WO2014132520A1 - Voiture à bras - Google Patents

Voiture à bras Download PDF

Info

Publication number
WO2014132520A1
WO2014132520A1 PCT/JP2013/083017 JP2013083017W WO2014132520A1 WO 2014132520 A1 WO2014132520 A1 WO 2014132520A1 JP 2013083017 W JP2013083017 W JP 2013083017W WO 2014132520 A1 WO2014132520 A1 WO 2014132520A1
Authority
WO
WIPO (PCT)
Prior art keywords
main body
angle
angular velocity
handcart
wheel
Prior art date
Application number
PCT/JP2013/083017
Other languages
English (en)
Japanese (ja)
Inventor
白土賢一
辻滋
久保昌幸
Original Assignee
株式会社村田製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社村田製作所 filed Critical 株式会社村田製作所
Publication of WO2014132520A1 publication Critical patent/WO2014132520A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors
    • 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
    • B62B5/0033—Electric motors

Definitions

  • the present invention relates to a wheelbarrow provided with wheels and driving and controlling the wheels.
  • the inverted pendulum control itself may be affected.
  • an object of the present invention is to provide a handcart that decelerates when the speed is exceeded while performing inverted pendulum control.
  • the wheelbarrow of the present invention includes a wheel, a main body that rotatably supports the wheel, a drive control unit that drives and controls the wheel, a speed sensor that detects a moving speed of the main body, and the main body.
  • Angle change detecting means for detecting the angle change of the inclination angle of the pitch direction of the part.
  • the drive control unit includes a first control mode for controlling rotation of the wheel so that an angle change of the main body unit becomes 0 and an inclination angle of the main body unit with respect to a vertical direction becomes a first angle; and the speed sensor When the movement speed detected by the unit exceeds a predetermined threshold, the drive control unit causes the angle change of the main body unit to be 0 and the inclination angle of the main body unit with respect to the vertical direction is the second angle. And a second control mode for controlling the rotation of the wheel.
  • the position of the main body in the second control mode is opposite to the traveling direction of the main body with respect to the position of the main body in the first control mode.
  • the wheelbarrow of the present invention performs the inverted pendulum control by tilting the main body portion in the direction opposite to the traveling direction at the time of overspeed, which is opposite to the direction in which the user pushes the wheelbarrow. A force is applied in the direction, and the user can decelerate the force by pushing the wheelbarrow.
  • the threshold value that is the reference for excess speed may be different depending on the traveling direction of the main body. For example, the threshold value for backward travel is set lower than that for forward travel. The threshold value may be manually adjusted by the user.
  • the angle change detection means may use a pitch angle sensor (inclination angle sensor) that detects an angle change of the inclination angle of the main body portion in the pitch direction, and one end is connected to the main body portion and rotates in the pitch direction.
  • a pitch angle sensor inclination angle sensor
  • the crossing angle of the main body part and the supporting part is detected, and the inclination angle of the main body part from the crossing angle May be estimated.
  • the first control mode may be restored.
  • FIG. 3 is a block diagram of a control unit 21.
  • FIG. It is the figure which showed the relationship between angular velocity and a target inclination angle.
  • 3 is a block diagram of a control unit 21.
  • FIG. 1 is an external view of a handcart 1 that is an embodiment of the moving body of the present invention.
  • FIG. 2 is a control configuration diagram showing the configuration of the handcart 1.
  • the wheelbarrow 1 includes, for example, a rectangular parallelepiped main body 10.
  • the main body 10 has a shape that is long in the vertical direction (Z and ⁇ Z directions in the drawing) and short in the depth direction (Y and ⁇ Y directions in the drawing).
  • the main body 10 incorporates a control board, a battery, and the like inside.
  • a main wheel 11 is attached to the right (X direction) end and the left ( ⁇ X direction) end of the lower part of the main body 10 in the vertically downward direction ( ⁇ Z direction). .
  • the pair of main wheels 11 are independently attached to the drive shaft and rotate synchronously. However, these main wheels 11 can be individually driven and rotated.
  • the main wheel 11 has shown the example which is two wheels, it is not restricted to two wheels.
  • a cylindrical handle 15 is attached to the upper part of the main body 10 in the vertical direction, and a T-shaped grip 16 is attached to the other end of the handle 15.
  • the grip portion 16 is provided with a user interface such as a power switch (user I / F 28 shown in FIG. 2).
  • a manual brake 29 is attached to the handle 15 at a position close to the grip portion 16 (the manual brake is not an essential component in the present invention).
  • the user can grip the grip portion 16 or place a forearm or the like on the grip portion 16 and press the handcart 1 by friction between the grip portion and the forearm.
  • the main body 10 is actually provided with a cover so that the internal substrate and the like cannot be seen in appearance.
  • a rod-like support portion 12 is attached to the back surface ( ⁇ Y direction) of the main body portion 10.
  • One end of the support portion 12 is rotatably connected to the main body portion 10.
  • An auxiliary wheel 13 is attached to the other end of the support portion 12.
  • the support part 12 supports the main body part 10 and prevents the main body part 10 from overturning.
  • assistant wheel 13 are not essential structures in this invention, even when the main-body part 10 will be in the state largely inclined from the perpendicular direction at the time of power-off by providing the auxiliary
  • the support part 12 and the auxiliary wheel 13 may be two or more.
