WO2016208060A1

WO2016208060A1 - Truck device

Info

Publication number: WO2016208060A1
Application number: PCT/JP2015/068496
Authority: WO
Inventors: 一弘小菅; 潤衣川; 瑛情野; 勇太若林; 柳屋　隆
Original assignee: エレクター株式会社; 国立大学法人東北大学
Priority date: 2015-06-26
Filing date: 2015-06-26
Publication date: 2016-12-29
Also published as: JP6490214B2; JPWO2016208060A1

Abstract

A truck device, provided with a truck body having a pair of wheels, a handle (12) that is capable of turning about a first turning axis (A1) extending in a plane orthogonal to the width direction (W) of the truck body, a conversion mechanism (6) for converting the turning motion of the handle (12) to linear motion in the width direction (W), a linear motion shaft (11) that extends in the width direction (W) and is moved linearly by the conversion mechanism (6), and a braking device for braking one wheel by moving in a first direction due to the linear motion shaft (11) moving linearly, and braking the wheel opposite the first wheel by moving in a second direction opposite to the first direction due to the linear motion shaft (11) moving linearly.

Description

Bogie equipment

The present invention relates to a cart apparatus that has a pair of wheels and is used for transportation and the like.

For example, as a cart device (electrically assisted cart, mobile cart) that transports an object to be conveyed such as food provided in a facility such as a hotel or a hospital, an operation is performed using a handle provided in front of the cart device. The ones are common.
As such a cart device, there is known a configuration in which a driving force of an electric motor is distributed to a pair of wheels by combining a single electric motor and a differential gear (see, for example, Patent Document 1).

This bogie device achieves turning of the bogie device by swinging a handle to brake one wheel. Further, since the vehicle can be driven by a single electric motor, for example, it can be manufactured at a lower cost as compared with a two-motor bogie device having two electric motors and wheels connected to each electric motor. Is possible.

JP 2008-114630 A

However, in the case of the cart apparatus as described in Patent Document 1, there is a problem that the turning operation is difficult because the steering wheel operation is a twisting operation.

The object of the present invention is to provide a cart device that enables the cart to turn with a more intuitive operation.

According to the first aspect of the present invention, the carriage device includes a carriage body having a pair of wheels, and a handle that is rotatable around a first rotation axis along a plane orthogonal to the width direction of the carriage body. A conversion mechanism that converts the rotational motion of the handle into a linear motion along the width direction, a linear motion shaft that extends in the width direction and moves linearly with the conversion mechanism, and the linear motion shaft One of the wheels is braked by moving in the first direction by the linear motion, and the linear shaft is moved in the second direction opposite to the first direction by the linear motion. And a braking device for braking a wheel opposite to the one wheel.

According to such a configuration, by operating the steering wheel to the left and right, the cart body can be turned left and right, so that the operator can operate the cart device more intuitively. Further, since the turning motion of the handle is converted into the linear motion, the input to the braking device is surely performed, so that the burden on the operator can be reduced.

In the cart apparatus, the conversion mechanism is formed along the longitudinal direction of the linear shaft and a pinion gear coaxial with the first rotation shaft and provided integrally with the handle. And a rack meshing with each other.

In the cart apparatus, the conversion mechanism is formed integrally with the handle and is formed integrally with the handle and the pin that rotates together with the handle about the first rotation shaft, and the pin is A plate having an elongated hole that is inserted and restricts movement of the pin in the width direction and allows movement in a direction orthogonal to the width direction may be provided.

In the above-described cart device, a drive device having an output shaft for rotational drive, a differential device for rotating the wheels by distributing an output corresponding to the rotational speed of the output shaft to the pair of wheels, and along the width direction A cylindrical hollow pipe provided so as to be rotatable around a second rotation shaft and having the linear motion shaft disposed on the inner peripheral side, and a regulating member for regulating relative rotation of the linear motion shaft with respect to the hollow pipe A bracket portion that is provided integrally with the hollow pipe and supports the handle in a swingable manner about the first rotation shaft, and a handle angle detection that detects an angle of the handle via the hollow pipe. And a control device that sets the rotational speed of the output shaft based on a target speed determined based on a detection value of the handle angle detection device.

According to such a configuration, the speed of the carriage device can be adjusted according to the operation angle of the handle. Further, since the linear motion shaft is disposed on the inner peripheral side of the hollow pipe, the linear motion shaft that operates the braking device and the hollow pipe that operates the drive device can be compactly disposed.

In the cart apparatus, the projection that rotates in synchronization with the rotation of the hollow pipe, and the rotation of the hollow pipe through the projection when the handle rotates out of the operation range and the impact are applied. And an impact absorbing mechanism for absorbing.

According to such a configuration, when the operator unintentionally moves the handle out of the operation range, the impact on the operator's arm can be reduced.

