| 摘要 |
PURPOSE: To provide a dolly which can be fine controlled, by furnishing an external force sensing means which senses the propelling direction and the steering direction upon sensing the external force applied to the operational part, providing drive motives for the driving wheels for running and driving wheels for steering, and allowing the drive motives to generate an assisting force for the torque according to the output of the sensing means. CONSTITUTION: A dolly equipped with power assist as a hand push vehicle is fitted with a left and a right driving wheel 2, 2 in the center of the body 1 about the longitudinal direction, and with free rotating wheels 3, 3 located in the front and rear of the body 1, and also an operation handle 4 located in the rear of the body 1. Force sensing parts 5, 5 are furnished in two coupling parts of this handle 4 to the body 1, and the force sensed by each sensor 5 is divided into a propelling component and a steering component. The propelling component is multiplied by a certain force amplification factor to determine a propulsive force, while the steering component is multiplied by a certain force amplification factor to determine a torque, and half the sum of the obtained propulsive force and torque is used as a control signal, which is given to drive motives 6 for the respective driving wheels 2 so that an assisting power is provided. |