  • the handcart 1 includes an inclination angle sensor 20, a control unit 21, a ROM 22, a RAM 23, a gyro sensor 24, a main wheel drive unit 25, a main wheel rotary encoder 26, a support unit rotary encoder 27, and a user.
  • An I / F 28 and a manual brake 29 are provided.
  • the control unit 21 is a functional unit that comprehensively controls the handcart 1 and reads out a program stored in the ROM 22 and develops the program in the RAM 23 to realize various operations.
  • the tilt angle sensor 20 detects the tilt angle with respect to the vertical direction in the pitch direction of the main body 10 (the rotation direction about the axis of the main wheel 11 in FIG.
  • the gyro sensor 24 detects the angular velocity in the pitch direction of the main body unit 10 and outputs it to the control unit 21.
  • the handcart 1 may further include an acceleration sensor that detects acceleration in each direction of the main body 10, a rotary encoder that detects the rotation angle of the auxiliary wheel 13, and the like.
  • the main wheel rotary encoder 26 detects the rotation angle of the main wheel 11 and outputs the detection result to the control unit 21.
  • the support unit rotary encoder 27 detects an intersection angle that is an angle formed by the main body unit 10 and the support unit 12, and outputs a detection result to the control unit 21.
  • the control unit 21 detects a change in the tilt angle of the main body 10 in the pitch direction based on the detection results of the gyro sensor 24 and the tilt angle sensor 20, and the angle change in the pitch direction of the main body 10 is zero.
  • the main wheel drive unit 25 is controlled so that the inclination angle of the main body 10 with respect to the vertical direction becomes a target value (for example, 0 or a value close to 0).
  • FIG. 3 is a block diagram of the control unit 21.
  • the control unit 21 includes a main wheel speed detection unit 211, a speed limit determination unit 212, a target tilt angle setting unit 213, a tilt angle detection unit 214, a main body tilt angle controller 215, a tilt angular velocity detection unit 216, and a main body tilt angular velocity.
  • a controller 217 is provided.
  • the main wheel speed detection unit 211 calculates the angular speed of the main wheel 11 by differentiating the rotation angle of the main wheel 11 input from the main wheel rotary encoder 26.
  • the tilt angle detection unit 214 calculates the tilt angle of the main body 10 based on the detection result of the tilt angle sensor 20 (for example, performs a low-pass filter process).
  • the tilt angular velocity detection unit 216 calculates the tilt angular velocity of the main body 10 based on the detection result of the gyro sensor 24 (for example, performs a low-pass filter process).
  • the main body inclination angle controller 215 is a difference between the target inclination angle (for example, 0 degree) input from the target inclination angle setting section 213 and the current inclination angle of the main body section 10 input from the inclination angle detection section 214. A value is input, and the tilt angular velocity of the main body 10 is calculated so that the difference value becomes zero.
  • the main body tilt angular velocity controller 217 inputs a difference value between the tilt angular velocity calculated by the main body tilt angle controller 215 and the current tilt angular velocity of the main body 10 input from the tilt angular velocity detector 216. Then, a torque value is calculated such that the difference value becomes zero.
  • the torque value calculated by the main body inclination angular velocity controller 217 is input to the main wheel drive unit 25.
  • the main wheel drive unit 25 is a functional unit that drives a motor that rotates a shaft attached to the main wheel 11, and applies an input torque value to the motor of the main wheel 11 to rotate the main wheel 11.
  • the handcart 1 performs the inverted pendulum control so as to keep the posture of the main body 10 constant. Thereby, the handcart 1 can maintain a fixed posture even when the user holds the grip portion 16 and pushes the handcart 1.
  • the speed restriction determination part 212 sets the target inclination angle of the target inclination angle setting part 213 according to the angular velocity of the main wheel 11. That is, the speed limit determination unit 212 sets the target tilt angle of the target tilt angle setting unit 213 to a first angle (for example, the above 0 degree) when the angular velocity of the main wheel 11 is equal to or less than a predetermined threshold (first degree). 1 control mode). Further, when the angular velocity of the main wheel 11 exceeds a predetermined threshold, the speed limit determination unit 212 sets the target tilt angle of the target tilt angle setting unit 213 to the second angle (second control mode). However, the position of the main body 10 in the second control mode is set to be opposite to the traveling direction with respect to the position of the main body 10 in the first control mode.
  • FIG. 4 is a diagram showing the relationship between the angular velocity of the main wheel 11 and the target inclination angle.
  • the positive angular velocity indicates the direction in which the main wheel 11 rotates clockwise as viewed from the right side of the main body 10.
  • the positive inclination angle indicates a direction in which the main body 10 rotates clockwise as viewed from the right side of the main body 10. That is, when the tilt angle is positive, the main body portion 10 tilts forward with respect to the traveling direction, and when the tilt angle is negative, the main body portion 10 tilts backward with respect to the traveling direction.
  • the target inclination angle is set to 0 degree, and the angular velocity of the main wheel 11 is ⁇ 6 ⁇ (rad / s).
  • the target inclination angle is set to + ⁇ / 8 (rad) when the angle is less than the value, and the target inclination angle is set to ⁇ / 8 (rad) when the angular velocity of the main wheel 11 exceeds + 6 ⁇ (rad / s). Is done.