The cart apparatus includes a touch sensor that is provided in a grip portion of the handle and detects the presence or absence of contact with the grip portion, and the control device includes a touch sensor that is in a state where the touch sensor is not detected. It is good also as a structure which does not perform control.

Such a configuration can prevent the carriage device from moving when the handle is moved unintentionally.

In the cart apparatus, a first urging member for returning the handle to a center position in a rotation direction centered on the first rotation axis, and the handle centered on the second rotation axis. And a second urging member that urges toward the rear side of the cart body in the rotation direction.

According to such a configuration, the handle can be automatically returned to the initial position when the handle is not operated.

According to the present invention, the left and right turning operation of the main body of the carriage can be performed by operating the handle to the left and right, so that the operator can operate the carriage device more intuitively.

It is a perspective view of the cart apparatus of a first embodiment of the present invention. It is a top view explaining the schematic structure of the cart apparatus of a first embodiment of the present invention. It is a perspective view of the handle | steering-wheel apparatus of 1st embodiment of this invention. It is sectional drawing of the handle | steering_wheel of the trolley | bogie apparatus of 1st embodiment of this invention. It is a side view explaining the composition of the handle of the cart apparatus of a first embodiment of the present invention. It is a figure explaining the relationship between the hollow pipe which comprises the operation part of the trolley | bogie apparatus of 1st embodiment of this invention, a linear motion axis | shaft, and a bracket part. It is sectional drawing explaining the motion of the handle | steering_wheel of the trolley | bogie apparatus of 1st embodiment of this invention. It is the schematic of the return mechanism of the handle | steering-wheel apparatus of 1st embodiment of this invention. It is a side view explaining the shock absorption mechanism of the trolley | bogie apparatus of 1st embodiment of this invention. It is a side view explaining the shock absorption mechanism of the trolley | bogie apparatus of 1st embodiment of this invention. It is a schematic plan view explaining the structure of the differential device of 1st embodiment of this invention. It is sectional drawing of the handle | steering_wheel of the trolley | bogie apparatus of 2nd embodiment of this invention. It is sectional drawing explaining the motion of the handle | steering-wheel apparatus of 2nd embodiment of this invention.

Hereinafter, the cart apparatus 1 of embodiment of this invention is demonstrated in detail with reference to drawings. The drawings used in the following description are for explaining the configuration of the embodiment of the present invention, and the size, thickness, dimensions, and the like of each part shown in the drawings are different from the dimensional relationship of the actual cart apparatus 1. There is a case.
FIG. 1 is a perspective view schematically showing a cart apparatus 1 according to an embodiment of the present invention. As shown in FIG. 1, the carriage device 1 operates the carriage device 1 and a carriage main body 2 having a pair of wheels 3 (only one side is shown in FIG. 1) that are separated in a width direction W orthogonal to the traveling direction T. And an operation unit 4 (handle 12).

The cart apparatus 1 of the present embodiment is a so-called power assist cart that assists an operator using the driving force of an electric motor (driving apparatus).
The X direction shown in FIG. 1 indicates the longitudinal direction X of the carriage device 1. The W direction shown in FIG. 1 indicates the width direction W of the carriage device 1. Moreover, the arrow T shown in FIG. 1 points to the front of the traveling direction T of the carriage device 1.

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

In the lower part of the main body 2 of the carriage, there is provided a drive part accommodating part 10 for arranging an electric motor 16 (see FIG. 2) and the like. The drive unit accommodating unit 10 accommodates a control device 5 (see FIG. 2) for controlling the handle operation of the operator and the rotation speed of the electric motor 16.

The operation unit 4 has a handle 12 provided on the front surface 2 a of the carriage body 2. In a state where no force is applied, the handle 12 faces upward in the vertical direction as shown in FIG. In this way, the position where the handle 12 is in the center in the width direction W and the rearmost side of the cart body 2 is the initial position of the handle 12.
The cart apparatus 1 has a function of moving forward and backward when the operator operates the handle 12 in the front-rear direction around the second rotation axis A2 (see FIG. 5). Specifically, the cart apparatus 1 has a function of adjusting the speed of the cart apparatus 1 by operating the handle 12 in the front-rear direction.

The cart apparatus 1 has a function of turning when the operator rotates the handle 12 by tilting the handle 12 in the width direction W around the first rotation axis A1 (see FIG. 7). Specifically, the cart device 1 has a function of causing the cart device 1 to bend and travel by selectively braking one of the pair of wheels 3. The operator can bend the carriage device 1 to the right by tilting the handle 12 in the width direction W, for example, to the right and braking the right wheel 3 while the carriage device 1 is traveling. The cart apparatus 1 turns the cart apparatus 1 left and right by creating a speed difference between the left and right wheels 3 using a braking device 20 (see FIG. 2) described later.

