WO2013054713A1 - 電動アシスト台車 - Google Patents
電動アシスト台車 Download PDFInfo
- Publication number
- WO2013054713A1 WO2013054713A1 PCT/JP2012/075683 JP2012075683W WO2013054713A1 WO 2013054713 A1 WO2013054713 A1 WO 2013054713A1 JP 2012075683 W JP2012075683 W JP 2012075683W WO 2013054713 A1 WO2013054713 A1 WO 2013054713A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- current
- electric motor
- electric
- controller
- assist cart
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0076—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/04—Cutting off the power supply under fault conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/66—Arrangements of batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/12—Dynamic electric regenerative braking for vehicles propelled by dc motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/001—Steering devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
- B62B5/0073—Measuring a force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/30—Trolleys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/36—Temperature of vehicle components or parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/16—Driver interactions by display
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2203/00—Grasping, holding, supporting the objects
- B62B2203/10—Grasping, holding, supporting the objects comprising lifting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2301/00—Wheel arrangements; Steering; Stability; Wheel suspension
- B62B2301/20—Resilient wheel suspension using springs
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to an electric assist cart whose driving force is assisted by an electric motor.
- JP 2006-290319A proposes an electric assist hand cart that detects the force of an operator pushing the cart and is provided with auxiliary power according to human power by an electric motor.
- the pushing force of the worker at the time of forward movement and backward movement is assisted according to the operation of the hand frame by the worker.
- the present invention has been made in view of the above problems, and an object thereof is to improve the reliability of an electric assist cart.
- an electric assist cart capable of traveling with an assist force applied to a driving force applied by an operator, the vehicle body frame on which a load can be placed, and the vehicle body frame.
- a driving wheel an operation unit that is pressed by an operator and capable of inputting a driving force to the vehicle body frame; and a torque detection unit that detects a driving torque that acts on the vehicle body frame when the operation unit is pressed.
- a controller that calculates an assist force applied to the drive wheel according to the drive torque detected by the torque detector; and an electric motor that applies the assist force calculated by the controller to the drive wheel. The controller determines that a current having a magnitude greater than or equal to a first set value has continuously flowed through the electric motor for a first set time.
- An electric assist cart comprising: a current determination unit configured to perform a current control unit configured to reduce a maximum value of current that can be supplied to the electric motor as compared with the first set value based on the determination of the current determination unit.
- FIG. 1 is a perspective view of an electric assist cart according to an embodiment of the present invention.
- FIG. 2 is a side view of FIG.
- FIG. 3 is a front view of FIG.
- FIG. 4 is a control block diagram of the electric assist cart.
- FIG. 5 is a flowchart for explaining a fail-safe operation in the electric assist cart.
- the electric assist cart 100 is used for transporting heavy objects in a factory, for example.
- the electric assist cart 100 travels with the driving force applied by the operator being applied with an assist force due to the rotation of the electric motor 15 described later.
- the electric assist cart 100 includes a vehicle body frame 1, a cargo bed 3 provided on the vehicle body frame 1 on which a load can be placed, and an operation handle 5 as an operation unit capable of inputting driving force from two left and right positions of the vehicle body frame 1. And a pair of drive wheels 11 provided on the left and right sides of the vehicle body frame 1 with a space therebetween, and a pair of universal wheels 12 mounted on the vehicle body frame 1 and provided behind the drive wheels 11.
- the driving wheel 11 is a front wheel of the electric assist cart 100
- the universal wheel 12 is a rear wheel of the electric assist cart 100.
- the body frame 1 is a frame in which square pipe materials are combined.
- the body frame 1 is erected on a flat surface portion 1a on which a load is placed via a loading platform 3, a lower projecting portion 1b projecting at a lower portion of the flat surface portion 1a, and an upper rear end of the flat surface portion 1a. And a standing portion 1c.
- the loading platform 3 is a flat plate with an edge provided so as to cover the upper portion of the flat portion 1a in the body frame 1.
- a luggage is placed directly on the loading platform 3.
- the loading platform 3 may be a flat plate without an edge.
- a roller conveyor may be installed on the vehicle body frame 1, and the luggage may be placed via the roller conveyor.
- an elevating device 2 is provided between the body frame 1 and the loading platform 3.
- the lifting device 2 lifts and lowers the loading platform 3 with respect to the vehicle body frame 1 by an electric lifting cylinder 2a (see FIG. 4).
- an electric lifting cylinder 2a see FIG. 4
- the lifting device 2 raises the loading platform 3 and the road surface. It is possible to adjust the height of the loading platform 3 to the constant.
