The invention provides a trolley, wheels of which are difficult to slip and can perform proper rotation action. A trolley (1) is provided with: a vehicle body (2); a pair of left and right wheels (3) provided on the vehicle body; left and right drive units (4) for driving each of the wheels; a handle (5) that is provided to the vehicle body and receives an operation by a user; a sensor (6) for detecting front and rear loads applied to the handle and a torque around a vertical axis; and a control device (7) that controls the drive unit, the control device sets a target front-rear speed of the vehicle body on the basis of the front-rear load, sets a target angular speed of the vehicle body about the vertical axis on the basis of the torque about the vertical axis, and corrects the target front-rear speed when the product of the target front-rear speed and the target angular speed is greater than a predetermined threshold value. And a control unit that controls the drive unit on the basis of the corrected target front-rear speed and the target angular speed so that the product of the target front-rear speed and the target angular speed is equal to or less than a threshold value.

    本发明提供一种车轮难以打滑且能够进行适当的旋转动作的台车。台车(1)包括:车身(2);左右一对车轮(3),设于车身;左右的驱动单元(4),驱动各个车轮;把手(5),设于车身,受理使用者的操作;传感器(6),检测对把手施加的前后载荷以及绕铅垂轴的力矩;以及控制装置(7),控制驱动单元,控制装置基于前后载荷来设定车身的目标前后速度,基于绕铅垂轴的力矩来设定车身的绕铅垂轴的目标角速度,当目标前后速度以及目标角速度之积大于规定的阈值时,对目标前后速度进行修正处理,以使目标前后速度以及目标角速度之积成为阈值以下,并基于修正后的目标前后速度与目标角速度来控制驱动单元。


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    Title :

    Trolley


    Additional title:

    台车


    Contributors:

    Publication date :

    2023-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62B Von Hand bewegte Fahrzeuge, z.B. Handkarren oder Kinderwagen , HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS



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