JP2008132908A - Stair climbing vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a wheel having not only a traveling function but also the function of riding over any obstacle by a device capable of lifting the wheel to an upper stair in a stairway by the turning motion of a motor around the wheel when the wheel hits the obstacle and the wheel is stopped. <P>SOLUTION: A wheel is revolved around a rotating body hooked by a riser of a stairway. A brake which allows the wheel to be detached without being lifted high when the wheel rides over an upper stair hits a riser of the stair to allow a ratchet pawl going in/out of the wheel to go in/out of a blade of a ratchet 10 fitted to the wheel so as to be integrated and disintegrated with/from the wheel. Further, the rotating body is continuously fixed to the stairway while the wheel rides over by a mechanism in which a guide roller is placed on a guide having an arc-shaped outer circumference mounted to a motor to make one turn, and the rotating body is in a waiting state at a position where the rotating body can further in contact with the upper riser even after the wheel rides over the stair. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a stair lift.

Unlike a flat ground, the wheels need to move up and down the stairs by measuring the dimensions of the stairs, raising, treads, etc., and corresponding movements are required. I had to use a lot of equipment.

Thus, a vehicle has been invented that goes up and down stairs that does not require any of the above-mentioned sensors and control devices without making full use of mode conversion or switching operation of a clutch or the like as in the stair climbing vehicle of Patent Document 1. That is,
During flat running, the driving gear of the prime mover rotates the driven gear of the wheel, but when the wheel kicks in the stairs, the rotation of the wheel stops and the rotation of the driven gear stops. The gears on the driven side revolve around the driven gear, but the stair lift of Patent Document 1 utilizes this phenomenon, and the weight of the vehicle body is supported not on the wheels but on the rotating shaft of the motor that revolves. The two modes of flat running and raising / lowering operation are alternately repeated by turning one motor without using the switching device.

In the stair lift of Patent Document 2, the rotation of the wheel stops when the wheel is kicked in the staircase, the motor gear on the driving side revolves around the wheel gear on the driven side, and the motor is centered on the rotation axis of the wheel. It is a car that moves up and down stairs where a device that pushes up the wheel by rotating around the wheel, a plate to which a motor is attached, a plate that rotates around the rotation axis of the wheel works as a crank, and the circular movement of the crank is connected to the connecting shaft This is a jack that lifts the wheel by converting it into a movement that pushes down the connecting rod that rotates to the center, and the wheel is lifted exclusively in the air at the start of ascending, and the wheel is in a flat ground state just before the ascending end, and the jack moves on the upper step An up mechanism is provided.

The stair lift of Patent Document 2 further includes a brake that applies a brake to the wheel gear when the wheel hits the staircase and brakes the wheel gear. The brake applied to the wheel gear is released when it comes into contact, and the spring is bounced back to its original position by a spring.It is equipped with a brake mechanism that prevents slippage at the contact point between the wheel and the step corner. And a brake for braking the wheel gear without relying only on the friction at the step corner.

JP 2004-182217 A Japanese Patent Application No. 2005-260614

In the following, for the sake of simplicity, a description will be given of a conference elevator in which a wheel is directly attached to a rotating shaft of a motor and the rotating shaft of the motor is the same as the rotating shaft of the wheel. As shown in FIG. 4, in the stair lift of Patent Document 2, when the rotation of the wheels stops when the wheels are kicked in the stairs, the motor on the driving side revolves around the wheels on the driven side, and the wheels rotate. A plate that rotates around an axis serves as a crank, and a circular motion of the crank pushes down a pendulum 6 that rotates about a connecting shaft, and is a car that moves up and down stairs on which a device that pushes up a wheel works. This crank motion increases the angle formed by the plate 2 attached to the motor and revolving with the motor, and the pendulum 6 attached to the plate 2. When this angle is small, that is, when the plate 2 is in a vertical state, or when the contact point P1 is close to the staircase kick, the crank motion does not occur. Therefore, it was not possible to climb the stairs with a small tread length.

In order for the wheel to make a circular motion around the step corner, not only a force for pushing the wheel from below, but also a force for pushing the wheel forward to move the wheel rotation shaft onto the upper step is necessary. In the final stage of the crank movement, if the length that pushes the wheel forward is larger than the height that pushes the wheel from below, and the height of the wheel rotation shaft is not higher than the height of the upper tread corner, the wheel will not move to the upper stage. . Therefore, the stairs do not rise unless the steps of the stairs are small and the wheel diameter is large. The first problem is how a wheel with a small wheel diameter climbs a staircase with a small tread length and a large step.

