The invention provides a trolley which can prevent spinning and can perform proper rotation action. A trolley (1) is provided with: a vehicle body (2); a plurality of wheels (3); a drive unit (4) that drives each of the wheels; a handle (5) for receiving an operation by a user; an input detection sensor (6) that detects a load and/or a torque applied to the handle; a rotational speed sensor (7) for detecting the rotational speed of each wheel; and a control device (8) that sets, on the basis of the load and/or the torque, a target propulsive force to be output as a propulsive force from each of the wheels, and that controls the drive means so that the target propulsive force is output as the propulsive force, and that controls the drive means so that the target propulsive force is output as the propulsive force when the rotational speed of the wheel located on the side closer to the center of rotation during rotation exceeds a predetermined threshold value. The target propulsive force of the wheel located on the side away from the rotation center is set to be smaller than the target propulsive force set on the basis of the load and/or the torque.
本发明提供一种既能防止自旋,又能进行适当的旋转动作的台车。台车(1)包括:车身(2);多个车轮(3);驱动单元(4),驱动各个车轮;把手(5),受理使用者的操作;输入检测传感器(6),检测对把手施加的载荷和/或力矩;转速传感器(7),检测车轮各自的转速;以及控制装置(8),基于载荷和/或力矩来设定应从车轮各自输出作为推进力的目标推进力,并控制驱动单元,以使其输出目标推进力来作为推进力,控制装置在回转时位于靠近回转中心的一侧的车轮的转速超过了规定阈值的情况下,将位于远离回转中心的一侧的车轮的目标推进力设定为小于基于载荷和/或力矩而设定的目标推进力。
Trolley
台车
2023-10-17
Patent
Elektronische Ressource
Chinesisch
IPC: | B62B Von Hand bewegte Fahrzeuge, z.B. Handkarren oder Kinderwagen , HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS |