JP6672106B2 - Cart - Google Patents

Description

  The present invention relates to a bogie having a function of assisting a pressing operation.

  Patent Literature 1 describes an electric assist vehicle for the purpose of reducing costs. The electric assist vehicle described in Patent Literature 1 has a body frame provided with driving wheels at a lower portion, an operation handle that can be tilted back and forth by a pressing operation by an operator, and an operation handle provided on a lower side of the body frame. The vehicle includes a pair of contact detection units that detect inclination, and a pair of electric motors that apply an assist force to each drive wheel when the inclination of the operation handle is detected by the contact detection unit.

  Patent Literature 2 discloses a bogie drive assist unit for the purpose of simplifying the structure. The drive assist unit described in Patent Literature 2 includes a unit main body connected to a cart via a connecting member, an operation handle provided on the unit main body, and pressed by an operator, and a unit main body rotating in the front-rear direction. Drive wheels, which are provided so as to be capable of applying an assist force according to the operation of the operation handle.

JP 2012-171374 A JP 2014-189071 A

  The electric assist vehicle described in Patent Literature 1 has a pair of contact detection units provided below the vehicle body frame, and thus has a low detection performance due to contact with an article or member placed on the floor. There is a possibility that it will fall or break down. In addition, the drive assist unit described in Patent Document 2 is a separate unit that connects a truck to apply a running force, and the operation handle is not for pushing the truck. It is of the short size.

  The present invention has been made in view of the above problems, and has as its object to provide a bogie with an assist mechanism having reliability and compactness.

  The truck according to the present invention has a truck body having a traveling wheel having an assist mechanism, a handle portion on which an external force acts, a truck body-side connecting portion located on the upper surface side of the truck body, A connecting portion for connecting a handle side connecting portion located at a lower portion of a handle portion to each other in a state where the handle side connecting portion can be displaced within a predetermined range with respect to the bogie main body side connecting portion; A displacement amount detection unit that detects a displacement amount of the handle side connection portion with respect to a connection portion, and a drive control unit that outputs an assist amount according to the detected displacement direction and the displacement amount to the assist mechanism. Further, the connecting portion is interposed between the bogie main body side connecting portion and the handle side connecting portion, and facilitates displacement of the handle side connecting portion with respect to the bogie main body side connecting portion due to an external force applied to the handle portion. An intervening member is provided.

  According to the present invention, the connecting portion allows the bogie body-side connecting portion located on the upper surface side of the bogie main body portion and the handle-side connecting portion located below the handle portion to have the handle-side connecting portion serving as the bogie body-side connecting portion. On the other hand, they are connected to each other such that they can be displaced within a predetermined range. Then, by the pressing operation on the handle portion, the handle-side connection portion with respect to the bogie main body-side connection portion is displaced, and when the displacement amount is detected by the displacement amount detection portion, the displacement amount and the displacement amount are determined. The assist amount is generated by the drive control unit and output to the assist mechanism. Therefore, the running force of the bogie is assisted by the assist mechanism in response to the pressing operation on the handle. In addition, since the connecting portion is on the upper surface side of the bogie main body portion and the displacement is detected at this position, erroneous contact with floor parts and members is avoided as much as possible, so that the connecting portion and the displacement detecting portion are Breakage and the like are suppressed, and reliability is improved. Further, the connecting portion is provided with an intervening member interposed between the bogie body side connecting portion and the handle side connecting portion, so that the handle side connecting portion is easily displaced with respect to the bogie body side connecting portion, so that unnecessary force is applied. It is unnecessary, and the pressing operation becomes easy.

  Further, the intervening member is a fulcrum member that swings and displaces the handle side connection portion with respect to the bogie body side connection portion around an interposition position. According to this configuration, since the handle portion swings about the fulcrum member of the lower connecting portion, the displacement stroke at the time of the pressing operation of the handle portion can be set to a desired length.

  Further, the fulcrum member has an elongated shape in a direction perpendicular to the traveling direction of the bogie, and the handle-side connecting portion swings in a direction horizontal to the traveling direction about the fulcrum member. Is what you do. According to this configuration, since the swing structure centering on the fulcrum member is adopted, the configuration is simple.