The operator can perform forward / backward operation and turning operation at the same time. That is, it is possible to perform an operation of tilting the handle 12 in the width direction W while tilting the handle 12 in the front-rear direction. Therefore, the first rotation axis A1 rotates about the axis A2 according to the rotation position of the handle 12 about the axis A2. Regardless of the position of the first rotation axis A1, the first rotation axis A1 is along a plane orthogonal to the width direction of the carriage main body 2.

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

The braking device 20 is provided corresponding to the pair of wheels 3 and is a device capable of braking each of the pair of wheels 3. The braking device 20 is attached to a pair of brake rotors 22 that rotate together with the wheels 3, a pair of brake calipers 23 that are disposed at positions sandwiching the brake rotors 22, the brake calipers 23, and the front surface 2 a of the carriage body 2. This is a hydraulic brake having a hose 24 connected to the master cylinder 36. The master cylinder 36 is configured to be operated in conjunction with the movement of the handle 12.
In the braking device 20 of this embodiment, the right master cylinder 36 in the traveling direction T is connected to the left brake caliper 23 in the traveling direction T, and the left master cylinder 36 in the traveling direction T is in the traveling direction. The brake caliper 23 on the right side is connected to T. That is, when the right master cylinder 36 is operated, the left wheel 3 is braked, and when the left master cylinder 36 is operated, the right wheel 3 is braked.

The braking device 20 brakes the left wheel 3 when the handle 12 is tilted leftward in the width direction W from the center position, and the right side when the handle 12 is tilted rightward in the width direction W from the center position. It is comprised so that the wheel 3 of this may be braked. Specifically, the force applied to the handle 12 is converted into hydraulic pressure via the master cylinder 36, and the brake caliper 23 is operated via the hose 24.

Note that the braking device 20 is not limited to a hydraulic brake as long as the wheel 3 can be braked in accordance with the movement of the linear motion shaft 11, and other types of braking devices may be employed. For example, as the braking device 20, a mechanical brake that transmits the movement of the linear motion shaft 11 to the brake caliper 23 using a wire or the like may be employed. Further, as the braking device 20, an electromagnetic brake that operates the brake caliper 23 using the action of an electromagnet can be employed.

Next, details of the operation unit 4 will be described. 3 is a perspective view of the operation unit 4, FIG. 4 is a sectional view of the operation unit 4, FIG. 5 is a side view of the operation unit 4, and FIG. It is a figure explaining the relationship between the moving shaft 11 and the bracket part 13. FIG.
As shown in FIGS. 3 and 4, the operation unit 4 of the present embodiment includes a plate-like base portion 25 disposed on the front surface 2 a (see FIG. 1) of the carriage body 2, a handle 12, and a handle 12. A conversion mechanism 6 that converts the rotation motion about the first rotation axis A1 into a linear motion along the width direction W, and a linear motion shaft 11 that moves linearly by the conversion mechanism 6. Yes. The linear motion shaft 11 is disposed coaxially with the pair of master cylinders 36 and functions as an input shaft for the master cylinder 36.

The operation unit 4 includes a pair of support members 26 fixed to the base unit 25, a cylindrical hollow pipe 7 supported by the pair of support members 26 so as to be rotatable about the second rotation axis A2, And a bracket portion 13 provided integrally with the hollow pipe 7. The linear motion shaft 11 extends in the width direction W and is disposed on the inner peripheral side of the hollow pipe 7. The hollow pipe 7 functions as a guide for linear motion along the width direction W of the linear motion shaft 11.
The handle 12 is attached to the bracket portion 13 so as to be swingable in the width direction W about the first rotation axis A1. The bracket part 13 and the hollow pipe 7 are fixed integrally. The bracket portion 13 has a function of transmitting the rotational movement around the axis A 2 of the handle 12 to the hollow pipe 7.
Further, the rotational movement of the handle 12 around the axis A 2 is transmitted to the linear motion shaft 11 through the bracket portion 13 and the hollow pipe 7. That is, the linear motion shaft 11 is restricted from rotating around the axis A 2 with respect to the hollow pipe 7.

The conversion mechanism 6 includes a pinion gear 41 provided on the handle 12 and a rack portion 33 formed on the linear motion shaft 11. The conversion mechanism 6 converts the rotational motion about the first rotational axis A1 of the handle 12 into the linear motion in the width direction W of the linear motion shaft 11. When the linear motion shaft 11 moves in the width direction W, the master cylinder 36 adjacent to the linear motion shaft 11 is operated, and the braking device 20 operates.