When the wheel hits the staircase, the brake that brakes the wheel of the stair lift of Patent Document 2 is connected to a disk 9 that freely rotates around the rotation axis of the motor and is connected by a rotatable connecting shaft. The body has a claw that catches on the corner of the step and a brake that holds down and stops the rotation of the wheel.When the wheel revolves and the rotating body comes in contact with the ground, the brake applied to the wheel is released and the spring is brought back to its original position. A rebounding brake that reciprocates. Since the brake applied to the wheel before the wheel climbs to the upper stage must not be released, the brake cannot be released until the wheel depresses the claw caught on the step corner. It is difficult to return from the depressed position to the original position with the force of the spring within a short time when the wheel moves up and hits the next kick. In addition, it is necessary to hook the nail deeply into the step corner, and there is a drawback that the wheel is lifted high when the brake is released. The second problem is how to eliminate the drawback that the wheel is lifted high when the brake is released, and how to return the wheel to its initial state within a short time when the wheel moves up and hits the next kick.

To solve the first problem, a fan-shaped rotating body whose outer periphery is a part of a spiral curve arc, with multiple wheels attached near the start point of the spiral curve arc, and a fan-shaped rotation with a friction part attached near the end point A pendulum 6 which is a body is attached to a plate 2 which is a plate 2 to which a motor is attached and which rotates around a rotation axis of a wheel in a rotatable state. The wheel 3 is lifted by the downward movement of the pendulum 6 by the circular motion of the plate 2. When the motor 1 starts to rotate in the direction opposite to the rotation of the wheel, the car body is lifted by crank motion when the motor rotates in the opposite direction by rotating the pendulum 6 of the spiral wheel, and the motor reverses from the beginning to the end. To contribute to the wheel lift.

In order to solve the second problem, a rotating body that is caught by the stairway kicking and fixed to the staircase is attached to a disk that freely rotates around the rotation axis of the motor, and the rotating body and the disk are separated from the rotation axis of the motor. When the distance to the connecting shaft is smaller than the radius of the wheel and the center of revolution of the wheel that revolves around the corner of the upper tread is the connecting shaft between the rotating body and the disk, and the wheel rides on the upper stage Even if the wheel rides on the connecting shaft between the rotating body and the disk, the brake is released without lifting the wheel high.

In addition, an antenna rotating body that moves in and out of the wheel when kicking the stairs is attached to a disk that freely rotates around the rotation axis of the motor, and a ratchet claw that is a part of the antenna rotating body is attached to the wheel of the ratchet 10 that attaches to the wheel. The disc and the wheel are combined and separated so as to be taken in and out at a certain spatial position.

Furthermore, the guide roller attached to the rotating body of the antenna mounted on the disk that can be rotated on the disk is mounted on the guide that has a circular arc on the outer periphery attached to the motor. The rotating body to be fixed is kept fixed on the stairs during the ascending of the wheel, and is rotated even after the ascending of the wheel so that the antenna rotating body can stand by at a position where the antenna rotating body can further contact the rising kick.

The stair lift of Patent Document 2 has a drawback that even if a stair with a small kick-up dimension and a long tread dimension can be climbed, a stair with a large kick-up dimension and a short tread dimension cannot be climbed. The wheels of the present invention made this possible.

FIG. 1 is an explanatory view of the mechanism of the present invention. Reference numeral 1 denotes a motor, 1a denotes a rotating shaft of the motor, 2 plates are fixed to the motor 1, and 3 wheels are fixed to the rotating shaft 2 of the motor. FIG. 1A is a state diagram in which a wheel traveling on a flat ground hits a kick of a front staircase, and the rotating body 4 is connected to a connecting shaft 3 a of the wheel 3. The rotating body 4 can rotate around the connecting shaft 3a, and the wheel can also perform a circular motion R1 around the connecting shaft 3a. The wheel rotating around the rotation axis of the motor is not stopped by a brake attached to the vehicle body 5 as in a normal wheel brake, and there is no slip on the outer periphery of the wheel at the contact point P1 between the wheel and the tread surface corner of the staircase. Like that. While the wheel revolves once around the contact P1, the wheel rotates once. A claw 4a hooked on a corner portion of the upper tread surface is attached to the end of the rotating body 4 on the connecting shaft 3a side, and a friction portion 4b that rides on the lower tread surface is attached to the other end.