  Further, the bogie main body portion has a concave streak in which a part of the fulcrum member fits at the bogie main body side connection portion. According to this configuration, when a part of the long fulcrum member, for example, the upper half is fitted so as to be exposed upward, the fulcrum member can be disengaged from the concave streak or displaced. It is regulated, compact and highly reliable.

  Further, the bogie main body has a plate member disposed on a part of an upper surface at the bogie main body-side connection portion, and the concave streak is provided on the plate member. According to this configuration, the processing of the bogie main body part can be made unnecessary or minimized.

  Further, the intervening member is a movement assisting member that displaces the handle side connection portion in parallel with the bogie body side connection portion. According to this configuration, it is sufficient to move the handle-side connecting portion in the same direction as the pressing operation on the handle portion, so that the configuration is simplified.

  Further, the movement assisting member reduces a frictional force in a parallel direction of the handle-side connection portion with respect to the bogie main body-side connection portion. According to this configuration, an unnecessary force is not required, and the pressing operation on the handle portion is facilitated.

  Further, the wheel portion is provided on the left and right of the bogie main body portion, the handle portion has a gate-shaped shape having left and right columns, and each of the left and right columns is connected to the bogie main body portion by a connecting portion, The displacement amount detection unit is provided for each of the left and right coupling units, and individually detects left and right displacement amounts, and the drive control unit detects the left and right displacement amounts detected by the displacement amount detection unit. The assist amount for each of the left and right wheel units is controlled based on. According to this configuration, it is possible to provide a bogie with high operability by giving individual assist amounts to the left and right wheel units, and using the assist force, it is possible to perform not only straight traveling but also direction change and direction change. Become.

  ADVANTAGE OF THE INVENTION According to this invention, the dolly with an assist mechanism provided with reliability and compactness can be provided.

It is an outline appearance figure of a truck concerning a 1st embodiment of the present invention. (A) is a perspective view showing a structure of a connecting part on a handle side, and (b) is a perspective view showing components of a connecting part and a displacement amount detecting part. (A) is a side view showing a connecting portion and a displacement amount detecting portion, (b) is a side view showing a structure of a displacement amount detecting portion, and (c) is a perspective view showing a structure of a connecting portion on a bogie main body side. .

FIG.
It is a block diagram of a drive control part. FIGS. 7A and 7B are side views illustrating detection of a pressing operation force applied to a handle; FIG. 8A is a diagram illustrating a state where no pressing operation force is applied to the handle; FIG. FIG. 3C is a diagram illustrating a state in which a pressing operation force to the right is acting on the handle. 7A is a side view illustrating detection of a pressing operation force on a handle according to another embodiment, in which FIG. 7A illustrates a state in which no pressing operation force is applied to the handle, and FIG. FIG. 7C is a diagram showing a state in which an operating force is acting, and FIG. 7C is a diagram showing a state in which a rightward pushing operating force is acting on the handle.

  In FIG. 1, a trolley 1 has a trolley body 2 and a handle 3. The handle part 3 is erected on the bogie main body part 2 by a connecting part 4.

  The carriage main body 2 has a flat plate shape with an appropriate thickness, and the upper surface side functions as a carrier. A pair of wheels 201 are attached to the lower surface of the bogie main body 2 on the left and right sides on the rear end side, and a pair of free wheels 202 are attached on the left and right sides on the front end side so that the vehicle can run. An electric motor 9 (91, 92) is connected to each wheel 201, and when the electric motor 9 (91, 92) is driven as described later, a rotational force is applied to the connected wheel 201.

  The handle portion 3 is made of a robust material, has a shape that can be pressed, preferably a gate shape, and stands upright on the rear end side of the bogie main body 2. The handle portion 3 has left and right handle legs 32 having a height dimension that allows a pressing operation by an operator. The left and right handle legs 32 are formed by bending both sides of the grip portion 31 having a predetermined dimension at right angles. The operator moves the carriage 1 in the front-rear direction by pushing or pulling the grip portion 31. Note that the direction of the arrow shown in FIG. 1 and other drawings indicates the front-back direction.