As shown in FIG. 5, by rotating the handle 12 in the front-rear direction about the axis A 2, the hollow pipe 7 and the linear motion shaft 11 are also rotated in the same manner as the handle 12 via the bracket portion 13.
As shown in FIG. 7, the linear movement shaft 11 moves in the width direction W via the conversion mechanism 6 by rotating the handle 12 in the width direction W about the axis A 1. Specifically, when the handle 12 is rotated toward one side in the width direction W, the linear motion shaft 11 moves toward the other side in the width direction W by the rack and pinion mechanism.

The hollow pipe 7 is a cylindrical member arranged coaxially with the second rotation axis A2 extending in the width direction W, and functions as the rotation axis of the handle 12. The hollow pipe 7 is rotatably attached to the support member 26 via a bearing 31 provided on the support member 26. In the central portion of the hollow pipe 7, an elongated hole 32 (see FIGS. 4 and 6) extending in the axial direction and an opening that exposes the rack portion 33 of the linear motion shaft 11 disposed inside the hollow pipe 7. 34. The hollow pipe 7 is restrained from moving in the width direction W.

The linear motion shaft 11 is slidably disposed along the second rotation axis A2 inside the hollow pipe 7. At the center of the hollow pipe 7 is provided a rack portion 33 which is a rack composed of a plurality of teeth. Specifically, the rack portion 33 is composed of a plurality of teeth that are continuous in the width direction W.
Bushes 89 are attached to both ends of the hollow pipe 7. The bush 89 is interposed between the outer peripheral surface of the linear motion shaft 11 and the inner peripheral surface of the hollow pipe 7. The bushing 89 is held by a holding member 88. The holding member 88 is fixed to the hollow pipe 7 with a bolt 90.
The bush 89 functions as a bearing that supports the linear motion shaft 11 so as to be rotatable about the axis A2.

A pair of marker pins 35 (regulating members) are attached to the central portion of the hollow pipe 7 and on the opposite side of the rack portion 33. The marker pin 35 is a bolt having a head portion 35a and a screw portion 35b. The head portion 35 a of the marker pin 35 has a diameter slightly smaller than the width Wd in the direction orthogonal to the longitudinal direction of the long hole 32 of the hollow pipe 7, and the linear motion shaft 11 slides inside the hollow pipe 7. In the meantime, it moves along the long hole 32.

Further, the marker pin 35 restricts the linear motion shaft 11 from rotating (relatively rotating) around the axis A 2 relative to the hollow pipe 7. That is, when the hollow pipe 7 rotates about the axis A2, the linear movement shaft 11 also rotates about the axis A2 via the marker pin 35. As a result, the rack portion 33 follows the rotational movement of the handle 12 around the axis A 2, and the pinion gear 41 provided on the handle 12 always meshes with the rack portion 33.
Furthermore, the marker pin 35 also has a function of limiting the movement range of the linear motion shaft 11 in the width direction W. As shown in FIG. 7, when the handle 12 is tilted, one marker pin 35 comes into contact with one end in the width direction W of the long hole 32. Thereby, the movement range of the handle 12 is limited.

The bracket portion 13 includes a pair of shaft support plates 43 whose main surfaces are orthogonal to the first rotation axis A1, and pipe connection plates 45 that connect both ends of the shaft support plate 43 in the width direction. Yes. The main surface of the pipe connection plate 45 is orthogonal to the second rotation axis A2.

A pipe insertion hole 46 through which the hollow pipe 7 is inserted is formed in the pipe connection plate 45. The hollow pipe 7 and the pipe connection plate 45 are fixed by a fastening member such as a bolt 47, for example. A flange portion 31a provided on the bearing 31 of the support member 26 is in contact with one surface of the pipe connection plate 45, thereby restricting movement of the bracket portion 13 in the direction along the axis A2. Since the bracket portion 13 and the hollow pipe 7 are fixed, the movement of the hollow pipe 7 in the direction along the axis A2 is also restricted.
The shaft support plate 43 is formed with a first shaft insertion hole 44 (see FIG. 5) through which the shaft 38 provided in the handle 12 is inserted. The shaft 38 is not fixed to the shaft support plate 43 (bracket portion 13) and can slide on the inner peripheral surface of the first shaft insertion hole 44.

The handle 12 includes a rod-shaped shaft portion 51, a grip portion 52 provided at one end portion of the shaft portion 51, and a pair of support portions 53 provided at the other end portion of the shaft portion 51 (see FIG. 5). And a shaft 38 fixed to the support portion 53, and a pinion gear 41 fixed to the shaft 38.

The handle 12 is rotatably connected to the bracket portion 13 via a shaft 38.
The grip portion 52 has a rod shape, and the extending direction of the grip portion 52 is orthogonal to the shaft portion 51. The support portion 53 is a plate-like member that extends along the extending direction of the shaft portion 51. As shown in FIG. 5, the main surfaces of the pair of support portions 53 are parallel to each other. A second shaft insertion hole 54 through which the shaft 38 is inserted is formed at the tip of the support portion 53. The shaft 38 and the support portion 53 are integrally fixed via a key 39.

