Dolly

Abstract

To provide a carriage that facilitates operation in a width direction.SOLUTION: A carriage 1 includes: a vehicle body 2; at least one omnidirectional wheel 3 for moving the vehicle body 2 in every direction along a floor surface; a drive unit 4 for driving the omnidirectional wheel 3; a handle 5 for receiving a user's operation; at least one sensor 6 for detecting a load applied to the handle 5, in a width direction and a longitudinal direction of the vehicle body 2; and a control device 7 for controlling the drive unit 4 according to the load detected by the sensor 6. In addition, the handle 5 includes a first part 5A extending in the width direction, and at least one second part 5B extending in the longitudinal direction.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a trolley with excellent convenience.

Background Art

[0002] Conventionally, a trolley equipped with omnidirectional wheels has been known (for example, Patent Document 1). Such a trolley can travel in a narrow space. Patent Document 1 discloses a trolley having a vehicle body, a plurality of omnidirectional wheels for moving the vehicle body in all directions along the floor surface, a motor device for driving each of the omnidirectional wheels, a handle to be held by a user, and a control device for controlling the motor device based on the load applied to the handle. The handle of this trolley includes a pair of support columns extending upward from the left and right ends of the rear part of the vehicle body, and a gripping part extending in the width direction of the vehicle body between the upper ends of both support columns. When the user applies a load to the gripping part of the handle in a desired traveling direction, the omnidirectional wheels are driven by the motor device to assist the movement of the trolley by the load. Thereby, the user can move the trolley in a desired direction along the floor surface without requiring labor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the handle (gripping part) of the trolley described in Patent Document 1 is suitable for pushing and pulling the trolley in the front - rear direction, but has a problem that it is not suitable for pushing and pulling the trolley in the width direction.

[0005] In view of the above background, an object of the present invention is to provide a trolley that is easy to operate in the width direction.

Means for Solving the Problems

[0006] To solve the above problems, one aspect of the present invention provides a trolley (1) comprising a body (2), at least one omnidirectional wheel (3) provided on the body (2) for moving the body (2) in all directions along the floor surface, a drive unit (4) for driving the omnidirectional wheel (3), a handle (5) provided on the body (2) for receiving user input, at least one sensor (6) for detecting loads applied to the handle (5) on the body (2) in the width direction and the front-rear direction, and a control device (7) for controlling the drive unit (4) based on the loads detected by the sensor (6), wherein the handle (5) comprises a first part (5A) extending in the width direction and at least one second part (5B) extending in the front-rear direction.

[0007] According to this embodiment, a trolley that is easy to operate in the width direction can be provided. The user can easily move the trolley in the width direction by operating the second part.

[0008] In the above embodiment, the handle (5) may have a pair of second parts (5B) that are separated from each other in the width direction.

[0009] In this embodiment, the user can properly operate the trolley regardless of which of the second parts they grip, thus improving the operability of the handle. Furthermore, the second part can also be used to operate the trolley from the side.

[0010] In the above embodiment, it is preferable that the first part (5A) and at least two of the pair of second parts (5B) are arranged at the same height.

[0011] According to this embodiment, the operability of the steering wheel is further improved.

[0012] In the above embodiment, the first part (5A) and the second part (5B) are preferably directly connected to each other and coupled to the vehicle body via a common member.

[0013] According to this embodiment, the operability of the handle is further improved. In addition, the load applied to the first and second parts can be detected using a single sensor.

[0014] In the above embodiment, it is preferable that, in a plan view, the first part (5A) of the handle (5) is positioned behind the rear end of the vehicle body (2).

[0015] According to this embodiment, the operability of the steering wheel is further improved.

[0016] In the above embodiment, the handle (5) has a connecting portion (5C) that extends in the width direction and connects the second portion (5B) to each other, the first portion (5A) connects the second portion (5B) to each other or is coupled to the connecting portion (5C), and the sensor (6) is provided between the vehicle body (2) and the connecting portion (5C).

[0017] In this embodiment, the part connecting the steering wheel to the vehicle body is provided separately from the part that is operated by the user, so that the operation of the steering wheel is not obstructed.

[0018] In the above embodiment, the first part (5A) extends from behind the rear end of the vehicle body (2) to the inside of the left and right ends of the vehicle body (2), and the second part (5B) extends forward from the left and right ends of the first part (5A) to the inside of the left and right ends of the vehicle body (2), and the left and right intermediate positions of the first part (5A) are preferably connected to the vehicle body (2) via the sensor (6).