  As shown in FIG. 2A, a handle support 33 is attached to a lower portion of the handle leg 32. A connecting shaft portion 42 that is a part of the connecting portion 4 and a contact member 5 that performs displacement according to a driving force of an operator transmitted through the handle portion 3 are attached to the handle support portion 33. . In the present embodiment, the handle support portion 33 corresponds to a handle side connection portion.

  The handle support portion 33 supports the lower end portion of the handle leg 32, and has a central bottom plate portion 331 and opposed side plate portions 332 bent upward at the left and right of the bottom plate portion 331. The handle leg portion 32 is pivotally supported (standing and folding) between the two side plate portions 332 at a position near the lower end by a mounting tool such as a penetrating horizontal pin 333. A long hole 332a (see FIG. 3A) in the vertical direction is formed in each side plate portion 332, and the lock lever 34 having a dimension extending in the width direction of the carriage 1 is penetrated. The lock lever 34 is urged upward by a spring 35 as shown in FIG. Therefore, the lock lever 34 is pressed down against the urging force of the spring 35, and the lock is released by displacing the lock lever 34 below the lower end of the handle leg 32, and the handle leg 32 is moved forward. (Left side in FIG. 3A).

  On the lower surface side of the bottom plate portion 331, a plate-shaped contact member 5 is laid. The contact member 5 has a pair of standing contact pieces 51 that are bent on one side, in the example of FIG. 2, on the outer surface side of the side plate 332 on the near side and in a direction parallel to the side plate 332. The contact pieces 51 (51f, 51b) are formed at predetermined intervals in the front-rear direction (left-right direction in FIG. 2). The two contact pieces 51f and 51b are provided upright with respect to the side plate 332, for example. The pair of contact pieces 51 f and 51 b are connected via a reinforcing member 52.

  The connecting shaft portion 42, which is a member on the handle portion 3 side, of the members forming the connecting portion 4 is fixed to the bottom plate portion 331. The connection shaft portions 42 are erected downward from two locations on the lower surface of the bottom plate portion 331 at a predetermined distance in the front-rear direction. The connection shaft 42 is a columnar body having a predetermined diameter and a predetermined length, and is made of a robust material.

  The connecting part 4 has a plate member 41 and a connecting shaft part 42. In FIG. 2B, the plate member 41 is fixed to the bogie main body 2 on the upper surface of the bogie main body 2 and at the standing position of the handle leg 32. In addition, the structure of the plate member 41 may be configured to be included in the carriage main body 2.

  As shown mainly in FIG. 3, the plate member 41 is a flat plate having a predetermined shape, for example, a rectangular parallelepiped, and has a plurality of holes formed symmetrically in the front-rear direction. The coupling shaft portion 42 is fitted into a pair of through holes 411 penetrating in the vertical direction. The diameter of the through hole 411 is set to a size that allows the connection shaft 42 to be loosely fitted so that the connection shaft 42 can swing to the required tilt angle with respect to the plate member 41. In a configuration in which the connecting shaft 42 penetrates the plate member 41 and the bogie main body 2, a through hole may be formed at a position facing the bogie main body 2. Further, one of the through hole 411 and the connecting shaft portion 42 may be formed as a long hole in the front-rear direction, or may have an elliptical diameter.

  On the upper surface of the plate member 41, an elongated groove (concave strip) 412 is formed in a left-right direction perpendicular to the front-rear direction at an intermediate position between the pair of through holes 411. The concave stripe 412 may have a semicircular or rectangular cross section. A cylindrical spacer 43 having the same or shorter dimension as the concave stripe 412 is fitted into the concave stripe 412. In this case, a part of the columnar spacer 43 protrudes from the upper surface of the plate member 41 as shown in FIG. In this state, when the connecting shaft portion 42 is fitted into the through hole 411 from above, the bottom plate portion 331 and the abutting member 5 are lifted up by an upwardly projecting dimension of the cylindrical spacer 43 as shown in FIG. Therefore, the handle portion 3 tilts the connecting shaft portion 42 in the front-rear direction within the predetermined angle range on the plate member 41, that is, the handle portion 3 can swing about the column spacer 43 as a fulcrum.