When the wheel revolves away from the ground as shown in FIG. 1B, a frictional force acts on the friction portion 4b, and the rotating body 4 is fixed to the stairs. The vehicle body 5 and the pendulum 6 are attached to the lower end connecting shaft 2a and the upper end connecting shaft 2b of the plate 2 in a rotatable state, respectively. When the rotation of the wheel is stopped at the corner portion P1, the plate 2 attached to the motor 1 rotates in the reverse direction R2 with respect to the wheel. When the straight line Y1 passing through the motor rotation shaft 1a and the connection shafts 2a and 2b is near the vertical, the displacement in the horizontal direction of the movement of the connection shafts 2a and 3b due to the rotation of the plate 2 is larger than the displacement in the vertical direction. Accordingly, the center of gravity W of the luggage 7 loaded on the vehicle body 5 moves forward with hardly rising. The height at which the pendulum 6 is pushed down is small, and the force with which the pendulum 6 contacts the ground to raise the center of gravity W of the load and the force to lift the wheel 1 up are small.

The other end of the pendulum 6 opposite to the rotating shaft 2b is part of the arc of the spiral curve on the outer periphery, and the distance between the rotating shaft 2b and the contact point P2 between the ground in the outer periphery of the spiral curve is the pendulum whose outer periphery is the spiral curve. Increase with 6 rotations. When the straight line Y1 is tilted from the vertical state, the angle A between the straight line Y2 connecting the connecting shaft 2b and the ground point P2 and the straight line Y1 increases. However, the pendulum 6 starts to rotate for a while after the plate 2 starts rotating. The pendulum 6 does not rotate around the rotating shaft 2b while it is in contact with the contact 2c attached to the plate 2. The plate 2 and the pendulum 6 are rotated together in a combined state, the distance L between the rotating shaft 2b and the ground contact point P2 gradually increases, and the wheel 3 is lifted away from the ground. A plurality of wheels 6a are attached to the outer periphery of the spiral curve so that the entire vehicle body does not move backward in this process. When the plate 2 further rotates and the straight line Y1 is inclined, the angle A formed by the straight lines Y1 and Y2 increases, the grounding point P2 moves backward on the tread surface, the frictional part 6b at the end point of the spiral curve is grounded, and the pendulum 6 Rotates around the rotation 2b to perform a crank motion, lifts the wheel and feeds it forward. In this way, the motor 1 itself rotates in the direction opposite to the wheel rotation, and at the first stage, the vehicle body is lifted by crank motion at the end stage due to the rotation of the spiral wheel. Contribute to.

The connection shaft 2b is lowered by the rotation of the plate 2, but the connection shaft 2a is raised, and the vehicle body 5 is raised while moving forward along the outer periphery of the wheel. When the wheel is lifted, the wheel revolves around the contact point P1, and the vehicle body 5 also rotates around the contact point P1. Immediately before the wheel rides on the upper stage, both the revolution of the wheel 3 centering on the connecting shaft 3a and the circular movement of the connecting shaft 2a have a large amount of movement in the horizontal direction and a small amount of movement in the vertical direction. The space movement of the connecting shaft 2a includes rotation about the connecting shaft 3a, but since the connecting shaft 3a is inside the wheel, the radius of rotation is small and does not make a large circular motion at the final stage when the vehicle body moves to the upper stage. Therefore, the motor does not require a large rotational force.

FIG. 1C is a state diagram immediately before the wheel changes to the upper stage, and shows a state immediately before the rotating shaft 1a of the wheel moves to the upper stage side from the vertical line Y3 passing through the upper tread surface corner portion P1. While the rotating shaft 1a of the wheel is on the lower side of the vertical line Y3, the pendulum 6 needs to touch the lower step surface and support the wheel from below, but the role of the pendulum disappears from the moment when the wheel 3 moves to the upper stage. Since the load is eliminated, the flat spring travel state is restored as shown in FIG. 1 (d) by the pull spring 8a connecting the plate and the pendulum 6 and by the pull spring 8b connecting the plate 2 and the vehicle body 5. At this time, the plate 2 cannot return to the vertical state, and the lower end of the pendulum hits the kicking surface and may not ride on the upper tread surface. However, if the rotation direction of the motor is rotated in the opposite direction to the ascending step, the plate 2 returns to the vertical state, and the entire pendulum rides on the upper tread.

The rotating body 4 also does not move while supporting a part of the vehicle body weight when the wheel rotating shaft 1a is on the lower side of the vertical line Y3, but when the wheel rotating shaft 1a moves to the upper side of the vertical line Y3. The load is lost, and the ground spring running state shown in FIG. 1 (d) is restored by the pulling spring 8 c that connects the wheel 3 and the rotating body 4. In the flat ground running state, the claw 4a of the rotating body 4 protrudes to the outside of the wheel, but the portions other than the claw 4a of the rotating body 4 are housed inside the wheel and are not in contact with the ground. In the entire process in which the wheel 3 revolves around the connection shaft 3a, the rotating body 4 can rotate around the connection shaft 3a, and the connection shaft 3a, which is also the center of revolution of the wheel, is on the lower side of the vertical line Y3. The wheel 3 does not move on or over the rotating body 4, and is discharged to a position where it does not come into contact with the ground on the flat ground as shown in FIG. 1 (d).