[0019] According to this embodiment, the structure is simplified and the operability of the handle is further improved.

[0020] In the above aspect, the first part (5A) extends behind the rear end of the vehicle body (2) to positions inside the left and right ends of the vehicle body (2), the second part (5B) extends forward inside the left and right ends of the vehicle body (2) from the left and right ends of the first part (5A), the front-rear intermediate positions of the second parts (5B) are connected to each other by a connecting part (5C) extending left and right, and the connecting part (5C) may be coupled to the vehicle body (2) via the sensor (6).

[0021] According to this aspect, the structure is simplified and the operability of the handle is further improved.

[0022] In the above aspect, in plan view, the center of gravity (G) of the carriage (1) may be arranged behind the front end of the second part (5B) and in front of the rear end of the second part (5B).

[0023] According to this aspect, since the distance between the center of gravity of the carriage and the handle is relatively short, the user can drive the carriage through the handle without discomfort.

[0024] In the above aspect, in plan view, all of the omnidirectional wheels (3) may be arranged behind the front end of the second part (5B) and in front of the rear end of the second part (5B).

[0025] According to this aspect, the structure of the carriage can be made compact, so that it is easier for the user to drive the carriage through the handle. Also, the user can drive the carriage through the handle without discomfort.

[0026] In the above aspect, it is preferable to have a stopper (39) that regulates the displacement range of the handle (5) in the front-rear and left-right directions within a predetermined range.

[0027] According to this aspect, the risk of excessive load being applied to the sensor is avoided.

[0028] In the above embodiment, the stopper (39) may restrict the displacement range of the front end of the second part (5B) in the front-rear and left-right directions.

[0029] According to this embodiment, the risk of excessive load being applied to the sensor can be avoided without impairing the operability of the handle.

[0030] In the above embodiment, the front end of the second part (5B) extends in front of the front end of the vehicle body (2), and the front end of the second part (5B) is connected to each other by a third part (5E) that extends in the left-right direction.

[0031] According to this embodiment, since the handle is formed in an annular shape as a whole, it becomes easier for the user to move the trolley via the handle, regardless of the user's position relative to the trolley in the front-rear and width directions.

[0032] The sensor (6) includes a first sensor (6A) that detects the load in the width direction and longitudinal direction of the vehicle body (2) applied to one side of the second part (5B), and a second sensor (6B) that detects the load in the width direction and longitudinal direction of the vehicle body (2) applied to the other side of the second part (5B), and the control device (7) controls the drive unit based at least on the load detected by the first sensor (6A) and the load detected by the second sensor (6B).

[0033] According to this embodiment, when loads are applied to multiple positions on the handle, these loads can be detected individually. [Effects of the Invention]

[0034] According to the present invention, a trolley that is easy to operate in the width direction is provided. [Brief explanation of the drawing]

[0035] [Figure 1] Complete perspective view of the bogie of the present invention [Figure 2] Plan view of the aforementioned trolley [Figure 3]Cross-sectional view of the main wheel of the aforementioned bogie [Figure 4] Side view of the all-directional wheels of the aforementioned bogie [Figure 5] Schematic plan view showing a first modified example of the handle of the aforementioned trolley. [Figure 6] Schematic plan view showing a second modified example of the handle of the aforementioned trolley. [Figure 7] Schematic plan view showing a third modified example of the handle of the aforementioned trolley. [Figure 8] Schematic plan view showing a fourth modified example of the handle of the aforementioned trolley. [Figure 9] Schematic plan view showing a fifth modified example of the handle of the aforementioned trolley. [Modes for carrying out the invention]

[0036] Hereinafter, an embodiment of the trolley 1 according to the present invention will be described with reference to Figures 1 to 4. Hereafter, each direction will be defined with reference to the trolley 1.

[0037] As shown in Figures 1 and 2, the trolley 1 comprises a body 2, at least one omnidirectional wheel 3 provided on the body 2 that moves the body 2 in all directions along the floor surface, a drive unit 4 that drives each of the omnidirectional wheels 3, a handle 5 provided on the body 2 that receives input from the user, a force sensor 6 that detects the load applied to the handle 5, and a control device 7 that controls the drive unit 4 based on the load detected by each of the force sensors 6.

