left and right turn by an electric motor at a lower cost.

According to the first aspect of the present invention, the carriage device is disposed separately in the width direction orthogonal to the traveling direction and has a carriage main body having a pair of wheels that can rotate at mutually independent rotation speeds, and a rotational drive. A drive device having an output shaft, a differential device that distributes output according to the number of rotations of the output shaft to the pair of wheels to rotate the wheels, and a pair of wheels, A pair of braking devices capable of braking each of the wheels, a bending operation unit for bending the cart body by bending one of the pair of braking devices, and the rotation speed of the output shaft are set. A control device that controls the rotational speed of the pair of wheels, and a rotation speed detection unit that can detect the rotation speeds of the pair of wheels, respectively. the input from the rotation speed detector Based on the number of rotations of a pair of wheels, the output so that the traveling speed of the operation point during the curved traveling of the cart body is equal to the traveling speed during the straight traveling before the transition to the curved traveling. A rotation speed setting unit for setting the rotation speed of the shaft is provided .

According to such a configuration, the driving force of one driving device is distributed to the left and right wheels using a differential device, and the cart body is bent by braking one of the left and right wheels. Thus, it is possible to provide a cart apparatus that can perform stable forward and backward movement and left and right turn at lower cost.
Further, since the control device reduces the rotation speed of the output shaft during the curved running, it is possible to suppress an excessive increase in the speed of the outer wheels during the bending.
Furthermore, since the rotation speed of an output shaft is set according to the speed of a pair of wheels, the speed at the time of turning can be controlled more reliably.

  According to such a structure, since the rotation speed of an output shaft is set according to the speed of a pair of wheels, the speed at the time of curved traveling can be controlled more reliably.

  The cart apparatus further includes a rectilinear operation unit that is provided at an end of the cart body in the traveling direction and outputs an operation signal according to an operation amount applied to the traveling direction, and the control device includes the rectilinear operation A target speed setting unit that sets a target speed for straight traveling of the cart body based on the operation signal input from the unit, and the rotation speed setting unit is configured to set a target speed for straight traveling based on the target speed. You may set the rotation speed of the said output shaft.

  According to such a configuration, since the driving force of the driving device is adjusted by the amount of operation of the straight operation unit, the speed during straight traveling can be easily controlled.

  In the above-described cart apparatus, the rectilinear operation unit includes an operation resistance unit that increases an operation force according to the operation amount, and the target speed is set so that the target speed setting unit has a speed according to the operation force. It may be set.

  According to such a configuration, since the operator feels that the carriage device is moving at a natural speed corresponding to the operation force, the operability can be further improved.

In the cart apparatus, the rectilinear operation portion is a handle body that is provided in a width direction of the cart body and rotates in a traveling direction with respect to the cart body, and the bending operation portion includes the handle It is provided so as to be slidable in the width direction with respect to the main body, and brakes one of the wheels by sliding to one side in the width direction, and brakes the other wheel by sliding to the other side in the width direction. It is good also as a structure which is a handle | steering-wheel cover part.
Further, the carriage device is disposed separately in the width direction orthogonal to the traveling direction and has a carriage body having a pair of wheels that can rotate at mutually independent rotation speeds, and a drive device having an output shaft that rotationally drives, A differential device that distributes an output corresponding to the number of rotations of the output shaft to the pair of wheels and rotates the wheels, and a pair of wheels provided corresponding to the pair of wheels and capable of braking the wheels. A braking device, a bending operation unit that causes the cart body to bend and travel by braking one of the pair of braking devices, and a control device that controls the rotational speed of the output shaft to a set value; The control device includes a rotation speed setting unit that sets the rotation speed of the output shaft to a value smaller than that during straight travel when the cart body transitions from straight travel to curved travel, At the end of the carriage body in the direction of travel The controller further includes a rectilinear operation unit that outputs an operation signal in accordance with an operation amount applied in the traveling direction, and the control device is configured to output the cart body based on the operation signal input from the rectilinear operation unit. A target speed setting unit for setting a target speed is further provided, the rotation speed setting unit sets the rotation speed of the output shaft during straight traveling based on the target speed, and the straight operation unit is configured to be the main body of the carriage. A steering wheel main body that rotates in a traveling direction with respect to the cart main body, wherein the bending operation portion is slidable in the width direction with respect to the steering wheel main body. Further, it may be configured as a handle cover portion that brakes one of the wheels by sliding to the one side in the width direction and brakes the wheel on the other side by sliding to the other side in the width direction.

