To provide a technique of a power assist dolly that can control auxiliary drive force for front-back translational movement and right-left turning even when operation force is applied from any position and any direction.SOLUTION: A power assist dolly 100 according to the present disclosure is a power assist dolly configured to receive operation force from an operator and thereby move, and includes: a base portion 1 having driving wheels 11 and an electric motor 14 configured to drive the driving wheels 11; a load-carrying platform 3 supported on the base portion 1 via a suspension 2; a detection unit 4 configured to detect information on an inclination angle of the load-carrying platform 3; an operation force estimation unit 5 configured to estimate operation force based on a detection result of the detection unit 4; an impedance control unit 6 configured to provide a command value depending on the operation force estimated by the operation force estimation unit 5; and a motor control unit 7 configured to control the electric motor 14 based on the command value from the impedance control unit 6.SELECTED DRAWING: Figure 1

    【課題】いずれの箇所、いずれの方向から操作力を加えても前後並進と左右旋回の補助駆動力を操作可能なパワーアシスト台車の技術を提供する。【解決手段】本開示のパワーアシスト台車100は、操作者からの操作力を受けて移動するパワーアシスト台車であって、駆動輪11と、当該駆動輪11を駆動する電動モータ14とを有するベース部1と、ベース部1にサスペンション2を介して支持される荷台部3と、荷台部3の傾斜角の情報を検出する検出部4と、検出部4の検出結果に基づいて操作力を推定する操作力推定部5と、操作力推定部5で推定された操作力に応じて指令値を提供するインピーダンス制御部6と、インピーダンス制御部6からの指令値に基づいて電動モータ14を制御するモータ制御部7と、を備える。【選択図】図1


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    Title :

    POWER ASSIST DOLLY


    Additional title:

    パワーアシスト台車


    Contributors:

    Publication date :

    2024-09-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    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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