- the electric elevating cylinder 2a is electrically connected to a controller 30 described later, and expands and contracts based on a command signal from the controller 30.
- the electric elevating cylinder 2a is an electrohydraulic linear actuator that includes a hydraulic pump driven by a motor and expands and contracts by the pressure of hydraulic fluid discharged from the hydraulic pump.
- the operation handle 5 is an inverted U-shaped handle that is pressed by an operator as shown in FIG. Both left and right ends of the operation handle 5 are connected to a standing portion 1 c in the vehicle body frame 1. As a result, the driving force input by the operator operating the operation handle 5 is transmitted to the vehicle body frame 1.
- the driving wheel 11 is a small wheel provided so as not to be steered in the front-rear direction of the body frame 1.
- a pair of drive wheels 11 are provided in the vicinity of the front end of the body frame 1.
- the drive wheels 11 are fixed to the lower projecting portion 1b of the body frame 1 so as to be movable up and down.
- the free wheel 12 is a small wheel that always faces the direction of travel when traveling.
- the universal wheel 12 is turned by the frictional resistance with the road surface and is steered so as to face the traveling direction.
- the universal wheel 12 is fixed to the lower projecting portion 1b of the body frame 1 so as to be movable up and down.
- the electric assist cart 100 includes four sub frames 4 that can move up and down with respect to the body frame 1 and a suspension device 20 that suspends the drive wheels 11 and the free wheels 12 via the sub frames 4.
- subframes 4 are provided corresponding to the respective wheels of the pair of drive wheels 11 and the pair of universal wheels 12.
- Two subframes 4 are arranged on the left and right sides of the body frame 1.
- a drive wheel 11 or a universal wheel 12 is rotatably fixed to the lower surface of each subframe 4.
- the suspension device 20 includes four suspension arms 22 that support the left and right subframes 4 such that the left and right subframes 4 can move up and down on the body frame 1, and a spring damper 23 provided between the body frame 1 and the left and right subframes 4.
- Each suspension arm 22 is connected to the body frame 1 and the left and right subframes 4 so as to be rotatable about a horizontal axis, and the suspension arms 22 are parallel links that support the subframe 4 so that the subframe 4 can move in parallel with the body frame 1. Configure the mechanism.
- the spring damper 23 absorbs and reduces the vertical vibrations of the drive wheels 11 and the free wheels 12 due to road surface irregularities and the like, and suppresses vibrations from the road surface being transmitted to the vehicle body frame 1.
- the spring damper 23 includes a coil spring 23a and a damper 23b, and expands and contracts as the subframe 4 moves up and down.
- the coil spring 23a supports the load received by the subframe 4 by the spring force, and expands and contracts as the subframe 4 moves up and down.
- the hydraulic oil filled therein passes through a damping valve (not shown) and generates a damping force that suppresses vibration of the subframe 4.
- the suspension device 20 is not limited to the above-described configuration, and may have another configuration as long as the posture of the subframe 4 with respect to the vehicle body frame 1 is maintained.
- the electric assist cart 100 is detected by a torque sensor 6 as a pair of torque detectors that detect driving torque acting on each of the left and right portions of the vehicle body frame 1 when the operation handle 5 is pressed, and detected by the torque sensor 6.
- a controller 30 that calculates an assist force to be applied to each drive wheel 11 in accordance with the generated drive torque, a pair of electric motors 15 that apply an assist force calculated by the controller 30 to each drive wheel 11, and A pair of brakes 16 for braking the rotation of the drive wheels 11 and an operation panel 29 provided with various switches operable by an operator are provided.
- the torque sensor 6 is electrically connected to the controller 30 and outputs an electrical signal corresponding to the detected driving torque to the controller 30.
- the torque sensor 6 is connected to the operation handle 5 and the vehicle body frame 1 and is twisted by the driving force input from the operation unit and transmits the driving force to the vehicle body frame 1, and the torsion bar is twisted.
- a potentiometer (not shown) for outputting an electrical signal corresponding to.
- the torque sensor 6 detects the drive torque based on the twist of the torsion bar.
- the electric motor 15 is electrically connected to the controller 30 and rotates according to an electric signal input from the controller 30. As shown in FIG. 3, the electric motor 15 is disposed inside the drive wheel 11 and applies assist force to the drive wheel 11.
- the left and right electric motors 15 are provided coaxially with each other, and are arranged in series between the pair of drive wheels 11.
- the electric motor 15 includes a transmission (not shown) that reduces the rotation and transmits it to the drive wheels 11.
- the brake 16 is disposed between the output shaft of the electric motor 15 and the drive wheel 11.