  According to such a configuration, the forward / backward and left / right turning operations can be performed with a single handle, and thus the operator can operate the cart apparatus more intuitively.

  In the cart apparatus, the differential device is provided integrally with the casing, a pair of side gears connected to the pair of wheels, a pinion gear that meshes with the pair of side gears, a casing that supports the pinion gear, It is good also as a structure which has a ring gear which rotates according to rotation of the said output shaft.

  According to the present invention, the driving force of one driving device is distributed to the left and right wheels using a differential device, and the cart body is bent by braking one of the left and right wheels. It is possible to provide a cart apparatus that can stably move forward and backward and turn left and right at low cost.

It is a perspective view which shows typically the trolley | bogie apparatus of embodiment of this invention. It is a side view explaining the structure of the handle | steering_wheel of embodiment of this invention. It is a top view explaining the schematic structure of the trolley | bogie apparatus of embodiment of this invention. It is a schematic plan view explaining the structure of the differential device of embodiment of this invention. It is a figure explaining the exercise | movement model of the trolley | bogie apparatus of embodiment of this invention. It is a control system figure explaining a control device of a bogie device of an embodiment of the present invention. It is a figure which shows the physical model of embodiment trolley | bogie apparatus of this invention.

Hereinafter, the cart apparatus 1 of embodiment of this invention is demonstrated in detail with reference to drawings. The drawings used in the following description are for explaining the configuration of the embodiment of the present invention, and the size, thickness, dimensions, and the like of each part shown in the drawings are different from the dimensional relationship of the actual cart apparatus 1. There is a case.
FIG. 1 is a perspective view schematically showing a cart apparatus 1 according to an embodiment of the present invention. As shown in FIG. 1, the carriage device 1 operates a carriage body 1 having a pair of wheels 3 (only one side is shown in FIG. 1) spaced apart in a width direction W orthogonal to the traveling direction, and the carriage device 1. Handle 4.
The cart apparatus 1 of the present embodiment is a so-called power assist cart that assists an operator using the driving force of an electric motor (driving apparatus).
The X direction shown in FIG. 1 indicates the longitudinal direction X of the carriage device 1. The W direction shown in FIG. 1 indicates the width direction W of the carriage device 1. Moreover, the arrow T shown in FIG. 1 points to the front of the traveling direction T of the carriage device 1.

As the cart body 2, for example, a box-shaped one having the inside as a storage portion can be adopted. A door 8 can be attached to the cart body 2.
The pair of wheels 3 are spaced apart from each other in the width direction W of the carriage body 2 and can rotate at independent rotation speeds. The pair of wheels 3 can turn left and right by giving a speed difference between the left and right. The pair of wheels 3 is disposed at the approximate center in the longitudinal direction X of the carriage body 2. Casters 9 are attached in the vicinity of both ends in the longitudinal direction X of the main body 2 and in the vicinity of both ends in the width direction W.

  In addition, a drive unit accommodation unit 10 for arranging an electric motor 16 (see FIG. 3), which will be described later, and the like is provided at the lower part of the cart body 2. The drive unit accommodating unit 10 accommodates a control device 5 (see FIG. 3) for controlling the number of rotations of the electric motor 16 according to the operation of the operator's handle 4 and the angular speed (rotational speed) of the wheel 3. Yes.

  The handle 4 is attached to the front side in the traveling direction T of the cart body 2. The handle 4 includes an arc bar-shaped (bow-shaped) handle body 12 extending in the width direction W of the carriage body 2 and a handle cover portion 13 slidably attached to the handle body 12. Yes. Both ends of the handle body 12 are rotatably attached to the front surface of the carriage body 2. Specifically, the handle body 12 is attached so that the heights of the attachment positions at both ends of the handle body 12 are the same.

  The handle body 12 is always biased by a biasing member (not shown) such as a torsion coil spring so that the central portion (attachment position of the handle cover portion 13) is directed upward in the vertical direction. The urging member of the handle body 12 functions as an operation resistance unit that increases in resistance in proportion to the operation amount and increases the operation force. As a result, the handle main body 12 is in close contact with the carriage main body 2 without any operation by the operator, and the operator operates the counter member against the urging force of the urging member to tilt the central portion forward in the traveling direction T. Can do.

  The handle cover portion 13 is a cylindrical member bent in an arc shape, and is attached in the vicinity of the center portion of the handle body 12 so as to cover the peripheral surface of the handle body 12. Normally, when operating the handle 4, the operator holds the handle cover portion 13 of the handle 4. The handle cover portion 13 is urged in a direction toward the center portion of the handle body 12 by a predetermined urging member. In other words, the handle cover portion 13 is positioned at the center portion of the handle body 12 without being operated by the operator, and the operator operates against the urging force of the urging member, so that It is configured to be slidable to either the left or right.

  The handle cover portion 13 is connected to a pair of braking devices 20 (see FIG. 3) described later. That is, the handle cover portion 13 functions as an interface of the braking device 20 that can operate the braking device 20 by sliding the handle cover portion 13 along the handle body 12.

  The operator can operate the handle body 12 and the handle cover portion 13 at the same time. That is, the handle cover portion 13 can be slid while holding the handle cover portion 13 and tilting the handle body 12.

  As shown in FIG. 2, the handle 4 has a handle angle detection device 14 for detecting the rotation angle θ (operation amount) of the handle 4. A potentiometer can be adopted as the handle angle detection device 14. The handle angle detection device 14 and the control device 5 are electrically connected, and the rotation angle θ of the handle 4 detected by the handle angle detection device 14 is input to the control device 5. Specifically, a voltage (analog value) output from the potentiometer is converted into a rotation angle θ (digital value) via an analog-digital conversion circuit (A / D conversion circuit) and input to the control device 5. .

  In the cart apparatus 1 of the present embodiment, the handle body 12 functions as the straight operation unit 6 that outputs an operation signal according to the operation amount applied in the traveling direction T. That is, the cart main body 2 can be moved straight at an arbitrary speed by tilting the rectilinear operation section 6 in the traveling direction T. A method of determining the speed of the cart body 2 based on the operation amount of the handle 4 will be described later.

FIG. 3 is a plan view illustrating a schematic configuration of the cart apparatus 1 of the present embodiment. As shown in FIG. 3, the bogie device 1 distributes an output (driving force) according to the rotation speed of a single electric motor 16 and the output shaft 17 of the electric motor 16 to a pair of wheels 3 to distribute the wheels 3. A differential device 19 that rotates and a pair of braking devices 20 that brake the pair of wheels 3 are provided. The pair of wheels 3 are connected to the differential device 19 via the axle 15.
The differential device 19 is disposed substantially at the center of the carriage body 2 (the center in the longitudinal direction X and the center in the width direction W).
As the electric motor 16, for example, a geared motor integrated with a reduction gear can be adopted.
The electric motor 16 has an output shaft 17 that is rotationally driven. A drive gear 18 is attached to the output shaft 17. The drive gear 18 is disposed so as to mesh with the ring gear 30 of the differential device 19.

  The braking device 20 is provided corresponding to the pair of wheels 3 and is a brake capable of braking the pair of wheels 3. The braking device 20 connects a pair of brake rotors 22 that rotate together with the wheels 3, a pair of brake calipers 23 that are disposed at positions sandwiching the brake rotors 22, the brake calipers 23, and the handle cover portion 13 of the handle 4. A hydraulic brake having a hose 24.