[0038] The vehicle body 2 extends in the front and rear directions. The rear part 2A of the vehicle body 2 extends upward above the front part 2B. The front part 2B of the vehicle body 2 is provided with a support base 11 for supporting other devices. The devices supported by the support base 11 include, for example, inspection equipment such as an X-ray scanner. The devices may be fastened to the support base 11. Inside the rear part 2A of the vehicle body 2, a control device 7, a battery, and various sensors may be provided.

[0039] A handle holder 35 is provided on the upper surface of the rear 2A of the vehicle body 2, in the left-right intermediate portion at the rear, extending substantially upward. The handle holder 35 has a pair of support columns 36 that extend upward while tilting backward from symmetrical positions spaced apart from each other on the rear 2A of the vehicle body 2, and a transverse member 37 that extends along the width direction of the vehicle body 2 between the upper ends of the two support columns.

[0040] In this embodiment, a pair of omnidirectional wheels 3 are provided at the lower part of the rear 2A of the vehicle body 2. In addition, left and right casters 13 are supported at the lower part of the front 2B of the vehicle body 2 via a suspension. The suspension is located below the vehicle body 2 and has arms 14 that extend to the left and right, and a spring 15 and a shock absorber 16 positioned between the vehicle body 2 and the arms 14. Each caster 13 is located below the left and right ends of the arms 14. Each caster 13 has a fork 13A that is rotatably coupled to the arm 14 about an axis that extends vertically, and a wheel 13B that is rotatably supported on the fork 13A about an axis that extends horizontally. The fork 13A rotates freely relative to the arm 14, and the wheel 13B rotates freely relative to the fork 13A.

[0041] As shown in Figure 2, the pair of omnidirectional wheels 3 are arranged with a gap between them to the left and right. In this embodiment, the pair of omnidirectional wheels 3 are located on the lower left and lower right of the rear part 2A of the vehicle body 2. As shown in Figure 3, each omnidirectional wheel 3 has a frame 17, a pair of drive discs 18 rotatably supported on the frame 17, and an annular main wheel 19 positioned between the pair of drive discs 18.

[0042] As shown in Figures 1 and 3, the frame 17 has an upper frame 17A connected to the lower part of the vehicle body 2, and a pair of side frame portions 17B extending downward from the left and right ends of the upper frame portion 17A. A support shaft 21 extending from left to right is spanned across the lower ends of the pair of side frame portions 17B. A pair of drive disks 18 are rotatably supported on the support shaft 21. The pair of drive disks 18 rotate about the axis Y1 of the support shaft 21. The position of each drive disk 18 in the left-right direction is restricted with respect to the support shaft 21. The drive disks 18 face each other at a distance in the left-right direction.

[0043] The drive discs 18 are positioned on both sides of the annular main wheel 19, and apply frictional force to the main wheel 19, causing it to rotate around its central axis and annular axis. The drive disc 18 has a disc-shaped hub 18A that is rotatably supported by the frame 17, and a plurality of drive rollers 18B that are rotatably supported on the outer circumference of the hub 18A at an angle to each other and in contact with the main wheel 19. The hub 18A is positioned coaxially with the support shaft 21.

[0044] Driven pulleys 18C are provided on opposite sides of each drive disk 18. The driven pulleys 18C are mounted coaxially with the drive disks 18. The drive unit 4 is located at the bottom of the vehicle body 2 and has a plurality of electric motors 25 corresponding to each drive disk 18. In this embodiment, four electric motors 25 are provided corresponding to four drive disks 18. A drive pulley 26 is provided on the output shaft of each electric motor 25. The corresponding drive pulleys 26 and driven pulleys 18C are connected by a belt 27. Each electric motor 25 rotates independently of each other, causing each drive disk 18 to rotate independently of each other.

[0045] As shown in Figure 4, the main wheel 19 is annular in shape, positioned coaxially with the drive disks 18 between a pair of drive disks 18, contacts a plurality of drive rollers 18B, and is rotatable around its central axis and annular axis. The main wheel 19 has an annular body 31 and a plurality of driven rollers 32 rotatably supported by the annular body 31. The plurality of driven rollers 32 are arranged at equal intervals in the circumferential direction of the annular body 31. Each driven roller 32 is rotatably supported by the annular body 31 about its axis A1 (annular axis). Each driven roller 32 can rotate about its tangent to the annular body 31 at its respective position relative to the annular body 31. Each driven roller 32 rotates relative to the annular body 31 when subjected to an external force.

