JP2002321624A - Moving equipment - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To propose a semi-automatic moving device capable of sufficiently responding to not only a straight running but also a sharp curve moving demand. SOLUTION: The magnitudes of human power for rotating one of the left and right wheels of the moving device 1 and human power for rotating the other wheel by force detection sensors 5a and 5b. Are individually detected, and the magnitudes detected by the force detection sensor and predetermined command values 61a, 61b
ΔFR and ΔFL are calculated by the arithmetic unit 6, and the right wheel 4a is driven by energy other than human power so as to reduce the above difference, and the left wheel 4b is driven by the geared motor 7b. Rotate.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving device such as a wheelbarrow, a suitcase with wheels, and a household vacuum cleaner, and more particularly to a semi-automatic moving device.

[0002]

2. Description of the Related Art FIG. 9 is a perspective view of a conventional wheelbarrow, where 1 is a wheelbarrow, 2 is an arm, 3 is a bogie, and 4 is wheels. An object to be conveyed (not shown) is placed on the carriage unit 3 and the handcart 1 is moved by applying human power to the arm 2.

The conventional moving device is configured as described above. When the moving device is moved manually, particularly when the moving device itself is heavy or the object to be conveyed is heavy. Requires a lot of labor. In order to solve this problem, recently, a power assist type moving device and a semi-automatic moving device have been proposed.

[0004] For example, JP-A-8-282498,
JP-A-8-317953, JP-A-10-2648
No. 25, Japanese Unexamined Patent Publication No. 10-6996, etc., have proposed the above-mentioned power-assisted moving device. However, any of these devices assists a shortage of human power with a power source other than human power. There is a problem that still requires a certain amount of human power.

On the other hand, JP-A-2-283344, JP-A-6-105765, and JP-A-10-29535
Japanese Patent Laid-Open Publication No. 2000-214016,
Detects the level of human power trying to move the moving device,
Moving devices that move the detected magnitude of force by another power source instead of human power have been proposed, but all of them attempt to drive the left and right wheels of the moving device by a system of wheel drive mechanisms. Things. When the moving device is driven by one system of the wheel drive mechanism, there is no problem in the case of linear movement, but it is generally difficult to make a right or left turn, especially a sudden right or left turn. Nevertheless, in many cases, the moving device makes a sharp curve at 90 degrees or more, and there is a problem that the conventional semi-automatic moving device cannot sufficiently meet the demand for such a sharp curve movement.

[0006]

SUMMARY OF THE INVENTION In view of the problems in the prior art and the current requirements, the present invention is a semi-automatic type which can sufficiently respond to not only linear movement but also sharp curve movement. It is an object of the present invention to propose a mobile device.

[0007]

The moving device according to the present invention comprises:
(1) a force detection sensor for individually detecting the magnitude of the human power for rotating one of the left and right wheels of the moving device and the magnitude of the human power for rotating the other wheel,
An arithmetic unit for calculating each difference between each magnitude detected by the force detection sensor and a predetermined command value, and the above-mentioned device for moving the moving device with energy other than human power so as to reduce each of the differences. It has a first wheel drive section for rotating one side wheel, and a second wheel drive section for rotating the other side wheel independently of the first wheel drive section. (2) In the above (1), the force detection sensor directly or indirectly detects a human force applied to a control section of the moving device. (3) In the above (2), the force detection sensor that directly detects the human power directly senses the human power applied to the control unit. (4) In the above (2), the force detection sensor for indirectly detecting the human power detects the magnitude of the human power from the magnitude of the displacement of the control section due to the human power. (5) In any one of the above (1) to (4), the command value is 0 Newton. (6) In the above (1), the energy other than the human power is portable energy. (7) In the above (1), the moving device is a suction-type vacuum cleaner. (8) In the above (1), the moving device is a four-wheeled vehicle, and the first wheel drive unit and the second wheel drive unit respectively drive the front wheels of the four-wheeled vehicle. is there.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIGS. 1 and 2 explain a first embodiment of a moving device according to the present invention. FIG. 1 is a perspective view of a wheelbarrow as an example of the moving device, and FIG. FIG. 4 is a block diagram showing an operation system of FIG.

