JP3381004B2 - Electric transport vehicle - Google Patents

Description

Description: BACKGROUND OF THE INVENTION The present invention can be used as a transportation means for reducing the manual force and easily carrying luggage placed on a chassis and transported manually. it can. 2. Description of the Related Art Although the purpose and means are different, those made based on similar ideas include a power brake and a power handle. Both are configured so that the braking operation and the steering wheel operation can be performed while reducing human power. 2. Description of the Related Art There is a well-known electric transport vehicle that controls the cerebrum of a human by a computer and performs the operation of the eye by a sensor instead of a computer. However, this has the following problems. First, a device that performs travel control using a computer and a sensor is expensive. Second, their performance is inferior to that of the human cerebrum and eye. It is an object of the present invention to solve the above two problems. [0003] In a luggage carrier that drives an electric motor using a vehicle-mounted battery as a power source and drives wheels by the electric motor, a base is provided on a side surface of the vehicle, and the base is provided in a horizontal plane. A long rod rotatably supported and protruding in the traveling direction, a rod-shaped magnetic body slidably supported in an internal hole of the long rod, and one end fixed to one end and the other end A manual member provided with a manual knob, and a return elasticity is obtained when the rod-shaped magnetic body is manually moved back and forth through the manual knob, and the neutral point is obtained when the hand is released from the manual knob. The first elastic body for returning the rod-shaped magnetic body to the magnetic field and the moving distance of the rod-shaped magnetic body before and after are electromagnetically detected, and the first and second electric signals are respectively obtained corresponding to the moving distance before and after. First electromagnetic device, and rotation of the long rod in a horizontal plane An arc-shaped magnetic body that rotates in synchronization with the main body and a return elastic repulsion force are obtained when the arc-shaped magnetic body is manually rotated left and right via the long rod, and when the hand is released, the middle resilient force is obtained. A second elastic body that returns the arc-shaped magnetic body to the characteristic point; and a third and fourth corresponding to the left and right rotation amounts by electromagnetically detecting the left and right rotation amounts of the arc-shaped magnetic body. 2nd where an electric signal is obtained
And an armature current proportional to the first and second electric signals to the wheel-driven motor and
A first energization control circuit for performing running control so as to return the rod-shaped magnetic body to a neutral point by rotating the electric motor forward and reverse by the electric signal, and an armature current proportional to the third and fourth electric signals. Is supplied to the motor for driving the steering wheel, and the motor is rotated forward and reverse by the third and fourth electric signals to reverse the direction of the steering wheel to return the arc-shaped magnetic body to the neutral point. And a second energization control circuit for performing steering control as described above. [0004] A manual knob of a manual member provided at the front of the side surface of the luggage carrier so as to be slidable in a long hole rotatably fixed at the base is manually pulled or pushed. Correspondingly, the transport vehicle moves forward or backward with the driving torque proportional to the stroke, so that the transport vehicle can be run with a light force. When the long rod is rotated left and right by the manual knob, the direction of the steering wheel is changed right and left in proportion to the rotation angle, so that the direction of the transport vehicle can be changed. When the hand is released from the manual knob, the long rod springs back to the neutral point, so that the transport vehicle stops and the direction of the control wheel returns.
Therefore, the transport vehicle can be made to run freely with a light manual force, and the control can be performed with excellent cerebral and eye capabilities. An embodiment of the present invention will be described in detail with reference to FIGS. In FIG. 1, a main part of a carrier is constituted by a chassis 1, its side surface 1a and wheels 3a and 3b.