  • the main body 10 tilts backward. Accordingly, a force is applied in the direction opposite to the direction in which the user pushes the handcart (backward), and the user can decelerate the force by pushing the handcart.
  • the reverse speed of the handcart 1 is increased to some extent, the main body 10 is inclined forward. As a result, a force is applied in the opposite direction (forward) to the direction in which the user pulls the handcart, and the user can weaken the force to pull the handcart and decelerate. Even in these second control modes, since the inverted pendulum control is continuously performed, the function as a handcart is maintained.
  • the threshold value may be different between forward and reverse.
  • the target inclination angle when the angular velocity of the main wheel 11 is ⁇ 4 ⁇ to + 6 ⁇ (rad / s), the target inclination angle is set to 0 degree, and the angular velocity of the main wheel 11 is ⁇ 4 ⁇ (rad / s).
  • the target inclination angle is set to + ⁇ / 8 (rad) when the angle is less than the value, and the target inclination angle is set to ⁇ / 8 (rad) when the angular velocity of the main wheel 11 exceeds + 6 ⁇ (rad / s). Is done. Accordingly, when the vehicle is moving backward, the target inclination angle changes at a lower moving speed than when moving forward, so that the moving speed can be further suppressed.
  • the target inclination angle may be different between forward and reverse.
  • the target inclination angle when the angular velocity of the main wheel 11 is less than ⁇ 4 ⁇ (rad / s), the target inclination angle is set to + ⁇ / 7 (rad), and the angular velocity of the main wheel 11 is + 6 ⁇ ( When rad / s) is exceeded, the target tilt angle is set to ⁇ / 8 (rad). Therefore, when moving backward, the vehicle is greatly inclined forward, and the moving speed can be further suppressed than when moving forward.
  • the inclination with respect to the vertical direction may be increased as the moving speed increases.
  • the target inclination angle when the angular velocity of the main wheel 11 is ⁇ 4 ⁇ to + 4 ⁇ (rad / s), the target inclination angle is set to 0 degree, and the angular velocity of the main wheel 11 is ⁇ 6 ⁇ to ⁇ 4 ⁇ (rad). / S), the target inclination angle is set to + ⁇ / 12 (rad), and when the angular velocity of the main wheel 11 is less than ⁇ 6 ⁇ (rad / s), the target inclination angle is set to + ⁇ / 8 (rad).
  • the target inclination angle is set to ⁇ / 12 (rad), and the angular velocity of the main wheel 11 is + 6 ⁇ to + 8 ⁇ (rad / s).
  • the target tilt angle is set to - ⁇ / 8 (rad), and the target tilt angle is set to - ⁇ / 6 (rad) when the angular velocity of the main wheel 11 exceeds + 8 ⁇ (rad / s).
  • the main body portion 10 is largely inclined in the reverse direction with respect to the traveling direction, so that the effect of suppressing the speed is increased.
  • the threshold value may be changed manually by accepting a user operation by the user I / F 28.
  • the example using the inclination angle sensor 20 and the gyro sensor 24 as the means for detecting the angle change of the inclination angle in the pitch direction of the main body 10 has been described. However, as long as at least one of them is provided. Good.
  • the tilt angle velocity of the main body 10 is calculated by differentiating the tilt angle of the main body 10 detected by the tilt angle sensor 20.
  • the tilt angle of the main body 10 is calculated by integrating the tilt angular velocity of the main body 10 detected by the gyro sensor 24.
  • an acceleration sensor can be used, and any other sensor may be used.
  • FIG. 5 is a block diagram of the control unit 21 according to the modification. 3 is different from the example shown in FIG. 3 in that the inclination angle detection unit 214 is an inclination angle detection unit 214A. Components that are the same as those in FIG. 3 are given the same reference numerals, and descriptions thereof are omitted.
  • the tilt angle detector 214A estimates the tilt angle of the main body 10 from the intersection angle of the main body 10 and the support 12 input from the support rotary encoder 27.
  • the intersection angle between the main body 10 and the support 12 is ⁇ 1
  • the inclination angle of the main body 10 with respect to the direction perpendicular to the ground is ⁇ 2
  • the length of the main body 10 is L1 is the length from the intersection position of the main wheel 11 to L1 and the length of the support portion 12 (the length from the intersection position of the main body portion 10 and the support portion 12 to the auxiliary wheel 13) is L2
  • L1 cos ⁇ 2 L2 cos ( From the relationship of ⁇ 1- ⁇ 2), the inclination angle ⁇ 2 of the main body 10 with respect to the direction perpendicular to the ground is
  • FIG. 7 is a control configuration diagram showing the configuration of the handcart 1B provided with the touch sensor
  • FIG. 8 is a block diagram of the control unit 21 in the handcart 1B.
  • the handcart 1B is further provided with a touch sensor 30 that detects whether or not a human body is touching the main body 10 with respect to the handcart 1 shown in FIG.
  • the same components as those in FIG. In FIG. 8, the same components as those in FIG. 3 are denoted by the same reference numerals, and description thereof is omitted.
  • the touch sensor 30 is provided, for example, in the grip portion 16 so that when the user grips the grip portion 16 or places a forearm or the like on the grip portion 16, it can detect that a human body has come into contact.
  • the target inclination angle setting unit 213 ⁇ / b> A inputs a detection result from the touch sensor 30, and the first control mode (the target inclination angle is 0 degree) according to the detection result of the touch sensor. Or the state near 0 degree) and the second control mode (state inclined with respect to the vertical direction) are switched. That is, when the target inclination angle setting unit 213A detects from the touch sensor 30 that the human body is not in contact, the target inclination angle is set even when the angular velocity of the main wheel 11 exceeds a predetermined threshold. Is set to the first angle (0 degrees or near 0 degrees).