The pinion gear 41 is fixed to the shaft 38 (handle 12) so as to be coaxial with the shaft 38 (first rotation axis A1). That is, the pinion gear 41 is also rotated through the shaft 38 by rotating the handle 12 around the first rotation axis A1. The pinion gear 41 is disposed at a position that meshes with the teeth of the rack portion 33 of the linear motion shaft 11. That is, when the handle 12 is rotated about the first rotation axis A1, the linear movement shaft 11 is moved in the width direction by the rack and pinion mechanism (conversion mechanism 6) constituted by the pinion gear 41 and the rack portion 33. It moves along W (second rotation axis A2).

As shown in FIG. 3, the operation unit 4 has a handle angle detection device 14 for detecting the rotation angle θ of the handle 12 (operation amount, see FIG. 5). The handle angle detection device 14 detects the rotation angle θ of the hollow pipe 7 transmitted via the first pulley mechanism 56. The first pulley mechanism 56 includes a pulley 57 attached to the hollow pipe 7 coaxially with the hollow pipe 7, a pulley 58 attached to the base portion 25 by a predetermined method, and a belt wound around the

pulleys

57, 58. 59. The detection shaft of the handle angle detection device 14 is connected to the pulley 58 coaxially.

A potentiometer can be adopted as the handle angle detection device 14. The handle angle detection device 14 and the control device 5 are electrically connected, and the rotation angle θ of the handle 12 detected by the handle angle detection device 14 is input to the control device 5. Specifically, a voltage (analog value) output from the potentiometer is converted into a rotation angle θ (digital value) via an analog-digital conversion circuit (A / D conversion circuit) and input to the control device 5. .
Further, as the handle angle detection device 14, any other device can be adopted as long as it is an angular position sensor. For example, a rotary encoder can be used. When a rotary encoder is used, a pulse counter board is used instead of the A / D conversion circuit.

The handle 12 is swingable about the second rotation axis A2, but is always on the rear side of the carriage body 2 by a biasing member 60 (second biasing member) such as a torsion coil spring. (In FIG. 5, it is biased so as to be a position indicated by a two-dot chain line).

Similarly, the handle 12 is swingable about the first rotation axis A1, but is always positioned at the center in the width direction W by the return mechanism 62 shown in FIG. 8 (two points in FIG. 8). It is energized (to the position indicated by the chain line).
The return mechanism 62 includes a return pin 63 provided on the support portion 53 of the handle 12, a restriction pin 64 provided on the shaft support plate 43 of the bracket portion 13, and a torsion coil spring 65 (first shaft) attached to the shaft 38. Urging member). The torsion coil spring 65 has a first straight portion 66 and a second straight portion 67, and is biased so that the first straight portion 66 and the second straight portion 67 approach each other.

The torsion coil spring 65 is arranged so that the return pin 63 and the restriction pin 64 are sandwiched between the first straight portion 66 and the second straight portion 67. Accordingly, as shown by a solid line in FIG. 8, when the handle 12 swings around the axis A 1, a biasing force toward the center in the width direction W is applied to the return pin 63 by the torsion coil spring 65. It is done. That is, the handle 12 is urged so as to be always located at the center in the width direction W.

Here, the detailed structure of the master cylinder 36 will be described. The master cylinder 36 includes a cylindrical cylinder portion 48, a rod portion 49 that can slide within the cylinder portion 48, and a pad portion 50 that is attached to the tip of the rod portion 49. The master cylinder 36 is arranged so that the axial direction of the cylinder portion 48 and the rod portion 49 is along the second rotation axis A2, and the tips (pad portions 50) of the rod portions 49 of the pair of master cylinders 36 face each other. Has been placed.

The linear motion shaft 11 is a member that transmits the movement of the handle 12 to the master cylinder 36. When the handle 12 is located at the center in the width direction W as shown in FIG. 4, the linear motion shaft 11 is disposed so that both ends thereof abut against the pad portion 50 of the master cylinder 36.

As shown in FIGS. 9 and 10, the operation unit 4 has an impact absorbing mechanism 70. The shock absorbing mechanism 70 includes a second pulley mechanism 71, a transmission shaft 75, and a pair of

shock absorbers

78 and 79.
The shock absorbing mechanism 70 absorbs the movement outside the operation range of the handle 12 transmitted via the second pulley mechanism 71 by the

shock absorbers

78 and 79. The second pulley mechanism 71 includes a pulley 72 attached to the hollow pipe 7 coaxially with the hollow pipe 7, a pulley 73 attached to the base portion 25 by a predetermined method, and a belt wound around the

pulleys

72, 73. 74. The transmission shaft 75 is connected to the pulley 73 coaxially.