  A pair of sensor portions 6 (6f, 6b) are disposed to face each other at front and rear positions above the plate member 41. The sensor unit 6 (6f, 6b) includes a pressure sensor 60 (60f, 60b) and a sensor support 61 that supports the pressure sensor 60 (60f, 60b). The sensor support 61 is fixed upright on the plate member 41. The pressure sensor 60 (60f, 60b) is mounted on the upper side of the sensor support 61. The pressure sensor 60 (60f, 60b) has a detection piece portion 601 (601f, 601b) that is cantilevered at the upper portion and is vertically suspended below. For example, a contact portion 602 (602f, 602b) made of a hard material or the like is provided, for example, at the center of the facing surface of the detection piece portion 601 (601f, 601b), if necessary. The pressure sensor 60 (60f, 60b) is formed of, for example, a piezoelectric element, and outputs a deformation, that is, a distortion generated by a force pressing the detection piece 601 (601f, 601b), as a voltage signal corresponding to the distortion amount. Therefore, the pressing force can be detected by detecting the output voltage. The displacement detector is not limited to the pressure sensor 60 (60f, 60b) such as a piezoelectric element, but may be any element or detector that can detect the displacement and deformation of the contact piece 51. Can be adopted.

  The pair of contact pieces 51f and 51b are opposed to each other between the contact parts 602 (602f and 602b) of the pair of detection pieces 601 (601f and 601b) in a state where the connection shaft 42 is passed through the through hole 411. Manufactured with dimensions and positioning to be placed.

  In this configuration, when the handle leg 32 is pressed in the front-rear direction, the handle leg 32 tilts in the front-rear direction, and the contact piece 51 integral with the handle leg 32 swings around the cylindrical spacer 43. And presses the contact portion 602, and distortion corresponding to the pressing force is detected.

  In FIG. 4, the drive control unit 8 controls driving of the right electric motor 91 and the left electric motor 92 according to the detection values from the pressure sensors 60f and 60b. The pressure sensors 60f and 60b are provided on the left and right sides of the bogie 1. Detection values from the right pressure sensors 60f and 60b are used to generate a signal for driving the right electric motor 91, and the left pressure sensors 60f and 60b The detection value from 60b is used for generating a signal for driving the left electric motor 92.

  The drive control unit 8 may be configured by a sequence circuit or the like, but in the present embodiment, the drive control is performed by executing a control program stored in the memory unit using a processor. The drive signal generator 81 generates an assist drive signal for driving the corresponding right electric motor 91 and left electric motor 92 according to the detection values from the left and right pressure sensors 60f and 60b. The drive signal is a signal that controls at least one of torque increase and decrease and rotation speed increase and decrease according to the detected value. The drive signal output unit 82 outputs the drive signals to the left and right electric motors 91 and 92 generated by the drive signal generation unit 81 to the left and right electric motors 91 and 92, respectively, for assistance. The inclinometer 71 and the switch 72 will be described later. In addition, a power source for driving the drive control unit 8 and the electric motor 9, for example, a secondary battery is mounted in an appropriate place of the carriage main body 2.

  Here, an assisting operation to the bogie 1 with respect to the state of the pressing force on the handle unit 3 controlled by the drive control unit 8 will be described.

(1) When the grip portion 31 of the handle portion 3 is pressed forward by the operator, the left and right handle legs 32 are equally tilted forward, so that the same level of detection output is obtained from the left and right pressure sensors 60f. . In this case, the left and right electric motors 91 and 92 are supplied with the same driving force to apply an assisting force in the forward direction. For example, it is used for forward assist when moving forward on a flat ground and when climbing up a slope, and for braking when moving backward and down a slope.

(2) When the grip portion 31 of the handle portion 3 is pressed rearward by the operator, the left and right handle legs 32 are equally tilted rearward, so that the same level of detection output is obtained from the left and right pressure sensors 60b. . In this case, the left and right electric motors 91 and 92 are supplied with the same driving force to apply an assisting force in the reverse direction. For example, it is used for reverse assist during backward movement on flat ground and when climbing backward on a slope, and for braking when traveling forward and downward on a slope.