[0046] The main wheel 19 is positioned along the outer circumference of a pair of drive disks 18 and is in contact with a plurality of drive rollers 18B provided on each drive disk 18. The drive rollers 18B of each drive disk 18 are in contact with the inner circumference of the main wheel 19, gripping the main wheel 19 from both sides. In addition, the drive rollers 18B of the left and right drive disks 18 restrict the radial displacement of the drive disks 18 around the axis Y1 by contacting the inner circumference of the main wheel 19. As a result, the main wheel 19 is supported by the left and right drive disks 18, and the central axis of the main wheel 19 (annular body 31) is positioned coaxially with the axis Y1 of the left and right drive disks 18. The main wheel 19 is in contact with a plurality of drive rollers 18B of the left and right drive disks 18 at the plurality of driven rollers 32.

[0047] In each omnidirectional wheel 3, if a pair of drive discs 18 rotate in the same direction at the same rotational speed, the main wheel 19 rotates together with the pair of drive discs 18. That is, the main wheel 19 rotates forward or backward around its own axis of rotation, which coincides with axis Y1. At this time, the drive rollers 18B of the drive discs 18 and the driven rollers 32 of the main wheel 19 do not rotate relative to the annular body 31. In each omnidirectional wheel 3, if there is a difference in rotational speed between a pair of drive discs 18, a component force perpendicular to the circumferential (tangential) force caused by the rotation of the pair of drive discs 18 acts from the left and right drive rollers 18B to the driven rollers 32 of the main wheel 19. Because the axis of the drive roller 18B is inclined with respect to the circumferential direction of the drive roller 18B, a component force is generated between the drive discs 18 due to the difference in rotational speed. This component force causes the drive roller 18B to rotate relative to the hub 18A, and the driven roller 32 to rotate relative to the annular body 31. As a result, the main wheel 19 generates a driving force in the left-right direction.

[0048] The trolley 1 moves forward as the left and right omnidirectional wheels 3 rotate forward at the same speed. The trolley 1 moves backward as the left and right omnidirectional wheels 3 rotate backward at the same speed. The trolley 1 turns to the right or left as speed is generated in the forward and backward rotation of the left and right omnidirectional wheels 3. The trolley 1 moves parallel to the right or left as the driven rollers 32 of each main wheel 19 of the left and right omnidirectional wheels 3 rotate.

[0049] Next, with reference to Figures 1 and 2, the handle 5 according to this embodiment will be described in detail. In this embodiment, the vehicle body 2 is a long rectangle in the front-to-back direction when viewed from above. The handle 5 has a first part 5A that extends in the width direction and a second part 5B that extends in the front-to-back direction. In this embodiment, the handle 5 has a pair of second parts 5B that are separated from each other in the width direction. The first part 5A is preferably positioned behind the rear edge of the vehicle body 2. In this embodiment, the first part 5A extends horizontally from left to right along the rear edge of the vehicle body 2, at a position rear and above the vehicle body 2. The left and right ends of the first part 5A are positioned inward in the left-to-right direction from the side edges of the vehicle body 2. The first part 5A and the second part 5B are preferably directly connected to each other. In this embodiment, the second part 5B extends horizontally forward from the left and right ends of the first part 5A. The front end of the second part 5B is positioned approximately in the center of the vehicle body 2 in the front-to-back direction and approximately coincides with each other in the front-to-back direction. Sections 5B of Part 2 are approximately parallel to each other, while Section 5A of Part 1 and Section 5B of Part 2 are approximately perpendicular to each other.

[0050] The first part 5A and at least two of the two second parts 5B are preferably positioned at the same height. In this embodiment, the first part 5A and the second parts 5B are both positioned at approximately the same height. If desired, the first part 5A may be positioned higher or lower than the second parts 5B. At least a portion of the handle 5 may be tilted vertically.

[0051] Extensions 5D extend downward from each front end of the second part 5B toward the upper surface of the rear 2A of the vehicle body 2. The vehicle body 2 may have a stopper 39 that restricts the displacement range of the handle 5 in the front, rear, left, and right directions. The stopper 39 may also restrict the displacement range of the front end of the second part 5B. In this embodiment, the stopper 39 is provided on the upper surface of the rear 2A of the vehicle body 2, at a position that is vertically opposite to the extension 5D. The stopper 39 is a cylindrical body that defines an upwardly opening recess. The recess of the stopper 39 receives the lower end of the extension 5D, and a gap of a predetermined width is provided between the inner circumferential surface of the stopper 39 and the outer circumferential surface of the extension 5D. This restricts the displacement of the extension 5D of the second part 5B in the front, rear, left, and right directions to be less than or equal to a predetermined distance.

