Conveyance auxiliary device
AssigneeJtekt Machine Systems Corporation
InventorHiroki OE
Life of this patent
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Abstract
A transport assistance apparatus includes first and second mecanum wheels, first and second motors, first and second current sensors that detect induced currents flowing through the motors when the mecanum wheels rotate, and a controller. The controller individually estimates accelerations of the mecanum wheels based on the detected induced currents, determines a moving direction of a bed based on the estimated accelerations, and operates the first and second mecanum wheels to assist the movement of the bed in the moving direction.
Claims7
A transport assistance apparatus for assisting a movement of a target made by an external force, the transport assistance apparatus comprising:
- a first mecanum wheel and a second mecanum wheel that are attached to the target;
- a first motor and a second motor that are respectively connected to the first mecanum wheel and the second mecanum wheel to drive the first mecanum wheel and the second mecanum wheel;
- a first current sensor that detects an induced current flowing through the first motor when the first mecanum wheel rotates, and a second current sensor that detects an induced current flowing through the second motor when the second mecanum wheel rotates;
- and
- a controller that controls the first and second motors,
- wherein
- the controller
- individually estimates accelerations of the first and second mecanum wheels based on detection signals of the first and second current sensors,
- determines a moving direction of the target based on the accelerations of the first and second mecanum wheels, and
- drives the first and second mecanum wheels via the first and second motors to assist the movement of the target in the moving direction.
Dependencies are inferred from the claim text.