The transmission shaft 75 has a first protrusion 76 and a second protrusion 77 that protrude outward in the radial direction. The first protrusion 76 and the second protrusion 77 rotate in synchronization with the rotation of the hollow pipe 7.
The

shock absorbers

78 and 79 are, for example, of the type having an outer cylinder 80 filled with oil, a piston slidably mounted in the outer cylinder, and a piston rod 81 protruding outside the outer cylinder. Can do. The

shock absorbers

78 and 79 have outer cylinders fixed to the base portion 25 by a predetermined method.

As shown in FIG. 9, the first protrusion 76 and the first shock absorber 78 are arranged so that the first protrusion 76 contacts the piston rod 81 of the first shock absorber 78 when the handle 12 is not tilted. ing.
The second protrusion 77 and the first shock absorber 78 abut on the piston rod 81 of the second shock absorber 79 when the handle 12 is tilted to nearly 90 ° as shown in FIG. Are arranged as follows.

As shown in FIG. 3, a touch sensor 83 is provided on the grip 52 of the handle 12. The touch sensor 83 is a detection device that determines whether or not there is contact with the touch sensor 83, that is, whether or not the operator is holding the grip portion 52. For example, the touch sensor 83 is an electrostatic that is generated between the electrode and the object. An electrostatic type that detects the capacitance can be employed. The touch sensor 83 is electrically connected to the control device 5. The control device 5 controls the electric motor 16 and the braking device 20 according to the operation of the handle 12 only when the touch sensor 83 is ON.

On the other hand, when the touch sensor 83 is OFF, the control device 5 does not control the electric motor 16 or the like even if the handle 12 is tilted.
The touch sensor only needs to be able to determine whether the operator is holding the grip portion 52. That is, the touch sensor is not limited to the electrostatic type, but may be another type such as a resistive film type or an infrared type.

According to the configuration of the handle 12 described above, the brake device 20 is operated by swinging the handle 12 in the width direction W around the axis A1 regardless of the position (rotation angle θ) of the handle 12 in the front-rear direction. be able to. That is, as shown in FIG. 7, the turning operation of the handle 12 is converted into a linear motion operation via the conversion mechanism 6, and the linear motion shaft 11 moves in the direction along the width direction W to move the rod of the master cylinder 36. The brake device 20 (see FIG. 2) connected to the master cylinder 36 is operated by operating the portion 49 in the contracting direction.

Next, the configuration of the differential device 19 of this embodiment will be described. As shown in FIG. 11, the differential 19 is provided integrally with the pair of side gears 27, the pinion gear 28 that meshes with the pair of side gears 27, the casing 29 that supports the pinion gear 28, and the casing 29. This is a differential gear (differential gear) having a ring gear 30 that meshes with a drive gear 18 that is rotated by a drive force of 16.
The pair of axles 15 is attached to the side gear 27. That is, the wheel 3 is configured to rotate via the axle 15 as the side gear 27 rotates.

Next, operation | movement of the trolley | bogie apparatus 1 of this embodiment is demonstrated.
When the operator moves the carriage device 1 forward, the operator operates the handle 12 that can be operated in the front-rear direction and the width direction W of the carriage device 1 forward in the traveling direction T. By operating the handle 12, the rotation angle θ (detection value) is input from the handle angle detection device 14 to the control device 5. The control device 5 controls the electric motor 16 so that the carriage device 1 moves forward at a speed proportional to the rotation angle θ. That is, the electric motor 16 is controlled based on the target speed determined based on the rotation angle θ.
In addition, the control method of the electric motor 16 by the control apparatus 5 is not restricted to the method mentioned above. For example, at the time of low speed, control may be performed such that the rate of change of the speed with respect to the rotation angle θ of the handle 12 is reduced to start more smoothly. That is, the mapping of the speed to the handle angle θ can be freely set.

When the operator turns the carriage device 1, the operator turns the handle 12 in the width direction W while tilting the handle 12 forward in the traveling direction T. When the operator turns the cart device 1 in the right direction, the handle 12 is tilted in the right direction. The inclination angle around the axis A 1 may be detected using an angle detection device such as a potentiometer and electrically transmitted to the control device 5.
When the handle 12 is rotated in the right direction in the width direction W, the pinion gear 41 is rotated together with the handle 12, and the linear motion shaft having the rack portion 33 meshing with the pinion gear 41 is linearly moved. Thereby, the linear motion shaft 11 moves to the left side (first direction) in the width direction W.