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Rehabilitation Therapy (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Tools (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Epidemiology (AREA)
  • Handcart (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne une voiture à bras qui ralentit en cas de survitesse tout en effectuant un contrôle par pendule inversé. Une unité de détermination de limite de vitesse (212) fixe un angle d'inclinaison cible d'une unité de réglage d'angle d'inclinaison (213) en fonction de la vitesse angulaire d'une roue principale (11). En d'autres termes, lorsque la vitesse angulaire de la roue principale (11) se trouve à un seuil prédéterminé ou moins, l'unité de détermination de limite de vitesse (212) règle l'angle d'inclinaison cible à un premier angle (premier mode de contrôle). Lorsque la vitesse angulaire de la roue principale (11) dépasse le seuil prédéterminé, l'unité de détermination de limite de vitesse (212) règle l'angle d'inclinaison cible à un second angle (second mode de contrôle). Néanmoins, la position de l'unité formant corps principal (10) dans le second mode de contrôle est réglée de façon à se trouver dans une direction opposée à une direction de trajet par rapport à la position de l'unité formant corps principal (10) dans le premier mode de contrôle.
PCT/JP2013/083017 2013-03-01 2013-12-10 Voiture à bras WO2014132520A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013-040203 2013-03-01
JP2013040203A JP5565487B1 (ja) 2013-03-01 2013-03-01 手押し車