There are four wheels but only two are shown, and they are
The means for attaching to is not shown in the figure. Symbol 7 is a running surface. Luggage 1b is placed on the chassis 1. Side 1
The long rod 5 protrudes from a, and is configured to be able to rotate in a horizontal plane around a base thereof. A rod-shaped manual member 6 having a manual knob 6a is mounted inside the long rod 5 so as to be slidable in the direction of arrow B. FIG. 2 is a view of FIG. 1 as viewed in the direction of arrow A. In FIG. 2, the base of the cylindrical long rod 5 is supported by a support shaft 5a provided on the main body so as to be able to turn left and right in the direction of arrow C. The details will be described later. In this embodiment, the cross sections of the long rod 5 and the manual member 6 are circular, but may be square. The rear wheel 3a in FIG. 1 and the wheel on the opposite side are driven by an electric motor 8 via a reduction gear indicated by a dotted line in the arrow, and a known means for traveling on the traveling surface 7 is employed. The front wheels 3b are also a pair of two, and are control wheels for changing the traveling direction. The details of the control wheels 3b and 3c will be described with reference to FIG. Metal supports 11a, 1 projecting downward from chassis 1
The cylinders 12a and 12b are rotatably supported by 1b, and the metal rods 14a and 14b are provided on the cylinders 12a and 12b so as to protrude left and right, respectively. A cylinder 16a is rotatably supported on a metal support 16 projecting downward from the chassis 1,
A metal rod 16b is provided to protrude from the left and right sides. The ends of the long metal rods 15a, 15b and the metal rods 14a, 14b, 16b are supported by a support shaft so as to be rotatable with each other as shown in the figure. Cylinders 10a, 10b are attached to cylindrical support shafts 9a, 9b having bases fixed to side surfaces of the cylinders 12a, 12b.
b is rotatably supported, and lubricating oil is interposed between them. Central portions of wheels 3b and 3c serving as control wheels are fixed to the cylinders 10a and 10b, respectively. A gear 13 is fixed to the cylinder 16a, and the gear 13 is connected to the electric motor 8 via a reduction gear as indicated by a dotted arrow.
a. Therefore, the motor 8
By rotating a forward or backward, the metal rod 16b,
The wheels 14a and 14b rotate to the left or right in synchronization, and the directions of the wheels 3b and 3c are also changed to the right and left, so that the steering can be performed. As the control means, other well-known means other than the above-described means may be employed. Long rod 5 in FIG.
FIG. 4 shows the details of FIG. In FIG. 4, FIG.
A cylinder 17 is rotatably mounted on the upper portion of the metal support 16, and the left end of the long rod 5 is fixed to the cylinder 17. Long rod 5
The central portion of a metal lever 18 is fixed to the lower surface of the metal rod 18, and right ends of arc-shaped metal bars 21 a and 21 b are fixed to both ends of the lever 18. The upper end of the cylinder 16 a in FIG. 3 is fixed to the lower surface of the right end of the metal plate 19. Since the cylinder 20 is fixed to the left circular surface of the metal plate 19, the cylinder 20 rotates in synchronization with the cylinder 16a. Accordingly, the cylinder 20 rotates right and left in synchronization with the steering angles of the wheels 3b and 3c in FIG. When the manual terminal 6a is manually rotated left and right in the direction of arrow C, the metal rods 21a and 21b slidably move left and right through the holes in the cylinder 20 and release the hand from the manual knob 6a. Although not shown, the long rod 5 is moved by a helical spring mounted between the cylinder 17 and the metal support 16 as shown in FIG.
Is configured to return in the direction perpendicular to the side surface 1a and stop. Next, the internal configuration of the long rod 5 will be described. In FIG. 5, reference numeral 23 indicates a cross section of the winding frame of the cylindrical coil. The winding frame is divided into three parts by annular plastic plates 23a and 23b.
a and 24b are wound. The outer periphery of the winding frame 23 is a long rod 5
The soft ferrite rod 6b having a cylindrical shape is slidable in the inner hole of the bobbin 23. The left end of the metal rod 6 made of a non-magnetic material is provided on the right end of the soft ferrite rod 6b. Is fixed. Dotted line 6c is a helical spring and both ends are fixed to the right ends of the metal rod 6 and the long rod 5, respectively. When the hand is released from the manual terminal 6a, the position of the neutral point shown in the drawing, that is, the center of the soft ferrite rod 6b is It is configured to be returned to and held at a position matching the central portion. FIG. 6 shows the internal structure of the cylinder 20 shown in FIG. A cross section of the cylinder 20 is shown, and the outer periphery of an arc-shaped coil bobbin 26 is fixed to the inner surface thereof, and an arc-shaped soft ferrite rod 21 (circular in cross section) is formed in an internal hole of the bobbin 26. ) Is slidably mounted. Reel 2
6 is divided into three, and the divided members are indicated by symbols 26a and 26b. The coils 27, 27a, 2
7b is wound. When the long rod 5 in FIG. 4 is at a position perpendicular to the side surface 1a in FIG. 2 and the wheels 3b and 3c in FIG. 3 are oriented as shown in FIG. 3, the center of the soft ferrite rod 21 in FIG. It is configured to be at the position of the neutral point that matches the center (the position shown in the figure). Next, the operation of the apparatus of the present invention will be described. FIG. 7 shows an electric circuit when the directions of the control wheels 3b and 3c are changed by the electric motor 8a (shown in FIG. 3) when the manual knob 6a of FIG. 4 is turned in the direction of arrow C. In FIG. 7, the oscillator 28 can obtain an AC output of 1 kilocycle,
The coil 27 in FIG. 6 is energized by this AC output. By this energization, an induction output is generated in the coils 27a and 27b via the soft ferrite rod 21. After the inductive output is subjected to both-wave rectification by the diode blitch circuits 29a and 29b, it is converted to a DC voltage output smoothed by the capacitors 30a and 30b. Coil 27a, 2
7b are DC signals 35a and 35b, respectively.