1 and 2, reference numeral 1 denotes a handcart, 2 denotes an arm as an example of the control unit, 3 denotes a bogie unit, 4 denotes wheels, 5 denotes a pressure-sensitive force detection sensor, 6 denotes an arithmetic unit, 7 Is a wheel drive unit. Wheels 4 include a right front wheel 41a and a right rear wheel 42
a, a left front wheel 41b, and a left rear wheel 42b, and the force detection sensor 5 includes two right force detection sensors 5a and left force detection sensors 5b attached to the arm 2 of the handcart 1. The wheel drive unit 7 includes a geared motor 7a as an example of the first wheel drive unit for driving the right front wheel 41a, and a left front wheel 41b as an example of the second wheel drive unit.
And a geared motor 7b for driving the motor. The arithmetic unit 6, the geared motor 7a, and the geared motor 7b are mounted on the back surface of the bogie unit 3, and signals transmitted from the right force detection sensor 5a and the left force detection sensor 5b are respectively transmitted through the arithmetic unit 6. The power is transmitted to the geared motor 7a and the geared motor 7b. FIG. 2
In these figures, 61a and 61b are command values for driving the geared motor 7a and the geared motor 7b, respectively.

When a person moves the wheelbarrow 1, a left force detection sensor 5 b and a right force detection sensor 5
Hold a with both left and right hands and apply force. In addition, the above-mentioned movement includes forward, backward, right turn, and left turn.In the following, the case of forward including right turn, left turn, straight ahead, etc. will be described. The action mechanism of the present invention is the same, except that the direction of action of the human force is reversed.

First, only the right hand force is used in the first embodiment.
In the description of the operation mechanism in the above, the magnitude of the force of pushing the arm 2 by the right hand to advance the wheelbarrow 1 is now F
If it is 1, this F1 value is detected by the right force detection sensor 5a. Next, the detected value F1 and a preset value F0 of the command value 61a (for example, 0 Newton)
ΔF [= (F1−F0)] is calculated by the arithmetic unit 6 and the arithmetic unit 6 is set to reduce the difference ΔF.
From the geared motor 7a. Based on this command, the geared motor 7a is driven by electric power supplied through an electric cord (not shown, the same applies to the geared motor 7b) to rotate the right front wheel 41a. Geared motor 7a (and right front wheel 41a)
Means that the larger the ΔF is, the larger the torque and the higher the speed, and the higher the speed, the lower the ΔF gradually. However, the right front wheel 41a rotates until the ΔF becomes 0 Newton.
Automatically stops when F reaches 0 Newton. The total work performed by the person for the rotation of the right front wheel 41a is the product of the pressing force F1 by the right hand and the time maintained for detecting the pressing force by the right force detection sensor 5a. It is so short that it is substantially zero or very small.

Next, a description will be given of an operation mechanism in the case where the handcart 1 is pushed with both hands.
1, and each of the previously set command values 61a,
Assuming that each value of 61b is equal to F0, two of the right force detection sensor 5a and the left force detection sensor 5b are both F1
The right front wheel 41a and the left front wheel 4
Since both wheels 1b rotate under the condition of the difference ΔF [= (F1−F0)], the handcart 1 goes straight, and when both ΔF values become zero, the handcart 1 stops. Therefore, if the pushing force equal to the two of the right force detecting sensor 5a and the left force detecting sensor 5b is re-input with both hands before ΔF becomes zero, the handcart 1 continues to travel straight with substantially zero energy. Can be done.

