METHOD FOR CONTROLLING CONVEYING DEVICE WITH POWER ASSIST, AND CONVEYING DEVICE WITH POWER ASSIST

摘要

PROBLEM TO BE SOLVED: To stabilize an assist force by preventing slip of drive wheels due to a condition of a floor, a material, and the like.;SOLUTION: A drive wheel 11 driven by an electric motor 12 is installed at a bottom of a body frame 1. The drive wheel 11 can be contacted/separated with/from a floor 31 by an elevating actuator 13, and is brought into press contact with the floor by actuating the elevating actuator 13, so as to provide an assist traveling force. At the time of propelling, a stroke of the elevating actuator 13 is temporarily increased, so as to increase a press contacting force between the drive wheel 11 and the floor 31. Therefore, burdens applied on a caster 5 are reduced, and the wheels can be easily rotated, so as to reduce a propelling press force. Additionally, wandering after propelling can be restrained, so as to improve linear stability. After propelling, the amount of stroke of the elevating actuator 13 is gradually returned to an initial condition.;COPYRIGHT: (C)2005,JPO&NCIPI