The brake device 20 brakes the left wheel 3 when the handle cover 13 is slid from the center of the handle 4 leftward in the width direction W (one side in the width direction), and the handle cover 13 is 4 is configured to brake the left wheel 3 when it is slid in the right direction in the width direction W (the other side in the width direction). Specifically, the force applied to the handle cover portion 13 is converted into hydraulic pressure via a master cylinder (not shown), and the brake caliper 23 is operated via the hose 24.
Note that the braking device 20 is not limited to a hydraulic brake as long as the wheel 3 can be braked according to the movement of the handle cover portion 13, and other types of braking devices can be employed. For example, a mechanical brake that transmits the movement of the handle cover portion 13 to the brake caliper 23 using a wire or the like may be employed as the braking device 20. Further, as the braking device 20, an electromagnetic brake that operates the brake caliper 23 using the action of an electromagnet can be employed.

  In the cart apparatus 1 of the present embodiment, the handle cover portion 13 of the handle 4 functions as a bending operation unit 7 that causes the cart body 2 to bend and run by selectively braking one of the pair of wheels 3. To do. That is, while the carriage main body 2 is traveling, the handle main body 2 is moved in the right direction by sliding the handle cover portion 13 constituting the bending operation section 7 in the width direction W, for example, to the right to brake the right wheel 3. Can be bent. In other words, the cart device 1 of the present embodiment turns the cart body 2 left and right by creating a speed difference between the left and right wheels 3 using the braking device 20.

  Each of the pair of wheels 3 is provided with a rotation number detection device 25 (a rotation number detection unit) that can detect an angular velocity (number of rotations) of the pair of wheels 3. The rotation speed detection device 25 can employ a rotary encoder. The pair of rotation speed detection devices 25 is electrically connected to the control device 5. That is, the rotation signal of the wheel 3 detected by the rotation speed detection device 25 is transmitted to the control device 5, and the angular velocity of the wheel 3 is calculated.

Next, the configuration of the differential device 19 of this embodiment will be described. As shown in FIG. 4, the differential device 19 is provided integrally with the pair of side gears 27, the pinion gear 28 that meshes with the pair of side gears 27, the casing 29 that supports the pinion gear 28, and the casing 29. This is a differential gear (differential gear) having a ring gear 30 that meshes with a drive gear 18 that is rotated by a drive force of 16.
The pair of axles 15 is attached to the side gear 27. That is, the wheel 3 is configured to rotate via the axle 15 as the side gear 27 rotates.

Next, the motion model of the cart device 1 used for designing the control device 5 of the cart device 1 and the characteristics of the differential device 19 will be described. FIG. 5 is a diagram illustrating a motion model of the cart apparatus 1 of the present embodiment. In FIG.
Vop: Speed in the traveling direction of the operating point P (handle) [m / s]
Vopx: Vop working speed in the x direction [m / s]
Vopy: Vop speed in the y direction [m / s]
Vc: Speed in the traveling direction of the cart body [m / s]
h: Distance from axle to operating point P [m]
ω: Angular velocity at the time of turning of the bogie body 2 [rad / s]
2d: Wheel distance [m]
V _R : Speed of right wheel [m / s]
V _L : Speed of left wheel [m / s]
It is. Note that the x direction in FIG. 5 corresponds to the longitudinal direction X of the cart apparatus 1, and the y direction corresponds to the width direction W of the cart apparatus 1. In the following description, the speed of the carriage body 2 (the carriage apparatus 1) refers to the traveling direction speed Vop of the operation point P.