Then, the left master cylinder 36 is operated in the traveling direction T via the linear motion shaft 11. Since the left master cylinder 36 is connected to the right brake caliper 23, the right wheel 3 (one wheel) is braked. At this time, since the driving force of the electric motor 16 is distributed to the left and right wheels 3 using the differential device 19, the speed of the left wheel 3 is increased and the carriage device 1 turns rightward.
When the operator turns the cart device 1 leftward, the handle 12 is tilted leftward. Thereby, the linear motion shaft 11 moves to the right side in the width direction W (second direction opposite to the first direction). Then, the left wheel 3 (the wheel opposite to the one wheel) is braked, and the carriage device 1 turns leftward.

Further, when the handle 12 is moved outside the operation range in the front-rear direction, that is, rearward of the initial position as shown in FIGS. 1 and 9 or below the tilted position as shown in FIG. The

projections

76 and 77 of the 70 abut against the

shock absorbers

78 and 79. The

shock absorbers

78 and 79 alleviate the impact on the operator's arm when the operator unintentionally moves the handle 12 out of the operation range.

According to the above-described embodiment, the cart device 1 can be operated to turn left and right by turning the handle 12 in the left-right direction, so that the operator can operate the cart device 1 more intuitively.
In addition, since the turning motion of the handle 12 is converted into the linear motion, the input to the braking device 20 is reliably performed, so that the burden on the operator can be reduced.

In addition, since the driving force of one electric motor 16 is distributed to the left and right wheels 3 using the differential 19 and the carriage device 1 is bent by braking one of the left and right wheels 3, It is possible to provide a cart apparatus 1 that can perform stable forward and backward movement and left and right turn at lower cost.

Moreover, since the cart apparatus 1 is driven by the driving force of the electric motor 16, the burden on the operator can be reduced. Further, since the target speed is determined by the operation amount of the handle 12, the operator can adjust the speed of the carriage device 1 more intuitively.
Further, by arranging the linear motion shaft 11 on the inner peripheral side of the hollow pipe 7, the linear motion shaft 11 for operating the braking device 20 and the hollow pipe 7 used for controlling the electric motor 16 can be compactly disposed. Can do.

Further, when the touch sensor 83 is not detected, the control device 5 does not control the electric motor 16 or the like, thereby preventing the carriage device 1 from moving when the handle 12 is moved unintentionally. can do.

(Second embodiment)
Hereinafter, a cart device according to a second embodiment of the present invention will be described with reference to the drawings. In the present embodiment, differences from the first embodiment described above will be mainly described, and description of similar parts will be omitted.
As shown in FIG. 12, the conversion mechanism 6 B of the cart apparatus of the present embodiment includes a rotation pin 85 that is provided integrally with the handle 12 and rotates around the first rotation axis A 1 together with the handle 12. And a plate 86 formed integrally with the moving shaft 11 and having a long hole 87 through which the rotation pin 85 is inserted.

The long hole 87 extends in a direction orthogonal to the width direction W. The long hole 87 has a shape that restricts movement of the inserted rotation pin 85 in the width direction W and allows movement of the long hole 87 orthogonal to the width direction W in the extending direction.

As shown in FIG. 13, when the handle 12 is tilted, the plate 86 connected to the rotation pin 85 via the long hole 87 moves in the width direction W as the rotation pin 85 moves in the width direction W. As a result, the linear motion shaft 11 integrated with the plate 86 moves, and the master cylinder 36 (braking device 20) is operated.
Since the linear motion shaft 11 of this embodiment moves in the same direction as the tilt direction of the handle 12, the master cylinder 36 on the right side in the traveling direction T is connected to the brake caliper 23 on the right side in the traveling direction T, and the traveling direction T The master cylinder 36 on the left side is connected to the brake caliper 23 on the left side in the traveling direction T.

According to the above embodiment, the conversion mechanism can be realized with fewer components compared to the configuration of the first embodiment.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the configurations and combinations of the embodiments in the embodiments are examples, and the addition and omission of configurations are within the scope not departing from the gist of the present invention. , Substitutions, and other changes are possible. Further, the present invention is not limited by the embodiments, and is limited only by the scope of the claims.

For example, in the above-described embodiment, the linear motion shaft 11 is arranged on the inner peripheral side of the hollow pipe 7, but the present invention is not limited to this. For example, the linear motion shaft that linearly moves by the pinion gear may be configured to be linearly moved using another linear guide without being arranged on the second rotation axis A2.
With such a configuration, it is possible to facilitate the manufacture of parts.

Moreover, in the said embodiment, although it was set as the structure which has the electric motor 16 as a drive device, the handle | steering-wheel 12 of this embodiment is provided also to the cart which moves the trolley | bogie main body 2 manually, without providing the drive device which drives the wheel 3. FIG. Can be applied. That is, the movement of the cart body 2 in the front-rear direction may be performed manually.