[0052] The handle 5 further has connecting portions 5C that extend in the width direction and connect the second portions 5B to each other. The connecting portions 5C connect the second portions 5B at positions forward of the first portion 5A and extend parallel to the first portion 5A. In another embodiment, the first portion 5A may be connected to the connecting portions 5C. For example, the left and right ends of the connecting portions 5C may be bent backward and connected to positions inward of both ends of the first portion 5A.

[0053] The connecting portion 5C may be connected to the vehicle body 2 via a force sensor 6. In this embodiment, the left-right central portion of the lateral member 37 of the handle holder 35 of the vehicle body 2 is connected to the left-right central portion of the connecting portion 5C via the force sensor 6. This allows the force sensor 6 to detect the magnitude and direction of the operating force (load) applied by the user to the handle 5. In another embodiment, the left-right central portion of the first portion 5A may be connected to the vehicle body 2 via the force sensor 6.

[0054] The force sensor 6 is preferably a two-axis force sensor that detects loads along two mutually orthogonal axes on a horizontal plane. In this embodiment, the force sensor 6 can detect a front-to-back load (x-axis) and a left-to-right load (y-axis) applied to the handle 5. In another embodiment, the force sensor 6 may also be capable of detecting a moment about the vertical axis (z-axis).

[0055] The control device 7 controls the drive unit 4 based on the signal from the force sensor 6. The control device 7 determines the direction and speed of the vehicle body 2 based on the signal from the force sensor 6, and then determines the control amount for each electric motor 25 of the drive unit 4 based on the determined direction and speed of the vehicle body 2.

[0056] Next, the operation procedure of the trolley 1 according to this embodiment will be described in detail. The user may operate the handle 5 while standing behind or to the left or right side of the trolley 1. When moving the trolley 1 in the front-rear direction, the user may push or pull the first part 5A in the front-rear direction. When moving the trolley 1 in the width direction, the user may push or pull either of the second parts 5B in the width direction. The front-rear and width-direction loads applied to the first part 5A are detected by the force sensor 6, and based on the detection results, the drive unit 4 drives the trolley 1 in the corresponding direction. The user may push or pull the first part 5A in the width direction, or the second part 5B in the front-rear direction. Since the second parts 5B are spaced apart from each other in the width direction, the user can intuitively and comfortably operate the handle 5 with both hands. Furthermore, since the second parts 5B extend to at least the middle part of the vehicle body 2, the user can also operate the second parts 5B from the front of the trolley 1.

[0057] Next, with reference to Figure 2, the arrangement of the omnidirectional wheels 3 relative to the handle 5 and the center of gravity position G of the trolley 1 will be explained. All of the omnidirectional wheels 3 are positioned behind the front end of the second section 5B and in front of the rear end of the second section 5B. This makes the structure of the trolley 1 more compact, making it easier for the user to move the trolley 1 via the handle 5. Furthermore, in a plan view, the distance between the omnidirectional wheels 3 and the position where the user applies load to the handle 5, i.e., the first section 5A and / or the second section 5B, is relatively short. This allows the user to move the trolley 1 via the handle 5 without any discomfort.

[0058] The center of gravity G of the trolley 1 is preferably located behind the front end of the second part 5B and in front of the rear end of the second part 5B. In this embodiment, the center of gravity G of the trolley 1 is located between the two second parts 5B in the width direction, and is located behind the front end of the second part 5B and in front of the rear end of the second part 5B. Therefore, in a plan view, the distance between the center of gravity G and the position where the user applies load to the handle 5, i.e., the first part 5A and / or the second part 5B, is relatively short, so that the load contributes efficiently to the movement of the trolley 1. This allows the user to move the trolley 1 via the handle 5 without any discomfort. Furthermore, in a plan view, it is preferable that the distance in the front-rear direction between the center of gravity G of the trolley 1 and the first part 5A is short. This reduces the moment around the vertical axis (z-axis) acting on the trolley 1 when the user moves the trolley 1 in the front-rear direction, making it easier for the user to move the trolley 1 via the handle 5.