- the brake 16 has a brake solenoid 16a (see FIG. 4) capable of switching between a braking state and a non-braking state.
- the brake 16 fixes the drive wheel 11 so as not to rotate when switched to the braking state.
- the brake solenoid 16 a is electrically connected to the controller 30 and is switched according to the current supplied from the controller 30. In a state where no current flows through the brake solenoid 16a, the brake 16 maintains the drive wheels 11 in a braking state. On the other hand, when a current flows through the brake solenoid 16a, the brake 16 switches the driving wheel 11 to the non-braking state.
- the controller 30 is mounted on the vehicle body frame 1 together with a power supply device (not shown) and other electronic devices (not shown).
- the controller 30 controls the electric assist cart 100 and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and an I / O interface (input / output interface). It consists of a microcomputer.
- the RAM stores data in the processing of the CPU
- the ROM stores a control program of the CPU in advance
- the I / O interface is used for input / output of information with the connected device. Control of the electric assist cart 100 is realized by operating a CPU, a RAM, and the like according to a program stored in the ROM.
- the controller 30 is operated by the power supplied from the power supply device. When the voltage of the power supply device suddenly drops, the controller 30 stops all control and puts the CPU in the sleep state. When the power supply device is a 24V battery, for example, when the voltage drops to about 18V, the CPU is set in the sleep state. Thereby, the controller 30 can be protected from a rapid drop in the voltage of the power supply device.
- the controller 30 performs control to cause the left and right electric motors 15 to generate assist force corresponding to the driving torque detected by the left and right torque sensors 6 to move the electric assist cart 100 forward or backward, as well as to go straight, turn, bend Assist force to be applied.
- the controller 30 drives the electric motor 15 by PWM (Pulse Width Modulation) control.
- the controller 30 has a pair of current detectors 15 a that detect current values actually flowing to the left and right electric motors 15. Thereby, feedback control of the electric motor 15 becomes possible.
- the controller 30 includes a current determination unit 31 that determines the magnitude of the current flowing through the electric motor 15 and the time (continuous time) during which the current continuously flows, and the determination by the current determination unit 31. And a current control unit 32 capable of stopping and limiting the supply of current to the electric motor 15.
- the operation panel 29 is disposed on the back surface of the standing portion 1 c in the vehicle body frame 1 and is electrically connected to the controller 30.
- the operation panel 29 is not limited to this position because it may be provided at a position that can be operated and visually recognized by the operator.
- the operation panel 29 includes a brake release switch 24 for switching the brake solenoid 16a, a loading platform elevating switch 25 for operating the electric elevating cylinder 2a, and an indicator 27 capable of displaying various fail modes.
- the brake release switch 24 is a switch that can switch the brake solenoid 16a by an operator's operation. When the operator operates the brake release switch 24, a current flows through the brake solenoid 16a, and the driving wheel 11 is switched to the non-braking state. Thereby, the electric assist cart 100 can travel.
- the loading platform raising / lowering switch 25 is a switch for operating the electric lifting cylinder 2a by an operator's operation.
- the electric elevating cylinder 2a expands and contracts. Thereby, the loading platform 3 moves up and down with respect to the vehicle body frame 1.
- the indicator 27 indicates a state in which a part of the function is stopped for fail-safe in the electric assist cart 100 so that the operator can visually recognize it.
- the indicator 27 includes a first indicator 27a, a second indicator 27b, and a third indicator 27c.
- the first indicator 27a indicates the lightest fail mode.
- the first indicator 27a lights up when the maximum value of the current supplied to the electric motor 15 is limited.
- the state in which the first indicator 27a is lit is the first fail mode.
- the second indicator 27b indicates the lightest fail mode next to the first indicator 27a.
- the second indicator 27b is lit when the supply of current to the electric motor 15 is stopped or when the supply of current to the electric lift cylinder 2a is stopped.
- the state in which the second indicator 27b is lit is the second fail mode.
- the third indicator 27c indicates the heaviest fail mode.
- the third indicator 27c is lit when all functions in the electric assist cart 100 are stopped. That is, in the state where the third indicator 27c is lit, in the electric assist cart 100, the supply of current to the electric motor 15 and the electric lift cylinder 2a is stopped and the supply of current to the brake solenoid 16a is stopped. As a result, the brake 16 is switched to the braking state.
- the state in which the third indicator 27c is lit is the third fail mode.
- the first to third fail modes are set only when one of the fail modes is not entered and the capacity of the power supply device remains to be able to control all functions in the electric assist cart 100.
- the Each fail mode is canceled by turning off the electric assist cart 100 once and restarting.