Next, the pressing forces of both hands are different from each other, the detection value of the right force detection sensor 5a is F2, and the left force detection sensor 5a
Assuming that the detected value of b is F3 [F3 <F2] and that the previously set command values 61a and 61b are equal to F0, the right front wheel 41a has a difference ΔFR [=
(F2-F0)], on the other hand, the left front wheel 41b
It rotates under the condition of the difference ΔFL [= (F3−F0) <ΔFR]. As a result, on the basis of ΔFL <ΔFR, the right front wheel 41a rotates at a higher speed than the left front wheel 41b, so that the handcart 1 turns right. that time,
The geared motor 7a and the geared motor 7b are independently driven by the right front wheel 41a without interfering with each other.
And the left front wheel 41b can be driven, so that it is possible to provide a desired rotational speed difference between the right front wheel 41a and the left front wheel 41b. You can make a sharp curve move that you did not have. Further, when a sharp curve in the opposite direction is required during the curve movement in a certain direction, this can be realized only by suddenly changing the input values of the left and right human powers.

Embodiment 2 FIG. 3 and 4 illustrate a mobile device according to a second embodiment of the present invention.
FIG. 3 is a perspective view of a wheeled suitcase as an example of the moving device, and FIG. 4 is a schematic structural explanatory view of FIG. In Embodiment 2 and subsequent Embodiments 3 and 4, the same reference numerals are given to the portions corresponding to the portions shown in FIGS.
In the following, some description will be omitted by referring to the description.

3 and 4, reference numeral 1 denotes a suitcase with wheels (hereinafter referred to as a suitcase), 2 denotes a handle as an example of the control unit, 3 denotes a suitcase body, 4 denotes wheels, 5
Is a pressure-sensitive force detection sensor, 6 is an arithmetic unit, 7 is a wheel drive unit, and 8 is a battery for driving a geared motor 7a and a geared motor 7b. The wheels 4 include a front right wheel 41a, a rear right wheel 42a, a front left wheel 41b, and a rear left wheel 42.
b (not shown), the force detection sensor 5 is composed of two right and left force detection sensors 5a and 5b mounted inside the handle 2, and the wheel drive unit 7 is
It comprises a geared motor 7a as an example of the first wheel drive unit for driving the right front wheel 41a and a geared motor 7b as an example of the second wheel drive unit for driving the left front wheel 41b. The arithmetic unit 6, the geared motor 7a, the geared motor 7b, and the battery 8 are housed and fixed at the bottom inside the suitcase 1, and signals transmitted from the right force detection sensor 5a and the left force detection sensor 5b are: The signals are transmitted to the geared motor 7a and the geared motor 7b via the arithmetic unit 6, respectively.

When a person grips the handle 2 to move the suitcase 1 straight back and forth, a stress is generated in the handle 2 in the straight-ahead direction, and the same stress is generated in the left and right force detection sensors 5a and 5b. The magnitude of the human power trying to move straight is detected from these stresses. On the other hand, when a person tries to turn the suitcase 1 to the left while holding the handle 2, a large stress is generated in the left force detection sensor 5b, and the magnitude of the human power to make a left turn is detected. The opposite is true for a right turn.

Therefore, when a person holds the handle 2 with the left hand or the right hand and moves the suitcase 1 straight, since the magnitude of the human power for rotating the left and right wheels 41a and 41b is the same, the right Each of the force detection sensor 5a and the left force detection sensor 5b detects a force of substantially the same magnitude. As a result, the suitcase 1 is turned on by the mechanism described in the first embodiment and by the energy supplied from the battery 8. Goes straight ahead. When the suitcase 1 is turned right and left, for example, when it is turned left, the right force detection sensor 5 is used.
Since a greater force is applied to the left force detection sensor 5b than a, the rotation speed of the left front wheel 41b becomes larger than that of the right front wheel 41a, and the suitcase 1 turns left. In the case of a right turn, the reverse is true.