[0059] Next, the effects of the trolley 1 according to this embodiment will be described in detail. Since the first part 5A and the second part 5B of the handle 5 are positioned at the same height, the operability of the handle 5 is improved. Furthermore, since the first part 5A is positioned behind the rear edge of the vehicle body 2, the operability of the handle 5 is further improved. In addition, since the first part 5A and the second part 5B are directly connected to each other and coupled to the vehicle body 2 via the connecting part 5C, the operability of the handle 5 is further improved. Moreover, since the load applied to the first part 5A and the second part 5B can be detected using a single force sensor 6, the number of force sensors 6 is reduced, and their assembly and wiring are relatively easy.

[0060] The force sensor 6 is installed between the lateral member 37 of the handle holder 35 extending from the vehicle body 2 and the connecting portion 5C of the handle 5. Therefore, since the part connecting the handle 5 to the vehicle body 2 is located in a place other than the part that should be operated by the user, the operation of the handle 5 is not hindered by the force sensor 6. As a result, the operability of the handle 5 is further improved.

[0061] Furthermore, the handle 5's displacement range in the front-rear, left-right, and right directions is restricted by the stopper 39. As a result, even if an excessive load is applied to the handle 5, the handle 5 will not displace beyond a predetermined distance, thus avoiding the risk of excessive load being applied to the force sensor 6. In this embodiment, the front end of the second part 5B displaces significantly more in the front-rear, left-right, and right directions compared to other parts of the handle 5, thus more effectively restricting the displacement range of the handle 5. This further effectively avoids the risk of excessive load being applied to the force sensor 6.

[0062] Next, with reference to Figures 5 to 9, several modified examples of the trolley 1 of the present invention will be described. The handle 5 of the trolley 1 according to the first modified example shown in Figure 5 has a first part 5A that extends horizontally from left to right along the rear edge of the vehicle body 2, at a position rear and above the vehicle body 2, and has left and right ends positioned inside the side edge of the vehicle body 2, and a second part 5B that extends horizontally from the left and right ends of the first part 5A at a position inside the side edge of the vehicle body 2 and above the vehicle body. The front end of the second part 5B reaches the front of the front edge of the vehicle body 2 and is connected to each other by a third part 5E that extends in the left-right direction. The third part 5E extends horizontally from left to right along the front edge of the vehicle body 2, at a position front and above the vehicle body 2. The handle 5 further has a connecting part 5C that connects the central parts of the second part 5B in the front-rear direction and extends horizontally from left to right. The first part 5A, the second part 5B, the third part 5E, and the connecting part 5C are all positioned at approximately the same height. The first part 5A, the third part 5E, and the connecting part 5C are approximately parallel to each other. The second parts 5B are approximately parallel to each other. The second part 5B is approximately perpendicular to the first part 5A, the third part 5E, and the connecting part 5C. The handle 5 as a whole is formed in a rectangular and annular shape when viewed from above.

[0063] A force sensor 6 is provided in the center of the connecting portion 5C in the left-right direction. The force sensor 6 is connected to a handle holder 35 that extends approximately upward from the top surface of the vehicle body 2. Because the force sensor 6 is provided between the vehicle body 2 and the handle 5, it can detect the load applied to the handle 5.

[0064] According to the first modified example of the trolley 1, the user can easily operate the trolley 1 via the handle 5, regardless of the positional relationship with the trolley 1 in the front-rear and width directions.

[0065] The handle 5 of the bogie 1 according to the second modified example shown in Figure 6 has a first part 5A consisting of two straight sections that extend diagonally outward and rearward from the central part in the left-right direction in front of the rear edge of the vehicle body 2, and have left and right ends located inside the side edge of the vehicle body 2 and behind the rear edge of the vehicle body 2; and a second part 5B that extends horizontally forward from the left and right ends of the first part 5A along the inside of the side edge of the vehicle body 2 and is located at the front-rear intermediate position of the vehicle body 2. The two second parts 5B are substantially parallel to each other. Therefore, the handle 5 is formed in a substantially M shape with the front and rear reversed when viewed from above.

[0066] A force sensor 6 is provided in the central part of the first section 5A in the left-right direction. The force sensor 6 is connected to a handle holder 35 that extends approximately upward from the top surface of the vehicle body 2. Because the force sensor 6 is provided between the vehicle body 2 and the handle 5, it can detect the load applied to the handle 5.

[0067] In the second modified version of the trolley 1, the central part of the first part 5A in the left-right direction is positioned in front of the rear edge of the trolley 1, and the left and right ends of the first part 5A are positioned behind the rear edge of the trolley 1. This makes it easier for the user to operate the trolley 1 via the handle 5 at the rear of the trolley 1.