- the electric assist cart 100 moves straight forward.
- the driving force input to the vehicle body frame 1 when the operation handle 5 is pressed is substantially the same at the left and right ends of the operation handle 5. Therefore, the drive torques detected by the left and right torque sensors 6 are substantially the same.
- the controller 30 commands the left and right electric motors 15 to apply the same assist force to the left and right drive wheels 11. Thereby, the same assist force is applied to the left and right drive wheels 11.
- the electric assist cart 100 moves straight forward with the assist force of the electric motor 15 applied to the driving force applied by the operator.
- the electric assist cart 100 turns left or right. At this time, the assist force applied to the left and right drive wheels 11 differs between the left and right electric motors 15.
- the drive torque detected by the right torque sensor 6 is larger than the drive torque detected by the left torque sensor 6.
- the controller 30 commands the assist force applied from the right electric motor 15 to the drive wheel 11 to be larger than the assist force applied from the left electric motor 15 to the drive wheel 11.
- the assist force applied to the right drive wheel 11 is greater than the assist force applied to the left drive wheel 11.
- the magnitude of the assist force can be controlled according to the force with which the operator presses the operation handle 5.
- step 101 the current values of the left and right electric motors 15 detected by the current detection unit 15a and the duty ratio of the PWM control in each electric motor 15 are read into the controller 30.
- Steps 102 and 103 prevent a large current from continuously flowing through the electric motor 15, protects the electric motor 15 and the controller 30 from heat generation due to overload, and prevents troubles in the electric assist cart 100. Is.
- the current determination unit 31 determines whether or not a current having a magnitude greater than or equal to the first set value flows through the electric motor 15.
- the first set value at this time is set to the maximum value of the current range that can be supplied to the electric motor 15 during assist in normal use. For example, the first set value is set to 20 [A] when the current supplied to the electric motor 15 during normal use is 0 to 20 [A].
- step 102 If it is determined in step 102 that the current value flowing through the electric motor 15 is greater than or equal to the first set value, the process proceeds to step 103. On the other hand, if it is determined in step 102 that the current value flowing through the electric motor 15 is smaller than the first set value, the process proceeds to step 105.
- step 103 it is determined whether or not current equal to or greater than the first set value determined in step 102 has flowed continuously for the first set time.
- the first set time at this time is set to a time during which the controller 30 can be protected from heat generated by the operation. For example, the first set time is set to 5 [s].
- step 103 If it is determined in step 103 that the continuous time in which a current equal to or greater than the first set value has continuously flowed is equal to or greater than the first set time, the process proceeds to step 104 to enter the first fail mode.
- step 104 the current control unit 32 reduces the maximum value of the current that can be supplied to the electric motor 15 based on the determination of the current determination unit 31 in comparison with the first set value.
- the maximum assist force from the electric motor 15 may continue.
- the current that can be supplied to the electric motor 15 is reduced to, for example, 10 [A]. Thereby, it is prevented that a large assist force is continuously applied, and the electric motor 15 and the controller 30 are prevented from being overloaded. Therefore, the reliability of the electric assist cart 100 can be improved.
- the current control unit 32 gradually decreases the maximum value of the current that can be supplied to the electric motor 15 by so-called slope control. Thus, it is possible to prevent a large deceleration shock from occurring in the electric assist cart 100 due to a sudden decrease in the assist force.
- step 103 determines whether the continuous time in which the current equal to or greater than the first set value has continuously flowed is shorter than the first set time.
- Step 105 and Step 106 are to stop a part of the function of the electric assist cart 100 when an overcurrent larger than the range that flows through the electric motor 15 during normal use flows.
- step 105 the current determination unit 31 determines whether or not a current having a magnitude equal to or larger than the second set value has flowed through the electric motor 15.
- the second set value at this time is set larger than the first set value.
- the first set value is set to the maximum value in the range of current that is normally used, whereas the second set value is set to a current value that does not flow during normal use.
- the second set value is set to 25 [A] when the current supplied to the electric motor 15 during normal use is 0 to 20 [A].
- step 105 If it is determined in step 105 that the current value flowing through the electric motor 15 is greater than or equal to the second set value, the process proceeds to step 106. On the other hand, when it is determined in step 105 that the current value flowing through the electric motor 15 is smaller than the second set value, the process proceeds to step 107.
- Step 106 it is determined whether or not current equal to or greater than the second set value determined in Step 105 has flowed continuously for the second set time.
- the second set time at this time is a time during which an overcurrent of a magnitude that does not flow during normal use flows, and is set to a shorter time than the first set time in order to protect the electric motor 15 and the controller 30.