(3) When the handle portion 3 is pressed (twisted) by the operator so that the tilt amounts of the left and right handle legs 32 are different during traveling, and the left or right pressure sensor 60f (or 60b) is pressed, When detection outputs of the same polarity and different levels are obtained from the other left and right pressure sensors 60b (or 60f), the left and right electric motors 91 and 92 are supplied with different levels of driving force, and the rotational speeds of the motors 91 and 92 are changed. Is changed, the traveling direction of the carriage 1 is changed (converted). Note that the left and right handle legs 32 are more strongly pressed (twisted) so that they are opposite to each other in the front and rear directions, and the left and right pressure sensors 60f (or 60b) and the left and right other pressure sensors 60b ( Or 60f), if the detection output of the different polarity is obtained, the left and right electric motors 91 and 92 are provided with the assist driving force in the opposite direction, and the bogie 1 turns.

  In FIG. 5A, when the pressing force is not applied to the grip portion 31, that is, the handle leg portion 32, the handle leg portion 32 is almost in an upright posture, and is almost in a no-load state. No detection signal is output from 60b. In the drawing, the pressure sensors 60f and 60b show only the contact portions 602f and 602b.

  Next, when a force that pushes the grip portion 31 forward acts, as shown in FIG. 5B, the handle leg portion 32 swings forward around the cylindrical spacer 43, and the contact member 5 that is integrally formed. Also swings forward. As a result, the contact portion 602f is pressed by the contact piece 51f of the contact member 5, and a detection output is obtained from the pressure sensor 60f. In this case, an assist driving force in the forward direction is generated.

  When a force for pushing the grip portion 31 rearward acts, as shown in FIG. 5C, the handle leg portion 32 swings rearward around the cylindrical spacer 43, and the integrally formed contact member 5 is formed. Also swings backward. As a result, the contact portion 602b is pressed by the contact piece 51b of the contact member 5, and a detection output is obtained from the pressure sensor 60b. In this case, an assist driving force in the reverse direction is generated.

  FIG. 6 shows a second embodiment of the connecting portion. In the first embodiment, the connecting portion 4 in which the handle supporting portion 33 of the handle leg portion 32 is swingably (tilted) with respect to the plate member 41 is employed. However, in the second embodiment, the handle supporting portion 133 is formed by a plate. In this embodiment, the connecting portion 14 is connected to the member 141 so as to be movable back and forth.

  The connecting portion 14 includes a plate member 141, a connecting shaft portion 142, and a slider 143. The plate member 141 has a long groove 1412 extending by a predetermined dimension in the front-rear direction instead of the concave streak 412 of FIGS. 3 and 5 showing the first embodiment. On the lower surface side of the bottom plate portion 1331 of the handle support portion 133, a convex slider 143 having a predetermined dimension in the front-rear direction is provided. The connecting shaft portion 142 has a length dimension corresponding to the thickness of the plate member 41, is loosely fitted in the through-hole 1411, and is provided with a vertical stopper. Thus, the handle support portion 133 (that is, the handle portion 3) can be displaced in the front-rear direction by a dimensional difference between the connection shaft portion 142 and the through hole 1411.

  The dimensional difference between the slider 143 and the long groove 1412 in the front-rear direction is designed so as to correspond to the dimension in which the handle support 133 can be displaced in the front-rear direction. As a result, the handle support portion 133 is configured to be slidable in the front-rear direction by the dimensional difference by the pressing force on the grip portion 31 in the front-rear direction, and the sliding operation in the front-rear direction is performed by the contact piece portion 51f, The contact is detected by the contact portions 602f and 602b via 51b.

  It is preferable that a surface treatment or a friction reducing structure for reducing friction with the slider 143 be used on the upper surface of the long groove 1412.

  In FIG. 6 (a), when no pressing force is applied to the grip portion 31, that is, the handle leg portion 32, the handle leg portion 32 is at an intermediate position released from the contact portions 602f and 602b, and the pressure sensor 60f , 60b do not output a detection signal.