Here, Vopx and Vopy which are x and y components of the speed Vop of the cart body 2 can be calculated by the following mathematical formulas (1) and (2).
Vopx = Vc = (V _R + V _L ) / 2 (1)
Vopy = hω (2)
Further, assuming that the diameter of the wheel 3 is r, the angular velocity of the right wheel is ω _R , and the angular velocity of the left wheel is ω _L , V _R and V _L can be calculated by the following formulas (3) and (4). it can.
V _R = rω _R (3)
V _L = rω _L (4)

Further, the angular velocity ω at the time of turning of the cart body 2 is calculated by the following formula (5).
ω = (V _R −V _L ) / 2d (5)
Here, from Equations (2) and (5), Vopy can be expressed by Equation (6) below.
Vopy = hω = (h / 2d) · (V _R −V _L ) (6)

Next, the characteristics of the differential device 19 will be described.
When the angular velocity of the ring gear 30 is ω _b [rad / s], the relationship between the angular velocity ω _{b of the} ring gear 30 and the angular velocities ω _R and ω _L of the wheel 3 can be expressed by the following equations (7) and (8). .
ω _b = ω _L + Δω (7)
ω _b = ω _R −Δω (8)
Therefore, the angular velocity ω _{b of the} ring gear 30 is calculated by the following mathematical formula (9).
ω _b = (ω _L + ω _R ) / 2 (9)

Next, the control apparatus 5 of the cart apparatus 1 of this embodiment is demonstrated using a control system diagram. FIG. 6 is a control system diagram illustrating the control device 5 of the cart apparatus 1 of the present embodiment. As shown in FIG. 6, the control device 5 rotates the electric motor 16 based on the target speed setting unit 32 that determines the target speed of the carriage body 2 and the target speed and the angular speeds ω _R and ω _L of the pair of wheels 3. A rotation speed setting unit 33 for determining the number ω _M and a motor drive unit 34 are provided.

Here, the outline of control of the cart apparatus 1 of this embodiment is demonstrated. The control device 5 is a device that outputs the optimum rotational speed ω _M of the electric motor 16 using the rotational angle θ of the handle 4 and the angular velocities ω _R and ω _L of the left and right wheels 3 as input values.
More specifically, the target speed setting unit 32 of the control device 5 calculates the target speed of the carriage body 2 based on the rotation angle θ of the handle 4, and the rotation speed setting unit 33 is based on the target speed. A rotational speed ω _{M of} 16 is determined. Electric motor 16 rotates at a rotational speed omega _M which is determined via the motor driving unit 34, the rotation output is distributed to the wheels 3 of the right and left via the differential device 19.

Next, the target speed setting unit 32, the rotation speed setting unit 33, and the motor driving unit 34 that constitute the control device 5 will be described in detail.
The target speed setting unit 32 determines the target speed V _f of the cart body 2 based on the operation force of the handle 4 calculated by the rotation angle θ of the handle 4.
First, the target speed setting unit 32 calculates the operation force f _h based on the rotation angle θ of the handle 4 detected by the handle angle detection device 14.
Assuming that the length of the handle is L, the rotation angle of the handle is θ, and the spring constant of the torsion coil spring (operation resistance portion) is κ, the operation force: f _h [N] is calculated by the following formula (10). can do.
f _h = κθ / L (10)

Then, based on the operation force _{f h,} determines a target speed _{V f.} FIG. 7 is a diagram illustrating a physical model of the cart apparatus 1. Here, when the inertial mass coefficient of the carriage device 1 is M [kg], the viscous friction coefficient is D [N · s · m ⁻¹ ], and the operation force by the operator is f _h [N], the following equation of state ( 11) can be derived.

The target speed _Vf can be calculated by using the following mathematical formula (12) when the sampling time: ΔT is calculated by linear approximation.

That is, the target speed setting unit 32 of the present embodiment calculates the operating force f _h applied by the operator to the handle 4 from the rotation angle θ of the handle 4, and calculates the target speed V _f corresponding to the operating force f _h. To do. By moving the carriage device 1 at the target speed _Vf , the operator can feel that the carriage device 1 is moving at a natural speed corresponding to the operation force.

