JP2008285157A - Stair climbing vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a stair climbing vehicle which climbs up and down any stairs continuously and smoothly without the need for switching operation such as clutch operation or various controls along the way, and automatically provides horizontal maintenance of a chair and a loading platform without depending on power, and which is ensured by provision of a safety device for raising upstairs and lowering downstairs a person or a load safely and smoothly in order to simplify and ruggedize the structure. <P>SOLUTION: In the stair climbing vehicle, a moving means comprises a platform pivoting around the axis, and a plurality of outer ring bodies rotating around a spindle installed in a plurality of positions in the periphery of the platform. The distance between the most remote position from the axle of the outer ring body and the axis is made gradually greater or smaller. Rotating around the axle, the outer ring body gradually grounds so that the axle is moved in a direction leaving or approaching the contact surface. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

Detailed Description of the Invention

Unlike a flat ground, a car is required to measure the shape of a staircase, kick-up, tread, etc. and move accordingly, so it is complicated and expensive to use various sensors. Have used a lot of control devices. The stair lift of the present invention is characterized in that it does not make full use of mode conversion or switching operation of a clutch or the like, and does not require the above-described sensor or control device at all.

In other words, when driving flat, the driving gear with 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 drive-side gear revolves around the driven-side gear (or the drive-side gear revolves around the driven-side gear as the rotational speed of the driven-side gear decreases).

The stair lift of the present invention uses the revolution of this pinion for the lift operation of the stair lift.
Two mode conversions of flat running and raising / lowering operation are alternately repeated without using a switching device such as a clutch.

The stair climbing vehicle of the present invention that repeats the rotation of the wheel and the revolution around the stopped wheel has a plurality of wheels intertwined with each other and a pinion attached to the axle on the inner periphery of the wheel inside one wheel. There are two types of the former, one in which the wheels are connected in a chain and the other in which the wheels are arranged radially. As the latter, the shape of the wheel may be a polygon such as a circle or a triangle.

Here, if the rotation direction of the wheel and the direction of rotation of the pinion or the wheel coincide with the ascending or descending direction at the time of ascending and descending of the car, the car ascends and descends the stairs.

In the stair lift of the present invention, it is absolutely necessary to induce the revolution of the pinion by stopping the rotation of the wheel. To that end, it is inevitable that the wheel does not slip between the non-slip, and various measures are applied to the tire. The

In addition, the revolving of the pinion does not continue at the time of ascending, the rear of the wheel is lifted away from the non-slip, the revolving is completed, the wheel starts to rotate, and assistance of auxiliary wheels or the like is required to return to flat running. At the same time, the assistance has the effect of making the part of the concave circle closer to a straight line up or down the track of the axle (pinion center).

The movement of the auxiliary wheel that pushes up the rear of the wheel is linked to the revolution of the pinion and it slides under the wheel and slides on the tread. Spiral auxiliary wheels are devised so as not to block.

First, a description will be given of whether or not the wheel that moves up and down the stairs of the present invention that travels flatly moves up to the stairs without switching operation such as a clutch when the wheel hits a kick. Motor gears rotated by an electric motor or the like rotate the wheel gears to transmit the gears by meshing the gears, and to transmit the rotations via a chain, and when the rotation on the driven side is stopped, the drive side The above-mentioned gears are revolved around the driven-side gears, and the phenomenon of switching from the driven-side rotation to the driving-side revolution is observed when the driven-side rotation stops.

[FIG. 1] (a), (b) and (c) respectively show an inner gear around the wheel circumference, an outer gear located at the wheel center,
A pinion located on the wheel circumference of the chain gear located at the center of the wheel rotates the wheel with an electric motor or the like to run flatly. The pinion revolves around the external gear (b), chain gear or pulley (c). Both (a), (b), and (c) indicate the state where the pinion has shifted from the initial state of flat running to the ascending stage. In the figure below, → indicates the rotation direction of the gear when the stairs are raised, and ⇒ indicates the revolution direction of the gear.