  Next, when a force that pushes the grip portion 31 forward acts, as shown in FIG. 6B, the handle leg portion 32 is integrally configured by the slider 143 moving toward the front side of the long groove 1412. The abutting member 5 also moves forward similarly. As a result, the contact portion 602f is pressed by the contact piece 51f of the contact member 5, and a detection output is obtained from the pressure sensor 60f. In this case, an assist driving force in the forward direction is generated.

  Further, when a force that pushes the grip portion 31 rearward acts, as shown in FIG. 6C, the handle leg portion 32 is integrally formed by the slider 143 moving toward the rear side of the long groove 1412. The abutting member 5 also moves backward. As a result, the contact portion 602b is pressed by the contact piece 51b of the contact member 5, and a detection output is obtained from the pressure sensor 60b. In this case, an assist driving force in the reverse direction is generated.

  Next, the inclinometer 71 shown in FIG. 4 detects the inclination of the truck 1 and is arranged at an appropriate place on the truck 1. By measuring the inclination of the trolley 1, it can be determined whether or not the trolley 1 is on the sloping floor surface, and by using this inclination information for generating the assist driving force, as described above, the climbing of the sloping surface is performed. At the time of getting off, it is possible to perform an assist process and a braking process.

  The switch 72 shown in FIGS. 1 and 4 is for manually switching whether to use the assist drive mode. As shown in FIG. 1, the switch 72 is provided at an appropriate position of the grip portion 31 and corresponds to a portion that the operator grips during work. The switch 72 may be, for example, a normally-open switch that switches on when the connection point comes into contact when the switch is held. By using the switch 72, use or non-use of the assist drive mode can be manually selected. Further, in the case of a configuration in which an electric motor that assists in one direction, for example, the forward direction, is connected to the wheels 201, if the switch 1 is turned off (the motor power is off), the carriage 1 is moved in the forward direction. When a motor load is applied, a larger load is generated for the movement of the carriage 1. Therefore, a one-way clutch can be interposed between the electric motor and the wheel 201 to eliminate the influence of the motor load during forward movement.

  In the above-described embodiment, in the connecting portions 4 and 14, the connecting shaft portions 42 and 142 on the handle portion 3 side are loosely fitted to the plate members 41 and 141 on the bogie main body portion 2 side. The relationship between 411 and the connecting shaft portion 42 and the relationship between the through hole 1411 of the plate member 141 and the connecting shaft portion 142 may be reversed.

  Further, in the above-described embodiment, the contact member 5 is provided on the handle leg 32 side, and the sensor unit 6 is provided on the plate members 41 and 141, but they may be provided on the opposite side.

  Further, the description of the above-described embodiment is merely an example in all respects, and should not be construed as limiting. The scope of the present invention is defined by the terms of the claims, rather than the embodiments described above. Furthermore, it is intended that the scope of the present invention includes all modifications within the meaning and scope equivalent to the claims.

DESCRIPTION OF SYMBOLS 1 Bogie 2 Bogie main-body part 201 Wheel 3 Handle part 4 Connecting part 41,141 Plate member 412 Concave stripe 43 Cylindrical spacer (intervening member, fulcrum member)
143 Slider (intervening member, movement assisting member)
1412 Long groove (intervening member, movement assisting member)
5 Contact member 6 Sensor unit (displacement amount detection unit)
8 Drive control unit 9, 91, 92 Electric motor

Claims (6)