[0068] The handle 5 of the bogie 1 according to the third modified example shown in Figure 7 has a first part 5A that extends horizontally to the left and right, curving forward from a central position in the left-right direction behind the rear edge of the vehicle body 2, and having left and right ends located in front of the rear edge of the vehicle body 2 and inside the side edge of the vehicle body 2; and a second part 5B that extends forward from the left and right ends of the first part 5A, curving horizontally inward to the left and right inside the side edge of the vehicle body 2, and is located at the front-rear intermediate position of the vehicle body 2. Therefore, the handle 5 is formed in a substantially U-shape when viewed from above.

[0069] The handle 5 further has a connecting portion 5C that connects the front-to-rear intermediate positions of the second portion 5B and extends horizontally to the left and right along the rear edge of the vehicle body 2. A force sensor 6 is coupled to the central part of the connecting portion 5C in the left-to-right direction. The force sensor 6 is coupled to a handle holder 35 that extends approximately upward from the top surface of the vehicle body 2. Because the force sensor 6 is provided between the vehicle body 2 and the handle 5, it can detect the load applied to the handle 5.

[0070] In the third modified version of the trolley 1, the first part 5A and the second part 5B are smoothly connected. This allows the user to switch relatively smoothly between moving the trolley 1 using the first part 5A and moving the trolley 1 using the second part 5B, thereby improving the operability of the handle 5.

[0071] The handle 5 of the trolley 1 according to the fourth modified example shown in Figure 8 has a pair of first parts 5A that extend horizontally from symmetrical, spaced positions behind the rear edge of the vehicle body 2, curving forward and outward to the left and right, and having left and right outer ends located in front of the rear edge of the vehicle body 2 and inside the side edges of the vehicle body 2, and a pair of second parts 5B that extend forward from the left and right outer ends of the first parts 5A, curving horizontally inward and outward along the inside of the side edges of the vehicle body 2, and are located at an intermediate position between the front and rear of the vehicle body 2.

[0072] The trolley 1 according to the fourth modified example has a plurality of force sensors 6, and the control device 7 controls the drive unit 4 based on the load detected by each of the plurality of force sensors 6. In detail, the force sensors 6 include a first force sensor 6A that detects the load in the width direction and longitudinal direction of the vehicle body 2 applied to one side of the second part 5B, and a second force sensor 6B that detects the load in the width direction and longitudinal direction of the vehicle body 2 applied to the other side of the second part 5B. The control device 7 also controls the drive unit 4 based on the load detected by the first force sensor 6A and the load detected by the second force sensor 6B. For example, if the first force sensor 6A and the second force sensor 6B detect loads in opposite directions in the left-right direction, the control device 7 controls the drive unit 4 to reduce the speed of the trolley 1 in the left-right direction.

[0073] A first force sensor 6A is coupled to the front-to-rear intermediate position of one of the second part 5B, and a second force sensor 6B is coupled to the front-to-rear intermediate position of the other of the second part 5B. The first force sensor 6A and the second force sensor 6B are coupled to corresponding parts of a pair of handle holders 35 that extend substantially upward from the upper surface of the vehicle body 2. The first force sensor 6A is provided between the vehicle body 2 and one of the second part 5B, and the second force sensor 6B is provided between the vehicle body 2 and the other of the second part 5B. As a result, the first force sensor 6A can detect the load applied to one of the second part 5B and the corresponding one of the first part 5A. The second force sensor 6B can detect the load applied to the other of the second part 5B and the corresponding other of the first part 5A. In another modification, the force sensor 6 may further include a third force sensor 6C (not shown) provided between the vehicle body 2 and one or both of the pair of first parts 5A, and the control device 7 may control the drive unit 4 based on the load detected by the first force sensor 6A, the load detected by the second force sensor 6B, and the load detected by the third force sensor 6C. Alternatively, the first force sensor 6A and the second force sensor 6B may be pressure sensors provided on the corresponding second parts 5B.

[0074] According to the fourth modified example of the trolley 1, the first force sensor 6A and the second force sensor 6B can individually detect the load applied to the pair of second parts 5B. This prevents the trolley 1 from applying excessive pressure to an obstacle or the user if either of the second parts 5B comes into contact with the obstacle.