[Fig. 2] (a), (b), and (c) show circular, square, equilateral triangle, and rhombus wheels with chains (or v-belts or internal gears or racks) attached to the inside. The chain gear pinion is an axle gear that supports the vehicle body. In (a), the internal chain gear rotates the circular wheel, but the chain gear moves inside the outer periphery as the wheel stops. In (b) and (c), the internal chain gear moves on each side, but when passing inside the apex, the entire wheel is rotated around the apex.

[Fig.3] [Fig.4] [Fig.5] is a stair climbing vehicle in which a plurality of gears biting with the motor gear are arranged radially and attached to an equilateral triangle board. (A) and (b) are both The figure below shows the start of climbing of the stair lift. The traveling operation is the rotation of the wheel, and the lifting operation is the revolution of the board.

The rotation of the wheel and the revolution of the connecting plate will start if one of the other stops, and one will start and automatically switch while the rotation of the wheel and the revolution of the connecting plate are repeated alternately. Is repeated.
If the wheel or the board revolves around the solar axle in the ascending / descending operation, the solar axle revolves around the grounded wheel that has stopped if the view is changed.

[Fig. 3] In (a), the advancement of the wheels coaxial with the gears around the motor gear is blocked [Fig. 3]. In (b), the revolution of the planetary gear is blocked, so that the ground ring is Stop.
[Fig. 4] is a diagram in which the wheels attached to the gears arranged radially around the motor gears in Fig. 3 (a) are removed, and the axle gears are interposed between the wheel gears by preventing the wheels from moving forward. Revolve around the gears. (A) is a state diagram at the start of ascending stage (b) is a state diagram immediately before the ascending stage (c)
Is the state diagram of the upper run

[FIG. 5] is an example in which an internal gear incorporating a planetary gear and a sun gear is incorporated in an axle gear portion.
Each wheel (7) is attached to a gear (6) that meshes with an axle gear (4), and all wheels are 6
In this case, three wheels are arranged radially from the axle (2) on the surface and attached to the board (46).

The remaining three wheels are mounted on the back surface (47) to which the axle (2) and the planetary gear (13) are attached.

(A) is a front view of the structural drawing as viewed from the front surface, (b) is a reverse view of the structural drawing (a) and (b), and the wheel (7) and gear (6) indicated by dotted lines are on the opposite side. Indicates that it is on the surface.

When the revolution of the rear panel (47) stops, the rotation of the sun gear (3) is transmitted to the internal gear (10) and the axle gear (4) via the planetary gear (13), and the wheel gear ( 6) rotates.

As shown in (b), when the wheel (7) hits and stops rotating, the rotation of the internal gear (10) and the axle gear (4) stops and the revolution of the board (47) occurs.

Each wheel gear (6) on the back surface attached to the board (47) revolves while rotating along the axle gear (4).

(A) is a structural diagram (b) is a state diagram (c) at the start of stairs ascending, is a component arrangement diagram.

[Fig. 6] (a) and (b) are two-sided wheels consisting of the lower side of the grounding side, the upper side of the opposite side, and two apexes. The polygonal wheel shown in Fig. 2 (b) and (c) is the most It is a simplified one.

[FIG. 6] When the wheel is in a grounded state and the pinion meshes with the lower side as shown in FIG. 6A, the pinion travels on the lower side and moves inside the wheel. Also, as shown in FIG. 6B, when the pinion meshes with the upper side in a state where the wheel is not in the grounded state but floated in the air, the pinion sends the wheel forward.

Fig. 6 (c) (d) (e) (f) shows the ground (33) while two two-sided wheels are swapped up and down, with pinions attached to both ends of the panel (13) rotating around the axle (2). This is a description of a series of movements traveling on the road. The lower pinion travels on the lower side of the ground side wheel, and the upper pinion sends the wheel floating in the air forward.

[Fig.2] Wheels that move up and down the stairs in (a) are more likely to revolve around the upper non-slip as the pinion climbs a gentle slope that passes through the upper non-slip as the diameter increases. Is outside the non-slip with the wheel and easily falls to the lower stage.

