| 摘要 |
PROBLEM TO BE SOLVED: To solve the following problems: in a conventional handcart, when a load increases, human power necessary for operation has to be also increased; and in a conventional electric truck including a power assist device, a time to steer driving wheels is necessary, so that the power assist device cannot instantaneously perform power assist in all directions.SOLUTION: An omnidirectional moving truck 1 having a power assist function is provided with universal casters 30 at four corners of a chassis 40 and is disposed with omni-wheels 10 in a rectangle shape below the chassis 40. An axle of each of the omni-wheels is connected with a drive part comprising a servomotor 13 and a reduction gear 14. The respective axles of two of the omni-wheels on each diagonal disposed in the rectangle shape are in an identical direction, and a rotational direction and a rotational speed of the drive part of each of the omni-wheels are independently controlled based on an external force detected by a load cell, so that the omnidirectional moving truck includes the power assist function. A ground pressure of a ground wheel 11 of each of the omni-wheels is adjusted by a spring 12 disposed between the omni-wheel and the truck 1. |