As shown in FIG. 1, when the rotating body 4 is attached to the wheel, the rotating body 4 continues to rotate together with the rotation of the wheel not only when climbing the stairs but also when traveling on flat ground. As shown in FIGS. 1 (a) to 1 (c), there is no phenomenon of lifting when the wheel climbs over the connecting shaft 3a at the time of stair climbing. As shown in FIG. 1 (c), the rotating body 4 that is fixed across the upper and lower two stages at the time of ascending is horizontal when traveling on a flat ground, and therefore the claw 4a of the rotating body 4 is centered on the claw 4a of the rotating body. The opposite end 4b is lifted, and the connecting shaft 3a is lifted and the wheel is lifted.

FIG. 2 is an explanatory diagram of an apparatus for preventing the wheels 3 from getting over the connecting shaft 3a during traveling on a flat ground. Reference numeral 9 denotes a disk penetrating the rotation axis of the motor, which rotates freely on a fixed plane orthogonal to the rotation axis 1a of the motor without being fixed to the rotation axis of the motor. Reference numeral 10 denotes a ratchet attached to the wheel 3 with its center coincident with the rotation axis of the wheel. When the antenna 11 is attached to the connection shaft 9a of the disk 9 in a rotatable state, and the ratchet claw 11a attached to the antenna 11 bites into the blade of the ratchet 10, the disk 9 is united with the wheel and rotates together with the wheel. When the ratchet claw 11a is discharged out of the blade of the ratchet 10 and the ratchet 10 and the disk are separated, the disk does not rotate with the rotation of the wheel even if the wheel rotates. A guide roller 11b is attached to the antenna 11, and the guide roller has the same center as the rotation shaft 1a of the motor and slides on the outer periphery of a disk-shaped guide 12 fixed to the motor. The guide 12 is a circular arc obtained by cutting off a part of the circumference. When the guide roller 11b is fitted in the cutout portion 12a, the antenna 11 rotates around the connection shaft 9a and contacts the guide roller 11b on the side opposite to the antenna. The portion 11c jumps out of the wheel, the ratchet pawl 11a is separated from the blade of the ratchet 10, and the disk 10 stops rotating integrally with the wheel.

The connecting shaft 9 a is also a connecting shaft of the rotating body 4, and the rotating body 4 can rotate irrespective of the rotation of the antenna 11. In the flat ground running state shown in FIG. 1 (a), the rotating body 4 is not rotating and is stationary, the disk 9 to which the rotating body 4 is attached is also stationary, and the guide roller is on the notch portion of the guide 12, The contact part 11c protrudes out of the circumference. When the contact portion 11c hits the stairs and is pushed into the wheel, the ratchet pawl 11a is bitten by the blade of the ratchet 10, and the disk 10 rotates together with the wheel. The guide roller 11b moves from the straight portion of the guide 12 to the circumferential portion. The ratchet pawl 11 b is continuously pushed into the blade of the ratchet 10 until it goes around the circumferential portion and rides on the notched portion again. In this way, the rotating body 4 can be fixed to the staircase during the ascending stage, and after the ascending stage, the rotating body 4 is rotated so that the contact portion 11c of the antenna 11 can stand by at a position where it can further contact the rising kick. I can do it.

When an electromagnetic clutch is used for the union and separation of the rotating bodies of the disk 9 and the wheel 3, the supply of electricity to the electromagnetic clutch becomes a problem, but the spatial position of the union and separation of the rotating bodies is constant. Therefore, a mechanism in which a guide roller is placed on a guide whose outer periphery is an arc may be used together so that the ratchet pawl 11a is moved in and out of the blade of the ratchet 10 by a solenoid.

As shown in FIG. 3, a multi-vehicle frame 13 is attached to the connecting shaft 5a of the vehicle body 5, and as shown in FIG. 3 (a), the inner wheel 13a of the multi-vehicle is grounded and the outer wheel 13b is grounded in a flat ground state. The rotation of the connecting shaft 5a of the multi-vehicle frame 13 is stopped at a position 5b when it is attached to the vehicle body 5 so that the vehicle body 5 is not lowered. FIG. 3 (b) shows the state where the vehicle body is in the stairs. When climbing up, the vehicle body is lifted up and then the wheel and pendulum are pulled up, but when descending, the wheel and pendulum fall down to the lower stage before the vehicle body. In this way, the vehicle body is stepped up to the upper stage, the vehicle body is supported on the upper stage by the multi-vehicles 13a and 13b, and the vehicle body is lowered to the lower stage after the wheels have dropped to the lower stage.