- the For example, the second set time is set to 50 [ms].
- step 106 If it is determined in step 106 that the continuous time in which the current equal to or greater than the second set value has continuously flowed is equal to or greater than the second set time, the process proceeds to step 111 to enter the second fail mode.
- step 111 the current control unit 32 stops outputting the current to the left and right electric motors 15. At this time, the current control unit 32 supplies the electric motor 15 to both the left and right electric motors 15 even when only one of the electric motors 15 continuously flows a current equal to or greater than the second set value for the second set time. Stops current output. Thereby, the assist of the driving force by the electric motor 15 in the electric assist cart 100 is stopped.
- the supply of current to the left and right electric motors 15 is stopped.
- the electric motor 15 and the controller 30 can be protected when an overcurrent of a magnitude that does not flow during normal use flows.
- the second indicator 27b it is possible to notify the operator that the second fail mode has been entered. Therefore, the safety of the electric assist cart 100 can be improved.
- step 106 determines whether the continuous time in which the current equal to or greater than the second set value has continuously flowed is shorter than the second set time.
- Step 107 and Step 108 stop a part of the function of the electric assist cart 100 when the assist force is not applied from the electric motor 15 as instructed from the controller 30.
- step 107 the current control unit 32 determines whether or not the duty ratio of the PWM control in the electric motor 15 is the maximum. For example, in PWM control, when an assist force of a certain magnitude is to be applied to the drive wheels 11 by a command from the controller 30, the duty ratio in the electric motor 15 is increased according to the magnitude of the commanded assist force. Become. However, if the actual assist force does not reach the commanded assist force, the controller 30 instructs the duty ratio to be further increased. Therefore, when the assist force does not increase to the magnitude commanded by the controller 30, the duty ratio of the PWM control increases to the maximum state. Therefore, in step 107, it is determined whether or not the duty ratio of the PWM control is in the maximum state.
- step 107 If it is determined in step 107 that the duty ratio of the PWM control is in the maximum state, the process proceeds to step 108. On the other hand, if it is determined in step 107 that the duty ratio of the PWM control is not at the maximum state, the routine proceeds to step 109.
- step 108 it is determined whether or not the state in which the PWM control duty ratio is maximum continues for the third set time.
- the third set time at this time is set to be longer than the second set time and shorter than the first set time. For example, the third set time is set to 1 [s].
- step 108 If it is determined in step 108 that the maximum PWM control duty ratio continues for the third set time, the process proceeds to step 111 to enter the second fail mode.
- step 108 determines whether the maximum PWM control duty ratio is continuous for the third set time. If it is determined in step 108 that the maximum PWM control duty ratio is not continuous for the third set time, the process proceeds to step 109.
- Step 109 and Step 110 stop a part of the function of the electric assist cart 100 when a deviation occurs between the amount of operation of the operation handle 5 by the operator and the magnitude of the assist force from the electric motor 15.
- the current determination unit 31 determines whether or not the deviation between the current value supplied to the electric motor 15 by the current control unit 32 and the actual current value fed back to the current detection unit 15a is out of the set range. judge.
- the setting range at this time is set to a range that can be used by the user without a sense of incongruity during actual use, that is, an allowable error range.
- the setting range is set to a range of ⁇ 5 [A] when the current supplied to the electric motor 15 during normal use is 0 to 20 [A].
- step 109 If it is determined in step 109 that the current value deviation is outside the set range, the process proceeds to step 110. On the other hand, if it is determined in step 109 that the current value deviation is within the set range, the process returns.
- step 110 it is determined whether or not the state in which the deviation of the current value is out of the set range is continued for the fourth set time.
- the fourth set time is set to 5 [s].
- step 110 when it is determined that the state where the deviation of the current value is outside the set range is continued for the fourth set time, the process proceeds to step 111, and the second fail mode is set.
- step 110 if it is determined in step 110 that the current value deviation is outside the set range, it is determined that the state is not continuous for the fourth set time.
- the current control unit 32 determines the maximum current that can be supplied to the electric motor 15. Is smaller than the first set value. Therefore, it is prevented that a large assist force is continuously applied, and the electric motor 15 and the controller 30 are prevented from being overloaded. Therefore, the reliability of the electric assist cart 100 can be improved.
- control for detecting four different fail states and determining the corresponding fail mode is executed in a single flow.
- the control for detecting each fail state is executed in an independent flow, and if there is a detection result that one of the detection results is a failure state, the failure mode is indicated.