Next, a method of determining the rotational speed omega _M of the electric motor 16, i.e., a control method of the rotational speed omega _M of the electric motor 16 by the rotation speed setting unit 33 will be described on the basis of the target speed V _f.
First, in brief, the rotation speed setting unit 33 refers to the target speed _Vf of the cart body 2 determined by the target speed setting unit 32, and the cart body 2 matches the magnitude of the target speed _Vf. The speed Vop is controlled. This control is performed with reference to the angular velocities ω _R , ω _L of the left and right wheels 3 (velocities V _R , V _{L of the} pair of wheels 3).
That is, after referring to the speed difference between the pair of wheels 3 that has been changed by the operation of the braking device 20, the output of the electric motor 16 is adjusted while maintaining the speed ratio of the left and right wheels 3 constant. Thereby, the speed is adjusted without changing the turning direction.

Hereinafter, mathematical formulas for determining the rotational speed ω _M of the electric motor 16 from the angular velocities ω _R and ω _L of the left and right wheels 3 and the target speed V _f will be described.
Referring to FIG. 5, the relationship among Vop, Vopx, and Vopy can be expressed by the following formula (13).
Vop ² = Vopx ² + Vopy ² (13)
Further, the angular velocity ω _b of the ring gear 30 of the differential device 19 can be transformed as the following formula (14) from the formulas (3), (4), and (9).
ω _b = (ω _L + ω _R ) / 2 = (V _R + V _L ) / 2r = Vopx / r (14)

Further, the following formula (15) can be derived from the formulas (6) and (13).
Vopx ² = Vop ² -Vopy ²
= Vop ² − (h (V _R −V _L ) / 2d) ² (15)
Thus, the vehicle speed Vopx can be obtained by the following formula (16).

Here, from Equation (14), the angular velocity ω _{b of the} ring gear 30 can be obtained by Equation (17) below.

Here, since the angular speed ω _b of the ring gear 30 and the rotational speed ω _M of the electric motor 16 are in a proportional relationship, ω _b = α · ω _M (α: proportional coefficient) can be obtained. Further, Equation (3) and (4), the rotational speed omega _M of the electric motor 16 can be calculated by the following equation (18).

That, together with the Vop formula (18) and the target speed _{V f,} the angular velocity omega _R of the wheel 3, by inputting the omega _L, the target speed _{V f,} the wheel 3 angular velocity omega _R, when it is omega _L The rotational speed ω _M of the electric motor (the rotational speed of the output shaft 17) can be calculated.

Then, the rotational speed setting unit 33 of the control device 5 refers to the mathematical formula (18), so that the traveling direction speed Vop of the operating point P is electrically matched with the magnitude of the target speed _Vf obtained by the operating force f. The number of rotations of the motor 16 is controlled. That is, when the carriage main body 2 transitions from straight running to curved running, even if there is a speed difference between the pair of wheels 3, the electric motor is maintained so that the target speed _Vf desired by the operator is kept constant. The number of rotations ω _{M of} 16 is set to a value smaller than that during straight traveling.
The rotation speed setting unit 33 to set the speed in the proceeding direction Vop not only to set the rotational speed omega _M to match the size of the target speed V _f, the process velocity Vop below the target speed V _f It may be.

Motor drive unit 34 is a driver circuit for driving the electric motor 16 in accordance with the rotational speed omega _M determined by the rotational speed setting unit 33. As the driver circuit, for example, a circuit using PWM control can be employed.

According to the above embodiment, the driving force of one electric motor 16 is distributed to the left and right wheels 3 using the differential device 19, and the cart body 2 is bent by braking one of the left and right wheels 3. Since it is a structure, the trolley | bogie apparatus 1 which can perform stable advance forward / backward and left-right turn at lower cost can be provided.
Further, the control unit 5 for reducing the rotational speed omega _M of the electric motor 16 when the curvilinear progression traveling, it is possible to suppress the excessive speed increasing of the outer wheel 3 during curvilinear progression.