Publications (1)

Publication Number Publication Date
WO2014132520A1 true WO2014132520A1 (fr) 2014-09-04

Family

ID=51427123

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2013/083017 WO2014132520A1 (fr) 2013-03-01 2013-12-10 Voiture à bras

Country Status (2)

Country Link
JP (1) JP5565487B1 (fr)
WO (1) WO2014132520A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107000774A (zh) * 2014-11-11 2017-08-01 博2格有限公司 移动式行走和运输辅助设备

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6252683B2 (ja) * 2014-09-03 2017-12-27 株式会社村田製作所 手押し車

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01316810A (ja) * 1988-06-17 1989-12-21 Tokugei Kk 自立型搬送機並びにそれによる自動搬送装置
WO1998041182A1 (fr) * 1997-03-17 1998-09-24 Hitachi, Ltd. Dispositif d'aide a la marche
JP2004078785A (ja) * 2002-08-22 2004-03-11 Daifuku Co Ltd 物品搬送設備
JP2007168602A (ja) * 2005-12-21 2007-07-05 Matsushita Electric Works Ltd 二輪移動台車
JP2009073281A (ja) * 2007-09-19 2009-04-09 Equos Research Co Ltd 車両
JP2012066783A (ja) * 2010-09-27 2012-04-05 Mitsuba Corp 制御装置及び移動体
WO2012114597A1 (fr) * 2011-02-23 2012-08-30 株式会社村田製作所 Déambulateur

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01316810A (ja) * 1988-06-17 1989-12-21 Tokugei Kk 自立型搬送機並びにそれによる自動搬送装置
WO1998041182A1 (fr) * 1997-03-17 1998-09-24 Hitachi, Ltd. Dispositif d'aide a la marche
JP2004078785A (ja) * 2002-08-22 2004-03-11 Daifuku Co Ltd 物品搬送設備
JP2007168602A (ja) * 2005-12-21 2007-07-05 Matsushita Electric Works Ltd 二輪移動台車
JP2009073281A (ja) * 2007-09-19 2009-04-09 Equos Research Co Ltd 車両
JP2012066783A (ja) * 2010-09-27 2012-04-05 Mitsuba Corp 制御装置及び移動体
WO2012114597A1 (fr) * 2011-02-23 2012-08-30 株式会社村田製作所 Déambulateur

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107000774A (zh) * 2014-11-11 2017-08-01 博2格有限公司 移动式行走和运输辅助设备

Also Published As

Publication number Publication date
JP2014168967A (ja) 2014-09-18
JP5565487B1 (ja) 2014-08-06

Similar Documents

Publication Publication Date Title
JP5943154B2 (ja) 手押し車
WO2014188726A1 (fr) Dispositif électrique d'aide à la marche, programme de commande de dispositif électrique d'aide à la marche, et procédé de commande de dispositif électrique d'aide à la marche
JP6164300B2 (ja) 手押し車
US20160176429A1 (en) Pushcart
JP5652578B2 (ja) 手押し車
JP5884930B2 (ja) 手押し車
JP5958581B2 (ja) 手押し車
JP6123907B2 (ja) 手押し車
JP5565487B1 (ja) 手押し車
JP6252683B2 (ja) 手押し車
JP5800110B2 (ja) 手押し車
JP5979322B2 (ja) 手押し車
WO2015019982A1 (fr) Voiture à bras
JP5935965B1 (ja) 手押し車
JP5979321B2 (ja) 手押し車
WO2014045955A1 (fr) Chariot
WO2014045858A1 (fr) Chariot à bras

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13876564

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13876564

Country of ref document: EP

Kind code of ref document: A1