- a determination flow may be further provided.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Handcart (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
Description
Claims (6)
- 作業者によって付与される駆動力にアシスト力が付与されて走行可能な電動アシスト台車であって、
荷物を載置可能な車体フレームと、
前記車体フレームに設けられる駆動輪と、
作業者によって押圧操作され、前記車体フレームに駆動力を入力可能な操作部と、
前記操作部が押圧操作されることによって前記車体フレームに作用する駆動トルクを検出するトルク検出部と、
前記トルク検出部によって検出された駆動トルクに応じて、前記駆動輪に付与するアシスト力を演算するコントローラと、
前記コントローラによって演算されたアシスト力を前記駆動輪に付与する電動モータと、を備え、
前記コントローラは、
前記電動モータに、第一設定値以上の大きさの電流が第一設定時間だけ連続して流れたことを判定する電流判定部と、
前記電流判定部の判定に基づいて、前記電動モータに供給可能な電流の最大値を前記第一設定値と比較して小さくする電流制御部と、を備える電動アシスト台車。 - 請求項1に記載の電動アシスト台車であって、
前記第一設定値は、アシスト時に前記電動モータに供給される電流の最大値に設定され、
前記第一設定時間は、動作による発熱から前記コントローラを保護可能な時間に設定される電動アシスト台車。 - 請求項1又は2に記載の電動アシスト台車であって、
前記電流制御部は、前記電動モータに供給可能な電流の最大値を徐々に小さくする電動アシスト台車。 - 請求項2又は3に記載の電動アシスト台車であって、
前記電流制御部は、前記電動モータに、前記第一設定値と比較して大きく設定される第二設定値以上の大きさの電流が第二設定時間だけ連続して流れた場合に、前記電動モータへの電流の出力を停止する電動アシスト台車。 - 請求項1から4のいずれか一つに記載の電動アシスト台車であって、
前記コントローラは、PWM制御によって前記電動モータを駆動し、
前記電流制御部は、前記PWM制御におけるデューティ比が最大の状態が第三設定時間だけ連続した場合に、前記電動モータへの電流の出力を停止する電動アシスト台車。 - 請求項1から5のいずれか一つに記載の電動アシスト台車であって、
前記コントローラは、前記電動モータの電流値がフィードバックされる電流検出部を有し、
前記電流制御部は、前記電動モータに供給した電流値と前記電流検出部にフィードバックされた電流値との偏差が設定範囲外となった状態が第四設定時間だけ連続した場合に、前記電動モータへの電流の出力を停止する電動アシスト台車。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201280050582.3A CN103857579B (zh) | 2011-10-13 | 2012-10-03 | 电动辅助台车 |
US14/351,358 US9045152B2 (en) | 2011-10-13 | 2012-10-03 | Electric assist cart |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011225971A JP6039893B2 (ja) | 2011-10-13 | 2011-10-13 | 電動アシスト台車 |
JP2011-225971 | 2011-10-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013054713A1 true WO2013054713A1 (ja) | 2013-04-18 |
Family
ID=48081770
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2012/075683 WO2013054713A1 (ja) | 2011-10-13 | 2012-10-03 | 電動アシスト台車 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9045152B2 (ja) |
JP (1) | JP6039893B2 (ja) |
CN (1) | CN103857579B (ja) |
WO (1) | WO2013054713A1 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9387869B1 (en) * | 2015-04-16 | 2016-07-12 | Aviad Berger | Luggage with mechanically integrated trolley |
US10081380B2 (en) | 2015-07-16 | 2018-09-25 | Radio Flyer Inc. | Foldable wagon |
US9925999B2 (en) | 2015-09-29 | 2018-03-27 | Radio Flyer Inc. | Power assist wagon |
USD794133S1 (en) | 2016-02-22 | 2017-08-08 | Radio Flyer Inc. | Folding wagon |
ITUA20163152A1 (it) * | 2016-05-05 | 2017-11-05 | Hifive S R L | Carrello da golf a propulsione ibrida |
JP6231630B1 (ja) * | 2016-08-12 | 2017-11-15 | Kyb株式会社 | 鉄道車両用制振装置 |
US10583852B2 (en) | 2016-11-02 | 2020-03-10 | Radio Flyer Inc. | Foldable wagon |
DE102017200155A1 (de) * | 2017-01-09 | 2018-07-12 | Ford Motor Company | Motorangetriebener Einkaufstrolley |
JP6864488B2 (ja) * | 2017-01-31 | 2021-04-28 | 株式会社マキタ | 手押し式電動運搬車 |
USD866676S1 (en) | 2017-11-02 | 2019-11-12 | Radio Flyer Inc. | Foldable wagon |