Further, the control device 5 includes a rotation speed detection device 25 that detects the rotation speed of the pair of wheels 3, and the rotation speed setting unit 33 changes the traveling speed of the cart body 2 during the curved traveling to the curved traveling. as it will be less moving speed at the time of the previous straight running to set the rotational speed omega _M of the electric motor 16. Accordingly, since the rotational speed omega _M of the electric motor 16 is set in accordance with the speed of the pair of wheels 3, it is possible to control the speed for more reliably curvilinear progression travel.
Further, since the driving force of the electric motor 16 is adjusted by the operation amount of the handle 4, the speed during straight traveling can be easily controlled.
Further, the handle 4 is provided with an urging member such as a torsion coil spring, and is configured so that the operation force increases in proportion to the operation amount. The target speed _Vf is determined so as to achieve the desired speed. Thereby, the operator can feel that the cart apparatus 1 is moving at a natural speed according to the operation force.

The handle 4 has a handle body 12 that can be rotated in the straight direction and a handle cover portion 13 that can be operated in the width direction. The handle body 12 controls the target speed _Vf of the vehicle body 2 and The cover unit 13 is configured to control the braking device 20. As a result, forward / backward and left / right turning operations can be performed with one handle 4, so that the operator can operate the cart apparatus 1 more intuitively.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the configurations and combinations of the embodiments in the embodiments are examples, and the addition and omission of configurations are within the scope not departing from the gist of the present invention. , Substitutions, and other changes are possible. Further, the present invention is not limited by the embodiments, and is limited only by the scope of the claims.
For example, in the above embodiment, the electric motor 16 is used as the drive device, but the drive device is not limited to this as long as the drive device can be controlled to a desired number of rotations by computer control.

  Moreover, in the said embodiment, although only the straight advance function to the advancing direction T of the trolley | bogie apparatus 1 was described, it is not restricted to this, The reverse | retreat function of the trolley | bogie apparatus 1 is realizable similarly.

Further, the handle 4 is not limited to the shape described in the above embodiment. For example, a rod-like lever shape may be used, and the rod-like handle may be tilted in the traveling direction and the width direction.
In addition, an interface (curving operation unit 7) for operating the braking device 20 corresponding to the handle cover unit 13 in the above embodiment may be arranged independently of the handle body 12. For example, a pair of brake levers may be provided separately from the handle body 12.

Moreover, in the said embodiment, although the rotation speed detection apparatus 25 provided in the left-right wheel 3 was used as an input for reducing rotation speed (omega) _M of the electric motor 16, it does not restrict to this. For example, using a sensor capable of detecting the angular velocity (centrifugal force) of the cart body 2 such as a gyro sensor, the rotational speed ω _M of the electric motor 16 is reduced when the width direction of the cart body 2 changes. Also good. That is, when detecting the curvilinear progression travel of the carriage body 2, it may be a configuration for reducing the rotational speed omega _M of the electric motor 16.

Furthermore, in the above embodiment, the target speed V _f is set based on the angular speeds ω _R and ω _L of the pair of wheels 3, and the traveling speed Vop is set based on the target speed V _f to reduce the rotational speed ω _M. but it was, at the stage of detecting the difference between the angular velocity omega _R, omega _L, may be configured to reduce the rotational speed omega _M.

DESCRIPTION OF SYMBOLS 1 Carriage apparatus 2 Carriage body 3 Wheel 4 Handle 5 Control apparatus 6 Straight operation part 7 Curvature operation part 8 Door 9 Caster 10 Drive part accommodating part 12 Handle body 13 Handle cover part 14 Handle angle detection device 15 Axle 16 Electric motor (drive) apparatus)
Reference Signs List 17 Output shaft 18 Drive gear 19 Differential device 20 Brake device 22 Brake rotor 23 Brake caliper 24 Hose 25 Rotation speed detection device (rotation speed detection unit)
27 Side gear 28 Pinion gear 29 Casing 30 Ring gear 32 Target speed setting part 33 Speed setting part 34 Motor drive part X Longitudinal direction P Operation point T Traveling direction W Width direction θ Rotation angle