In the above embodiment, only the straight traveling function in the traveling direction T of the cart apparatus 1 is described, but the present invention is not limited to this, and the backward function of the cart apparatus 1 can be realized in the same manner.

Moreover, although the trolley | bogie apparatus 1 of the said embodiment is a structure which provides the handle | steering-wheel 12 only in the front side of the front-back direction, you may provide the handle | steering-wheel 12 in the back side in addition to the front side. That is, it is good also as the trolley | bogie apparatus 1 which can provide the handle | steering-wheel 12 before and behind the trolley | bogie main body 2, and can operate by any handle | steering-wheel 12. FIG.
When a hydraulic brake is used as the braking device 20 in the cart apparatus 1 having such a configuration, a system for connecting the front handle 12 and the brake caliper 23 and a system for connecting the rear handle 12 and the brake caliper 23 are used. A system hose 24 is required. It is preferable to use a drive valve such as an electromagnetic valve (solenoid valve) for switching between the two braking systems 20.

DESCRIPTION OF SYMBOLS 1 Carriage apparatus 2 Carriage body 3 Wheel 4 Operation part 5

Control apparatus

6, 6B Conversion mechanism 7 Hollow pipe 10 Drive part accommodating part 11 Linear motion shaft 12 Handle 13 Bracket part 14 Handle angle detection device 15 Axle 16 Electric motor (drive device)
DESCRIPTION OF SYMBOLS 17 Output shaft 18 Drive gear 19 Differential gear 20 Brake device 22 Brake rotor 23 Brake caliper 27 Side gear 28 Pinion gear 29 Casing 30 Ring gear 32 Long hole 33 Rack part 35 Marker pin (regulation member)
36 master cylinder 38 shaft 41 pinion gear 52 gripping portion 56 first pulley mechanism 60 urging member (first urging member)
62 Returning mechanism 65 Torsion coil spring (second biasing member)
70 shock absorbing mechanism 71 second pulley mechanism 76 first protrusion 77 second protrusion 78 first shock absorber 79 second shock absorber 83 touch sensor 85 rotating pin 86 plate 87 long hole A1 first rotating shaft A2 second Rotation axis T Traveling direction W Width direction X Longitudinal direction θ Rotation angle

Claims

A truck body having a pair of wheels;
A handle that is rotatable around a first rotation axis along a surface perpendicular to the width direction of the carriage body;
A conversion mechanism that converts the rotational movement of the handle into a linear motion along the width direction;
A linear movement shaft extending in the width direction and linearly moving by the conversion mechanism;
The linear motion shaft is moved in the first direction by the linear motion to brake one of the wheels, and the linear motion shaft is moved in the second direction opposite to the first direction by the linear motion. And a braking device that brakes a wheel opposite to the one wheel by moving.
The conversion mechanism is
A pinion gear coaxial with the first rotation shaft and provided integrally with the handle;
The cart apparatus according to claim 1, further comprising a rack that is formed along a longitudinal direction of the linear motion shaft and meshes with the pinion gear.
The conversion mechanism is
A pin provided integrally with the handle and rotating around the first rotation axis together with the handle;
A plate that is formed integrally with the linear movement shaft, has an elongated hole through which the pin is inserted, restricts movement of the pin in the width direction, and allows movement in a direction orthogonal to the width direction; The trolley | bogie apparatus of Claim 1 provided with these.
A drive device having an output shaft for rotational driving;
A differential that distributes output according to the number of rotations of the output shaft to the pair of wheels to rotate the wheels;
A cylindrical hollow pipe that is provided so as to be rotatable around a second rotation axis along the width direction, and in which the linear movement shaft is disposed on the inner peripheral side;
A regulating member that regulates relative rotation of the linear motion shaft with respect to the hollow pipe;
A bracket portion provided integrally with the hollow pipe and supporting the handle so as to be swingable about the first rotation shaft;
A handle angle detection device for detecting an angle of the handle via the hollow pipe;
4. A cart according to claim 1, further comprising: a control device that sets a rotation speed of the output shaft based on a target speed determined based on a detection value of the steering wheel angle detection device. apparatus.
A protrusion that rotates in synchronization with the rotation of the hollow pipe;
The cart apparatus according to claim 4, further comprising: an impact absorbing mechanism that regulates rotation of the hollow pipe through the protrusion when the handle is rotated out of an operation range.
A touch sensor provided on the grip portion of the handle for detecting the presence or absence of contact with the grip portion;
The cart device according to claim 4 or 5, wherein the control device does not control the driving device when the touch sensor is not detected.
A first urging member for returning the handle to a center position in a rotation direction around the first rotation axis;
7. A second urging member that urges the handle toward the rear side of the carriage main body in a rotation direction about the second rotation axis. 8. The trolley | bogie apparatus as described in a term.