The voltage at the point When the long rod 5 shown in FIG. 4 is rotated clockwise by a predetermined angle, the soft ferrite rod 21 shown in FIG. 6 is also rotated clockwise. Therefore, the output voltage of the coil 27a increases, and the output voltage of the coil 27b decreases.
The voltage at point 5a is greater than the voltage at point 35b. Therefore, the output voltage of the operational amplifier 31a increases correspondingly, is input to the energization control circuit 34 of the electric motor 8a via the diode 32a via the chopper circuit 33a, and increases the armature current correspondingly. Then, the directions of the wheels 3b and 3c are changed as described above with reference to FIG.
At this time, since the cylinder 20 is also rotated clockwise by the cylinder 16a in FIGS. 3 and 4, the coils 27, 27a, 27
b also rotates synchronously and the position of the neutral point (the position shown in FIG. 6)
Since the output voltages of the coils 27a and 27b become equal, the output of the operational amplifier 31a in FIG. 7 becomes zero, the armature current becomes zero, and the motor 8a stops. As understood from the above description, after the power is turned on, the directions of the wheels 3b and 3C are changed in accordance with the rotation angle of the long rod 5 of FIG. 4 by the manual knob 6a. Long rod 5
7 is rotated counterclockwise by the manual knob 6a, the output voltage of the coil 27b in FIG. 7 becomes larger than the output voltage of the coil 27a, so that the positive output voltage of the operational amplifier 31b causes the chopper circuit 33a to be driven via the diode 32b. When activated, the electric motor 8a is driven by the corresponding armature current. At this time, the output voltage of the operational amplifier 31b is input to the reversing circuit 33b of the motor 8a to reverse the motor 8a.
The cylinder 20 in FIG. 6 also rotates in the counterclockwise direction, and when the position of the neutral point is reached, the output voltages of the coils 27a and 27b become equal, so that the armature current of the electric motor 8a becomes zero and stops. Accordingly, the directions of the wheels 3b and 3c are changed in accordance with the counterclockwise rotation of the manual knob 6a. As can be understood from the above description, by rotating the manual knob 6a with a small manual force, the direction of the wheels 3b and 3c is rotated right and left, and the operation direction of the electric transport vehicle can be freely changed. Can do it. If the coils 27, 27a, and 27b in FIG. 7 are replaced with coils 24, 24a, and 24b in FIG. 5, respectively, and the motor 8a is replaced with the motor 8 in FIG. 1, for the same reason as described above, FIG. By manually pulling or pushing the manual knob 6a to the left or right, the electric carrier can be moved forward or backward. In FIG. 5, when the manual knob 6a is pulled in the forward direction, the soft ferrite rod 6b
Moves to the right, the output voltage of the coil 24a increases more than that of the coil 24b, so that the motor 8 in FIG. 1 rotates forward and drives the wheels to move forward. When the manual knob 6a continues to be pulled in the forward direction, it advances at the corresponding speed, and when the person stops, the long rod 5 in FIG. 5 advances with the electric carrier, and the coils 24, 24a, 24b and the soft ferrite rod shown in FIG. 6b
, Ie, the position of the neutral point, the armature current of the electric motor 8 becomes zero and stops. As will be understood from the above description, the electric transport vehicle moves forward and backward in response to the forward and backward movement of the person having the manual knob 6a, so that there is an operational effect that a heavy load can be transported with a small finger force. In FIG. 4, a stopper 22 is attached to the manual member 6.