KR101855827B1 (ko) * | 2017-12-11 | 2018-05-09 | 주식회사 뉴코애드윈드 | 경사 조절가능한 카트장치 |
KR101855829B1 (ko) * | 2017-12-11 | 2018-05-09 | 주식회사 뉴코애드윈드 | 경사 조절가능한 카트장치 |
USD879885S1 (en) | 2018-09-26 | 2020-03-31 | Radio Flyer Inc. | Wagon frame |
USD879205S1 (en) | 2018-09-26 | 2020-03-24 | Radio Flyer Inc. | Wagon |
DE102020004190A1 (de) * | 2019-08-08 | 2021-02-11 | Makita Corporation | Handwagen |
CN112389567B (zh) | 2019-08-15 | 2023-05-02 | 雷德福来尔有限公司 | 可折叠沙滩拖车 |
US11465665B2 (en) | 2019-10-09 | 2022-10-11 | Radio Flyer Inc. | Wagon with recline seatback |
WO2021081182A1 (en) | 2019-10-23 | 2021-04-29 | Radio Flyer Inc. | Handle release and locking mechanism |
WO2023119435A1 (ja) * | 2021-12-21 | 2023-06-29 | 本田技研工業株式会社 | アシスト装置 |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0956015A (ja) * | 1995-08-11 | 1997-02-25 | Hitachi Ltd | 電動運搬車 |
JPH09109894A (ja) * | 1995-10-16 | 1997-04-28 | Hitachi Ltd | 電動運搬車 |
JPH09202235A (ja) * | 1996-01-26 | 1997-08-05 | Suzuki Motor Corp | 駆動手段付き手押し台車 |
JPH10336803A (ja) * | 1997-04-01 | 1998-12-18 | Nabco Ltd | 電動車両の制御装置 |
JPH115537A (ja) * | 1997-04-21 | 1999-01-12 | Shinko Electric Co Ltd | 駆動補助付小型車両 |
JPH11276527A (ja) * | 1998-03-27 | 1999-10-12 | Yamaha Motor Co Ltd | 補助動力付き車椅子 |
JP2000214015A (ja) * | 1999-01-27 | 2000-08-04 | Nippon Automation:Kk | 加重検知装置及び駆動装置用制御装置並びに駆動力補助装置付車両 |
JP2005280385A (ja) * | 2004-03-26 | 2005-10-13 | Matsushita Electric Works Ltd | 搬送装置 |
JP2006001426A (ja) * | 2004-06-17 | 2006-01-05 | Mitsuba Corp | パワーアシスト付き搬送装置の制御方法及びパワーアシスト付き搬送装置 |
JP2006137391A (ja) * | 2004-11-15 | 2006-06-01 | Mitsuba Corp | パワーアシスト付き搬送装置における車速センサの異常検出方法 |
JP2012166748A (ja) * | 2011-02-16 | 2012-09-06 | Kyb Co Ltd | 電動アシスト台車 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4697661A (en) * | 1986-07-14 | 1987-10-06 | General Electric Company | Drive design for mobile x-ray units with dual wheel drives |
JP3032698B2 (ja) * | 1995-04-14 | 2000-04-17 | 松下電工株式会社 | パワーアシスト付運搬車 |
JPH09150740A (ja) * | 1995-11-28 | 1997-06-10 | Kubota Corp | 電動手押し車 |
JP3708211B2 (ja) * | 1996-04-05 | 2005-10-19 | ニューデルタ工業株式会社 | 無人走行装置のモーター保護機構 |
US6276471B1 (en) * | 1997-06-06 | 2001-08-21 | EXPRESSO DEUTSCHLAND TRANSPOTGERäTE GMBH | Delivery cart |
JP2000215015A (ja) * | 1999-01-25 | 2000-08-04 | Seiko Epson Corp | コンピュ―タ、プリンタおよびプリントシステム並びに表示方法および制御方法 |
US7220222B2 (en) * | 2005-01-19 | 2007-05-22 | Multi-Shifter Inc. | Cart for die transportation |
JP2006290319A (ja) | 2005-04-12 | 2006-10-26 | Kiyoshi Shimizu | 電動アシスト手押し台車 |
JP4641293B2 (ja) * | 2006-08-25 | 2011-03-02 | 本田技研工業株式会社 | 鞍乗り型車両の過熱保護装置 |
US7779941B1 (en) * | 2007-03-21 | 2010-08-24 | Honda Motor Co., Ltd. | Method and apparatus for delivery cart movement start and energy recovery |
JP2009131069A (ja) * | 2007-11-26 | 2009-06-11 | Mitsuba Corp | モータ制御装置 |
JP2010123044A (ja) * | 2008-11-21 | 2010-06-03 | Denso Corp | 過電流保護回路 |