[0075] The handle 5 of the bogie 1 according to the fifth modified example shown in Figure 9 has a first part 5A that extends horizontally to the left and right, curving forward from a central position in the left-right direction behind the rear edge of the vehicle body 2, and having left and right ends that terminate behind the rear edge of the vehicle body 2 and inside the side edge of the vehicle body 2; and a second part 5B that extends forward from the left and right ends of the first part 5A, curving horizontally inward to the left and right inside the side edge of the vehicle body 2, and terminating approximately directly above the rear edge of the vehicle body 2. Therefore, the handle 5 is formed in a roughly U-shape when viewed from above.

[0076] The handle 5 further has a connecting portion 5C that connects the front-to-rear intermediate positions of the second portion 5B and extends horizontally to the left and right along the rear edge of the vehicle body 2. A force sensor 6 is coupled to the central part of the connecting portion 5C in the left-to-right direction. The force sensor 6 is coupled to a handle holder 35 that extends upward while tilting backward from the rear surface of the vehicle body 2. In another modified example, the handle holder 35 may extend upward while tilting backward from the top surface of the vehicle body 2. The force sensor 6 is provided between the vehicle body 2 and the handle 5 so that it can detect the load applied to the handle 5.

[0077] According to the fifth modified example of the trolley 1, since the handle 5 is not located on the upper part of the vehicle body 2, the trolley 1 can support a larger device.

[0078] This concludes the description of specific embodiments, but the present invention is not limited to the above embodiments and modifications and can be broadly modified and implemented. For example, the second part 5B of the handle 5 may extend in the longitudinal direction to the outer position of the side edge of the vehicle body 2. Similarly, the first part 5A or the third part 5E of the handle 5 may extend to the rear of the rear edge of the vehicle body 2 or to the front of the front edge of the vehicle body 2. This provides the advantage that when the handle 5 strikes an obstacle, the trolley 1 is automatically driven away from the obstacle. [Explanation of symbols]

[0079] 1: Dolly 2: Vehicle body 3: Omnidirectional wheels 4: Drive Unit 5: Handle 5A: Part 1 5B: Part 2 5C: Connecting part 5D: Extension 5E: Part 3 6: Force sensor 6A: First force sensor 6B: Second force sensor 7: Control device 17: Frame 18: Drive disk 18A: Hub 18B: Drive Roller 19: Main wheel 25: Electric motor 27: Belt 31: Ring-shaped body 32: Driven Roller 35: Handle holder 36: Support pillar 37: Horizontal member 39: Stopper

Claims

1. It is a trolley, The car body and, The vehicle body is provided with at least one omnidirectional wheel that moves the vehicle body in all directions along the floor surface, A drive unit that drives the aforementioned omnidirectional wheels, A handle provided on the vehicle body that accepts user input, A force sensor that detects loads applied to the steering wheel in the width direction and longitudinal direction of the vehicle body, The system includes a control device that controls the drive unit based on the load detected by the force sensor, The handle has a first part extending in the width direction, a pair of second parts extending forward from both ends of the first part, and connecting parts extending in the width direction and connecting the second parts to each other. A bogie in which the connecting portion is connected to the vehicle body via the force sensor.

2. The trolley according to claim 1, wherein the first part and at least two of the pair of second parts are arranged at the same height.

3. The bogie according to claim 1 or 2, wherein the first part and the second part are directly connected to each other and coupled to the vehicle body via a common member.

4. The trolley according to claim 1, wherein the first part of the handle is positioned behind the rear end of the vehicle body.

5. The first part extends from behind the rear end of the vehicle body to the inner positions of the left and right ends of the vehicle body, The second part extends forward from the left and right ends of the first part, on the inside of the left and right ends of the vehicle body, The trolley according to claim 1, wherein the front and rear intermediate positions of the second part are connected to each other by the connecting part.

6. The trolley according to claim 1, wherein, in a plan view, the center of gravity of the trolley is positioned behind the front end of the second part and in front of the rear end of the second part.

7. The trolley according to claim 1, wherein, in a plan view, all of the omnidirectional wheels are positioned behind the front end of the second part and in front of the rear end of the second part.

8. The trolley according to claim 1, wherein the vehicle body has a stopper that restricts the displacement range of the handle in the front-rear, left-right, and right directions.

9. The trolley according to claim 8, wherein the stopper restricts the displacement range of the front end of the second part.

10. The bogie according to claim 1, wherein the front end of the second part extends forward of the front end of the vehicle body, and the front end of the second part is connected to each other by a third part that extends in the left-right direction.

11. The bogie according to claim 1, wherein the upper surface of the vehicle body is provided with a handle holder extending upward, and the handle holder is connected to the central part of the connecting portion in the width direction via the force sensor.

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