Claims (6)

A cart body having a pair of wheels that are spaced apart from each other in the width direction perpendicular to the traveling direction and can rotate at mutually independent rotation speeds;
A drive device having an output shaft for rotational driving;
A differential that distributes output according to the number of rotations of the output shaft to the pair of wheels to rotate the wheels;
A pair of braking devices provided corresponding to the pair of wheels and capable of braking the wheels;
A bending operation unit that causes the carriage body to bend and run by braking one of the pair of braking devices;
A control device for controlling the rotation speed of the output shaft to a set value;
A rotational speed detection unit capable of detecting the rotational speeds of the pair of wheels ,
The controller is
When the bogie main body transitions from straight running to curved running, the progress of the operation point during the curved running of the bogie main body is based on the rotation speed of the pair of wheels input from the rotation speed detecting unit. The cart apparatus which has a rotation speed setting part which sets the rotation speed of the said output shaft so that speed may become equal to the advancing speed at the time of the straight running before changing to the said curved running . A linear operation unit that is provided at an end of the carriage body in the traveling direction and outputs an operation signal according to an operation amount applied in the traveling direction;
The controller is
Further comprising a target speed setting unit for setting a target speed during straight traveling of the cart body based on the operation signal input from the straight operation unit;
The cart apparatus according to claim 1 , wherein the rotation speed setting unit sets the rotation speed of the output shaft during straight traveling based on the target speed. The rectilinear operation portion is a handle body that is provided across the width direction of the cart body and rotates in the traveling direction with respect to the cart body,
The bending operation section is provided so as to be slidable in the width direction with respect to the handle body, and brakes one of the wheels by sliding to one side in the width direction and slides to the other side in the width direction. The cart apparatus according to claim 2 , which is a handle cover portion that brakes the wheel on the other side. A cart body having a pair of wheels that are spaced apart from each other in the width direction perpendicular to the traveling direction and can rotate at mutually independent rotation speeds;
A drive device having an output shaft for rotational driving;
A differential that distributes output according to the number of rotations of the output shaft to the pair of wheels to rotate the wheels;
A pair of braking devices provided corresponding to the pair of wheels and capable of braking the wheels;
A bending operation unit that causes the carriage body to bend and run by braking one of the pair of braking devices;
A control device for controlling the rotation speed of the output shaft to a set value,
The control device has a rotational speed setting unit that sets the rotational speed of the output shaft to a value smaller than that during straight traveling when the cart body transitions from straight traveling to curved traveling,
A linear operation unit that is provided at an end of the carriage body in the traveling direction and outputs an operation signal according to an operation amount applied in the traveling direction;
The controller is
Further comprising a target speed setting unit for setting a target speed during straight traveling of the cart body based on the operation signal input from the straight operation unit;
The rotation speed setting unit sets the rotation speed of the output shaft during straight traveling based on the target speed,
The rectilinear operation portion is a handle body that is provided across the width direction of the cart body and rotates in the traveling direction with respect to the cart body,
The bending operation section is provided so as to be slidable in the width direction with respect to the handle body, and brakes one of the wheels by sliding to one side in the width direction and slides to the other side in the width direction. A cart apparatus which is a handle cover portion for braking the wheel on the other side. The rectilinear operation unit has an operation resistance unit that increases an operation force according to the operation amount,
The cart apparatus as described in any one of Claim 2 to 4 which sets the said target speed so that the said target speed setting part may become the speed according to the said operation force. The differential is
A pair of side gears connected to the pair of wheels;
A pinion gear meshing with the pair of side gears;
A casing for supporting the pinion gear;
The cart apparatus as described in any one of Claims 1-5 which has a ring gear which is provided in the said casing integrally and rotates according to rotation of the said output shaft.

Images