WO2010087115A1 (ja) * | 2009-01-29 | 2010-08-05 | パナソニック株式会社 | 補助動力付き車両 |
JP5941608B2 (ja) * | 2009-11-30 | 2016-06-29 | 住友重機械工業株式会社 | ギヤモータ |
-
2011
- 2011-10-13 JP JP2011225971A patent/JP6039893B2/ja not_active Expired - Fee Related
-
2012
- 2012-10-03 WO PCT/JP2012/075683 patent/WO2013054713A1/ja active Application Filing
- 2012-10-03 CN CN201280050582.3A patent/CN103857579B/zh not_active Expired - Fee Related
- 2012-10-03 US US14/351,358 patent/US9045152B2/en not_active Expired - Fee Related
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0956015A (ja) * | 1995-08-11 | 1997-02-25 | Hitachi Ltd | 電動運搬車 |
JPH09109894A (ja) * | 1995-10-16 | 1997-04-28 | Hitachi Ltd | 電動運搬車 |
JPH09202235A (ja) * | 1996-01-26 | 1997-08-05 | Suzuki Motor Corp | 駆動手段付き手押し台車 |
JPH10336803A (ja) * | 1997-04-01 | 1998-12-18 | Nabco Ltd | 電動車両の制御装置 |
JPH115537A (ja) * | 1997-04-21 | 1999-01-12 | Shinko Electric Co Ltd | 駆動補助付小型車両 |
JPH11276527A (ja) * | 1998-03-27 | 1999-10-12 | Yamaha Motor Co Ltd | 補助動力付き車椅子 |
JP2000214015A (ja) * | 1999-01-27 | 2000-08-04 | Nippon Automation:Kk | 加重検知装置及び駆動装置用制御装置並びに駆動力補助装置付車両 |
JP2005280385A (ja) * | 2004-03-26 | 2005-10-13 | Matsushita Electric Works Ltd | 搬送装置 |
JP2006001426A (ja) * | 2004-06-17 | 2006-01-05 | Mitsuba Corp | パワーアシスト付き搬送装置の制御方法及びパワーアシスト付き搬送装置 |
JP2006137391A (ja) * | 2004-11-15 | 2006-06-01 | Mitsuba Corp | パワーアシスト付き搬送装置における車速センサの異常検出方法 |
JP2012166748A (ja) * | 2011-02-16 | 2012-09-06 | Kyb Co Ltd | 電動アシスト台車 |
Also Published As
Publication number | Publication date |
---|---|
CN103857579A (zh) | 2014-06-11 |
US20140244093A1 (en) | 2014-08-28 |
US9045152B2 (en) | 2015-06-02 |
JP2013086544A (ja) | 2013-05-13 |
JP6039893B2 (ja) | 2016-12-07 |
CN103857579B (zh) | 2016-02-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6039893B2 (ja) | 電動アシスト台車 | |
JP5712103B2 (ja) | 電動アシスト台車 | |
JP5798878B2 (ja) | 搬送台車 | |
JP5860658B2 (ja) | 電動アシスト台車 | |
JP6088128B2 (ja) | 電動アシスト台車 | |
WO2013047165A1 (ja) | 電動アシスト台車 | |
WO2013137111A1 (ja) | 搬送台車 | |
EP1950171B1 (en) | Travel control apparatus for industrial vehicle | |
JP5604327B2 (ja) | 電動アシスト台車 | |
JP7188449B2 (ja) | 産業車両 | |
JP3536785B2 (ja) | 産業車両の走行制御装置 | |
JP5719605B2 (ja) | 電動アシスト台車 | |
JP5963633B2 (ja) | 作業車 | |
JP3826259B2 (ja) | 産業車両のブレーキ制御装置 | |
JP2002114141A (ja) | 産業車両におけるブレーキ制御装置 | |
JP2012061886A (ja) | 電動アシスト台車 | |
JP2012171374A (ja) | 電動アシスト台車 | |
JP3736307B2 (ja) | 産業車両のブレーキ制御装置 | |
JP2011000923A (ja) | ステアバイワイヤ式パワーステアリング装置 | |
JP3826262B2 (ja) | 産業車両のブレーキ制御装置 | |
JP2006069446A (ja) | パワーアシスト付き搬送装置の制御方法及びパワーアシスト付き搬送装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201280050582.3 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 12840449 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14351358 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 12840449 Country of ref document: EP Kind code of ref document: A1 |