Embodiment 3 FIGS. 5 and 6 illustrate a third embodiment of the mobile device of the present invention.
FIG. 5 is a perspective view of a suction-type vacuum cleaner as an example of the moving device, and FIG. 6 is a schematic structural explanatory view of FIG. Figure 5
In FIG. 6, 1 is a suction-type vacuum cleaner, 2 is a suction unit as an example of the control unit, 3 is a suction-type vacuum cleaner main body, 4 is a wheel attached to the suction-type vacuum cleaner main body 3, and 5 is a pressure-sensitive type. A force detection sensor, 6 is an arithmetic unit, and 7 is a wheel drive unit. The suction section 2 is composed of a suction tip section 21, a flexible hose section 22, and a non-flexible pipe section 23 connecting the suction tip section 21 and the flexible hose section 22. The other end of the hose portion 22 is a connection projection 3 having a built-in force detection sensor 5.
1 is connected to the suction cleaner main body 3. The force detection sensor 5 includes a right force detection sensor 5a and a left force detection sensor 5
b. The arithmetic unit 6, the geared motor 7a, and the geared motor 7b are housed and fixed together with a dust collection unit (not shown) inside the suction-type vacuum cleaner main body 3, and are provided from the right force detection sensor 5a and the left force detection sensor 5b. The transmitted signal is transmitted to the geared motor 7a and the geared motor 7b through the arithmetic unit 6, respectively. The geared motor 7a and the geared motor 7b are driven by electric power supplied through an electric cord (not shown) to rotate the right wheel 41a and the right wheel 41b, respectively.

The suction-type vacuum cleaner 1 is usually operated by grasping both ends of the non-flexible pipe section 23 near the end on the flexible hose section 22 side (hereinafter referred to as an operation section). Therefore, when a person grips the operation unit and pulls the suction cleaner main body 3 to move straight, a tensile stress is generated in the left and right force detection sensors 5a and 5b, and the magnitude of human power trying to move straight from the stress is generated. Is detected. When a person tries to turn the suction cleaner main body 3 to the left while holding the operation unit, a large bending stress is generated in the left force detection sensor 5b, and the magnitude of the human power to make a left turn is detected. The opposite is true for a right turn. Therefore, when the person holds the operation unit with both hands 2 and turns the suction cleaner main body 3 straight or turns right and left, the suction cleaner 1 is moved in a desired direction by the same mechanism as in the second embodiment. be able to.

Embodiment 4 FIGS. 7 and 8 illustrate a mobile device according to a third embodiment of the present invention.
FIG. 7 shows another suction-type vacuum cleaner 1 as an example of the moving device.
FIG. 8 is a schematic structural explanatory view of FIG.
1 is a suction-type vacuum cleaner, 2 is an arm as an example of the control unit, 3 is a suction-type vacuum cleaner body in which a suction unit and a dust collecting unit are integrated, and 4 is attached to the suction-type vacuum cleaner body 3. Wheels, 5
Is a pressure-sensitive force detection sensor, 6 is an arithmetic unit, and 7 is a wheel drive unit. The force detection sensor includes a right force detection sensor 5a and a left force detection sensor 5b, and is provided in a connection projection 31 that connects the arm 2 and the suction-type cleaner body 3.

In the fourth embodiment, the suction type vacuum cleaner main body 3 is used.
Is different from the suction-type vacuum cleaner 1 of the third embodiment in that the suction unit and the dust collection unit are integrated and the control unit is the arm 2, but other configurations, functions and effects are the same as those of the embodiment. 3 is substantially the same as the suction type vacuum cleaner 1.

The present invention is not limited to the above-described first to fourth embodiments, but includes various modifications. For example, instead of the pressure-sensitive force detection sensor 5 used in the first to fourth embodiments, other types that directly detect human force other than the pressure-sensitive force sensor may be used, and those that detect human power indirectly, For example, the magnitude of the above-mentioned human power may be detected from the magnitude of the displacement of the control unit due to human power. In the first to fourth embodiments, one arithmetic unit 6 is connected to the left and right ΔF
Has been performed, but an arithmetic unit may be provided for each of the left and right wheels.

The energy other than human power in the present invention may be electric energy obtained through the electric cord as described above, or may be a battery, a gasoline engine, or other portable energy. Since the moving device of the present invention has such portable energy, the degree of freedom of movement of the moving device is improved.

[0024]

As described above, the present invention has the following advantages. (1) One of the left and right wheels of the moving device is rotated by human power and the other is rotated by the human power. A force detection sensor that individually detects each magnitude of human power, a computing device that calculates each difference between each magnitude detected by the force detection sensor and a predetermined command value, so as to reduce each of the above differences A first wheel drive unit for rotating the one side wheel for moving the moving device by energy other than human power, a second wheel drive for rotating the other side wheel independently of the first wheel drive unit Since it is provided with a part, it is possible not only to go straight back and forth, but also to move on a sharp curve which could not be achieved by the conventional semi-automatic moving device.