FIG. 3A is an explanatory view of a method of using another vehicle 14 towed on a tip end top surface 6c of a pendulum during flat ground traveling. When the towed vehicle is heavy and cannot be pushed manually, when towing with a wheel equipped with an electric motor, when the weight of the towed vehicle is small, the driving wheel of the towed vehicle runs idle and does not travel. The vehicle to be towed in advance is tilted forward so that the pendulum 6 is separated from the contact 2c of the plate 2 and the towed vehicle is scooped up by the pendulum tip 6c and the vehicle 14 is pushed as shown in FIG. When the wheel 3 is rotated in the direction, the plate 2 operates to lift the vehicle 14 and pull it toward the wheel rotation shaft 1a, and the wheel 15 on one side of the vehicle 14 is lifted away from the ground. If the wheel 15 on one side of the vehicle 14 is lifted slightly just by moving away from the ground, the load supported by the lifted wheel 15 is loaded on the wheel 3 on the towing vehicle side, and the wheel and the ground The frictional force does not increase and the wheel 3 does not idle. Further, when the plate starts to rotate from the vertical state, the horizontal movement in which the wheel 3 tries to move under the vehicle 14 is larger than the amount by which the vehicle 14 is lifted in the height direction. It is possible to lift the wheel of the towed vehicle if there is a force to climb the vehicle. In this way, the stair lift mechanism can be used to push a cart that cannot be pushed by human power.

Operation explanatory diagram at the time of stair climbing of the present invention Explanatory drawing of the clutch mechanism of this invention Operation explanatory diagram showing an embodiment of the present invention Operation explanatory diagram showing an embodiment of a conventional invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Motor 2 Plate 3 Wheel 4 Rotating body 5 Car body 6 Pendulum 7 Luggage 8 Pulling spring 9 Disk 10 Ratchet 11 Antenna 12 Guide 13 Multi-vehicle frame 14 Vehicle to be pulled 15 Wheel on one side of the vehicle 14

Claims (3)

A plate that attaches a motor and that has a rotating shaft of the wheel as a rotating shaft works as a crank and lifts the wheel by the downward movement of the circular motion of the crank. A pendulum that is a fan-shaped rotating body that is a part of a spiral arc, with a plurality of wheels attached near the start point of the spiral curve arc and a friction part attached near the end point. It is a rotating body that is caught in the stairway kicking and fixed to the staircase, and is attached to a disk that rotates freely around the rotation axis of the motor.The distance from the rotation axis of the motor to the connection axis between the rotation body and the disk is the radius of the wheel. A rotating body that is smaller, the center of revolution of the wheel whose connection axis with the disk revolves around the upper tread corner,
A ratchet claw that is a part of an antenna rotating body that is attached to a disk that rotates freely around the rotation axis of the motor and that moves in and out of the wheel by hitting the kick of the stairs, is fixed in the blade of the ratchet 10 that is attached to the wheel. A device for combining and separating the disk and the wheel so as to be taken in and out in a spatial position;
The guide roller attached to the rotating antenna attached to the disk above the guide that has a circular arc on the outer circumference attached to the motor is mounted on the rotating guide shaft. A device that keeps the rotating body that is hooked to the staircase fixed to the staircase, rotates even after the climbing of the wheel, and waits at a position where the antenna rotating body can further contact the rising kick,
A brake that eliminates slip between the wheel outer circumference and the upper tread corner. A vehicle in which a pendulum of a stair climbing vehicle having a device according to claim 1 or 2 uses a movement in which the pendulum rotates in a direction opposite to a wheel to lift and carry a heavy load, and towing a wheelbarrow loaded with a heavy load. Then, tilt the vehicle to be pulled in advance, move the pendulum away from the position where the rotation of the pendulum stops, scoop up the towed vehicle with the tip of the pendulum, and pull it toward the wheel rotation axis while lifting it. When the wheel on one side of the vehicle is moved away from the ground, it will be loaded on the driving wheel of the vehicle towing the load supported by the lifted wheel, and the driving wheel will idle by increasing the frictional force between the driving wheel and the ground. A towing vehicle that lifts the wheels of the vehicle

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