A bogie main body having a traveling wheel having an assist mechanism;
A handle on which external force acts,
A bogie main body-side connecting portion located on the upper surface side of the bogie main body portion and a handle-side connecting portion located below the handle portion, wherein the handle-side connecting portion has a predetermined range with respect to the bogie main body-side connecting portion. A connecting portion to be connected to each other in a state where it can be displaced within,
A displacement amount detection unit that detects a displacement amount of the handle side connection portion with respect to the bogie body side connection portion,
A drive control unit that outputs an assist amount according to the detected displacement direction and the detected displacement amount to the assist mechanism,
The connecting portion is interposed between the bogie body-side connecting portion and the handle-side connecting portion, and facilitates displacement of the handle-side connecting portion with respect to the bogie body-side connecting portion due to an external force applied to the handle portion. With intervening members ,
The interposition member is a fulcrum member that swings and displaces the handle-side connection portion around the interposition position with respect to the bogie body-side connection portion,
The bogie main body has a concave streak in which a part of the fulcrum member fits in the bogie main body side connection portion . A bogie main body having a traveling wheel having an assist mechanism;
A handle on which external force acts,
A bogie main body-side connecting portion located on the upper surface side of the bogie main body portion, and a handle-side connecting portion located below the handle portion, wherein the handle-side connecting portion has a predetermined range with respect to the bogie main body-side connecting portion. A connecting portion to be connected to each other in a state where it can be displaced within,
A displacement amount detection unit that detects a displacement amount of the handle side connection portion with respect to the bogie body side connection portion,
A drive control unit that outputs an assist amount according to the detected displacement direction and the detected displacement amount to the assist mechanism,
The connecting portion is interposed between the bogie body-side connecting portion and the handle-side connecting portion, and facilitates displacement of the handle-side connecting portion with respect to the bogie body-side connecting portion due to an external force applied to the handle portion. With intervening members,
The interposed member, Ri fulcrum member der swinging displacement about the intervening position the handle-side connecting portion with respect to the carriage body side connecting portion,
The fulcrum member has an elongated shape in a direction perpendicular to the traveling direction of the bogie,
The handle-side connecting portion swings and displaces in a direction horizontal to the traveling direction about the fulcrum member,
The bogie main body has a concave streak in which a part of the fulcrum member fits in the bogie main body side connection portion . The bogie main body portion has a plate member disposed on a part of an upper surface at the bogie main body side connection portion,
The concave is trolley as claimed in claim 1 or 2 that is provided on the plate member. A bogie main body having a traveling wheel having an assist mechanism;
A handle on which external force acts,
A bogie main body-side connecting portion located on the upper surface side of the bogie main body portion, and a handle-side connecting portion located below the handle portion, wherein the handle-side connecting portion has a predetermined range with respect to the bogie main body-side connecting portion. A connecting portion to be connected to each other in a state where it can be displaced within,
A displacement amount detection unit that detects a displacement amount of the handle side connection portion with respect to the bogie body side connection portion,
A drive control unit that outputs an assist amount according to the detected displacement direction and the detected displacement amount to the assist mechanism,
The connecting portion is interposed between the bogie body-side connecting portion and the handle-side connecting portion, and facilitates displacement of the handle-side connecting portion with respect to the bogie body-side connecting portion due to an external force applied to the handle portion. With intervening members,
The bogie is a movement assisting member, wherein the intervening member is configured to displace the handle side connecting portion in parallel with the bogie main body side connecting portion . The moving auxiliary member trolley as claimed in claim 4 you reduce the frictional force in the parallel direction with respect to the carriage body side connecting portion of the handle-side connecting portion. A bogie main body having a traveling wheel having an assist mechanism;
A handle on which external force acts,
A bogie main body-side connecting portion located on the upper surface side of the bogie main body portion and a handle-side connecting portion located below the handle portion, wherein the handle-side connecting portion has a predetermined range with respect to the bogie main body-side connecting portion. A connecting portion to be connected to each other in a state where it can be displaced within,
A displacement amount detection unit that detects a displacement amount of the handle side connection portion with respect to the bogie body side connection portion,
A drive control unit that outputs an assist amount according to the detected displacement direction and the detected displacement amount to the assist mechanism,
The connecting portion is interposed between the bogie body-side connecting portion and the handle-side connecting portion, and facilitates displacement of the handle-side connecting portion with respect to the bogie body-side connecting portion due to an external force applied to the handle portion. With intervening members,
The wheel unit is provided on the left and right sides of the bogie main unit,
The handle portion has a gate-shaped shape having columns on the left and right, and each of the left and right columns is connected to the bogie main body by a connection portion,
The displacement amount detection unit is provided for each of the left and right connecting portions, and individually detects the left and right displacement amounts,
The drive control unit, based on the displacement amount of the left and right displacement amount detection unit has detected, that controls the assist amount for the left and right wheels portions bogie.