(2) In the above (1), the force detection sensor detects directly or indirectly a human power applied to a control section of the moving device, or (3) the above (2). In the above, if the force detection sensor for directly detecting the human power directly senses the human power applied to the control unit, the person operates the control unit of the moving device as usual, thereby reducing the human energy. The moving device can be moved without working or with a very small amount of human energy.

(4) In the above (2), the force detection sensor for indirectly detecting the human power detects the magnitude of the human power from the magnitude of the displacement of the control section due to the human power. In this case, there is an effect that the degree of freedom of the installation position of the force detection sensor on the moving device increases.

(5) In any one of the above (1) to (4), if the command value is 0 Newton,
A large difference between the command value and the human power can be obtained, and the rotational torque and the number of rotations of the wheels of the moving device can be increased, and particularly, a sharp curve can be easily moved.

(6) In the above (1), the non-human energy is portable energy.
The freedom of movement of the moving device of the present invention is improved.

(7) In the above (1), if the moving device is a suction-type vacuum cleaner, various types of suction-type vacuum cleaners which are often required to move sharply in a sharp curve, especially a household suction-type vacuum cleaner. The operability of the vacuum cleaner is improved.

(8) In the above (1),
The moving device is a four-wheeled vehicle, and the first wheel drive unit and the second wheel drive unit drive front wheels of the four-wheeled vehicle, respectively, and move as front wheel drive. There is a great effect that the sharp curve mobility of the device is further improved.

[Brief description of the drawings]

FIG. 1 is a perspective view of a mobile device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing an operation system according to the first embodiment;

FIG. 3 is a perspective view of a mobile device according to a second embodiment of the present invention.

FIG. 4 is a schematic structural explanatory view of FIG. 3;

FIG. 5 is a perspective view of a mobile device according to a third embodiment of the present invention.

FIG. 6 is a schematic structural explanatory view of FIG. 5;

FIG. 7 is a perspective view of a mobile device according to a fourth embodiment of the present invention.

FIG. 8 is a schematic structural explanatory view of FIG. 7;

FIG. 9 is a perspective view of a conventional wheelbarrow.

[Explanation of symbols]

Reference Signs List 1 moving device, 2 control unit, 3 moving device main body, 4 wheels, 41a right front wheel, 41b left front wheel, 5 force detection sensor, 5a right force detection sensor, 5b left force detection sensor, 6 arithmetic unit, 7a geared motor, 7b Geared motor, 8 batteries.

Claims (8)

[Claims] 1. A force detection device for individually detecting the magnitudes of human power for rotating one of the left and right wheels of a moving device and human power for rotating the other wheel. A sensor, an arithmetic device for calculating each difference between each magnitude detected by the force detection sensor and a predetermined command value, and for moving the moving device with energy other than human power so as to reduce each of the differences. A moving device, comprising: a first wheel drive section for rotating the one side wheel of the first wheel drive section; and a second wheel drive section for rotating the other side wheel independently of the first wheel drive section. . 2. The moving device according to claim 1, wherein the force detection sensor detects directly or indirectly a human force applied to a control section of the moving device. 3. The moving device according to claim 2, wherein the force detection sensor that directly detects the human power directly senses the human power applied to the control unit. 4. The force detection sensor for indirectly detecting the human power, wherein the force detection sensor detects the magnitude of the human power from the magnitude of the displacement of the control section due to the human power. 2. The moving device according to 2. 5. The moving device according to claim 1, wherein the command value is 0 Newton. 6. The mobile device according to claim 1, wherein the energy other than human power is portable energy. 7. The moving device according to claim 1, wherein the moving device is a suction cleaner. 8. The moving device is a four-wheeled vehicle, wherein the first wheel drive unit and the second wheel drive unit respectively drive front wheels of the four-wheeled vehicle. The mobile device according to claim 1, wherein