When a and 22b are mounted, the following effective means can be obtained. When pulling the manual knob 6a to the right and moving the electric carrier forward, when the wheels come into contact with the protruding portion of the traveling road surface and it is difficult to get over with only the driving torque of the electric motor, the manual knob is used. 6a is pulled to the right by manual force.
b can contact the right side surface of the long rod 5 and index the vehicle to the right via the long rod 5 to get over. Even when the manual knob 6a is pushed to the left to move backward, the stopper 22a abuts on the right side surface of the long rod 5, so that the same operation and effect can be obtained. As will be appreciated from the foregoing description, the present invention provides a device that utilizes the cerebrum and eye, which has superior capabilities to any high-end device, and increases manual power, the worst capability. it can. The device of the present invention is characterized in that it can provide effective technical means because it is a manual force amplifying device. According to the present invention, there is provided an electric transport vehicle utilizing a human cerebrum and eyes having higher-grade capabilities than computers and sensors, and using an electric motor having capabilities significantly higher than the worst manual power. Obtainable. Therefore, an effective means can be obtained when a workpiece is transported between machine tools inside a machine factory. [0018]

[Brief description of the drawings] FIG. 1 is a side view of the apparatus of the present invention. FIG. 2 is a plan view of the apparatus of the present invention shown in FIG. FIG. 3 is an explanatory view of a driving device for a control wheel. FIG. 4 is an explanatory view of a long rod 5 and a manual knob 6a. FIG. 5 is a sectional view of the long rod 5. FIG. 6 is a sectional view of the cylinder 20; FIG. 7 is an electric circuit diagram of the device of the present invention. [Explanation of symbols] 1,1a chassis 1b Luggage 3a, 3b wheels 5,6,6a Long rod, manual member and knob 7 Running surface 8.8a motor 5a, 9a, 9b Support shaft 10a, 10b, 12a, 12b, 16a, 20 cylinder 14a, 14b, 16b, 18 metal rod 19 Metal plate 21a, 21b metal rod 23, 26 Coil winding frame 24, 24a, 24b, 27a, 27b, 27 coil 28 oscillator 29a, 29b Diode bridge circuit 33a, 33b chopper circuit 13 gears 6b, 21 Soft ferrite stick

Claims (1)

(57) [Claim 1] In a luggage carrier which drives an electric motor using a vehicle-mounted battery as a power source and drives wheels by the electric motor, a base is provided on a side surface of the carrier, and a horizontal surface is provided. A long rod rotatably supported in the inside and protruding in the traveling direction, a rod-shaped magnetic body slidably supported in an internal hole of the long rod, and one end fixed to an end thereof A manual member provided with a manual knob at the other end, and a return elastic repulsion is obtained when the rod-shaped magnetic body is moved back and forth through the manual knob manually. A first elastic body for returning the rod-shaped magnetic body to its characteristic point; and a first and second electric signal corresponding to the front-back movement amount by electromagnetically detecting the forward and backward movement amounts of the rod-like magnetic body. With the first electromagnetic device that obtains the rotation of the long rod in the horizontal plane A resilient force is obtained when the arc-shaped magnetic body is rotated to the left and right through the long rod, and a neutral point is obtained when the hand is released. The second elastic body for returning the arc-shaped magnetic body and the left and right rotation amounts of the arc-shaped magnetic body are electromagnetically detected, and the third and fourth electric signals are respectively corresponding to the left and right rotation amounts. The obtained second electromagnetic device and an armature current proportional to the first and second electric signals are supplied to the wheel-driven motor, and the first and second electric signals rotate the motor forward and reverse to form a rod-shaped motor. A first energization control circuit for controlling the running of the magnetic body so as to return the magnetic body to a neutral point; an armature current proportional to the third and fourth electric signals for energizing an electric motor for driving the steering wheel; 3, the electric motor is rotated forward and reverse by the fourth electric signal, and the direction of the steering wheel is rotated forward and reverse to form an arc. And a second energization control circuit for performing steering control so as to return the magnetic material to a neutral point.