To provide an electric walking assist cart capable of performing stable assistance in accordance with conditions, with a simple configuration.SOLUTION: An electric walking assist cart (1) comprises: a cart body (2); right and left drive wheels (4L, 4R); right and left motors (40L, 40R); swivel wheels (5); a grip sensor (30), and rotation speed sensors (43) for the right and left drive wheels; an inclination sensor (20) for detecting inclination of the cart body in a forward/retreat direction; and a control section (10) for controlling the right and left motors. The electric walking assist cart generates, in a state that the grip sensor detects gripping, torque in the right and left motors according to a basic torque map that defines a relation between rotation speeds of the right and left drive wheels detected by the right and left and right rotation speed sensors and torque command values of the right and left motors, and an additional torque map that applies, to the right and left motors according to the inclination detected by the inclination sensor, inclination compensation torque to offset rotational force generated in the right and left drive wheels by gravity acting on the cart body.SELECTED DRAWING: Figure 2

    【課題】 簡素な構成により状況に応じて安定的なアシストを行える電動歩行補助車を提供する。【解決手段】 電動歩行補助車(1)は、車体(2)、左右駆動輪(4L,4R)、左右モータ(40L,40R)、自在輪(5)、把持センサ(30)、前記左右駆動輪の回転速度センサ(43)、前記車体の進退方向の傾斜を検出する傾斜センサ(20)、および、前記左右モータを制御する制御部(10)を備え、前記把持センサが把持を検知している状態で、前記左右回転速度センサに検知される前記左右駆動輪の回転速度と、前記左右モータのトルク指令値との関係を規定する基本トルクマップと、前記傾斜センサに検出される傾斜に応じて、前記車体に作用する重力により前記左右駆動輪に生じる回転力を相殺する傾斜補償トルクを前記左右モータに付加する追加トルクマップに従って、前記左右モータにトルクを発生させるように構成されている。【選択図】図2


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    Title :

    ELECTRIC WALKING ASSIST CART


    Additional title:

    電動歩行補助車


    Contributors:

    Publication date :

    2022-07-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / A61H PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY , Geräte für die physikalische Therapie, z.B. Vorrichtungen zum Lokalisieren oder Anregen spezieller Reflexpunkte am Körper / B62B Von Hand bewegte Fahrzeuge, z.B. Handkarren oder Kinderwagen , HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS



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