Next, a description will be given of an auxiliary device that pushes up the rear portion of the wheel when the pinion moves up on the inner side of the outer periphery and makes the circular wheel revolve around the upper non-slip and return to the initial state of flat running.

The pinion that moves inside the outer periphery of FIG. 2 loosens immediately after the start of climbing, and climbs a steep slope just before the end of climbing. If you push up behind the pinion, you will always climb a gentle slope,
After the pinion passes through the upper non-slip, the circular wheel revolves around the upper non-slip and can easily return to the initial state of flat running.

[FIG. 7] illustrates an example in which the auxiliary device of [Claim 2] is applied to the stair climbing vehicle of [FIG. 2] (a). (A), (b) are supported by the assistance of each auxiliary device. The state where the circular wheel rides on the upper stage and tries to return to the initial state of flat running is shown. Although the wheel that goes up and down the stairs appears to rotate around the axle, the wheel rotates once by the revolution of the axle only by repeating the revolution of the axle around the non-slip.

Therefore, in (a), the movement of the pinion inside the outer periphery means a revolution centering on the non-slip of the wheel, and the rotation angle of the auxiliary wheel that moves following the pinion and moves inside the outer periphery is the revolution angle of the auxiliary wheel and the diameter of the pinion and the pinion. If they are the same, the revolution angle of the auxiliary wheel is larger than the revolution angle of the wheel, and the coaxial auxiliary wheel is accelerated to push up the rear part of the wheel while pushing the preceding pinion.

If the pinion is a motor gear and the motor is attached to the board (13), the motor rotates in the opposite direction to the rotation of the pinion and presses the auxiliary wheel. In (b), the motor gear for rotating the pinion revolves around the pinion and presses the subsequent auxiliary wheel to raise the circular wheel.

The approach angle of the auxiliary wheel to the tread surface is the maximum at the time of the first non-slip approach, and the approach direction becomes parallel to the tread surface and decreases the effect of pushing up the rear wheel rear portion as it subsequently enters the tread surface.

[FIG. 8] (a) is a state diagram in which the auxiliary wheel enters the tread with the slope, and shows a state in which the effect of pushing up the rear rear portion of the auxiliary wheel is suppressed. Each of (b) and (c) is an auxiliary wheel that has the same effect as (a). (c) is not only a single auxiliary wheel in (b), but also omits the front half of the auxiliary wheel. By doing so, even if the sliding distance until it hits the kick of the auxiliary wheel is doubled and hits the kick, it does not stop the revolution of the pinion like the wheel.

Each of the radii of the plurality of auxiliary wheels in (b) corresponds to the distance from the center to the tread surface at each position corresponding to the auxiliary wheel running up the slope in (a). (c) shows the shape of the auxiliary wheel in a spiral shape, the vortex line is an isometric vortex line, the length of which is the same as the length touching the tread, and the radius is the same as (b). Auxiliary wheels running up the slope of the road correspond to the distance from the center to the tread at each corresponding position.

[FIG. 9] attaches these auxiliary wheels to a sled pulled by the wheel and separates them from the wheel body without raising the auxiliary wheels during the revolution of the wheels to reduce the weight of the rear part of the wheels. (a)
The sled (41) shown in FIG. 4 is to stop on the stairs when the rear part of the board rides through the guide roller and moves when the rear part of the board leaves at the time of revolution.

[FIG. 10] The ratchet blade-shaped protrusion claw (32) shown in (a) has a circumferential tangential bottom surface and a radial hooking surface, and the claw when the wheel having this protrusion claw hits a non-slip of the staircase. When a radial force is applied to the bottom surface of the wheel, the projecting claw is stored in the wheel, and when a circumferential force is applied to the catching surface of the claw, it resists this, and the wheel and the non-slip of the stairs mesh and the wheel slides. Climb without climbing. Also, since the load on the ground surface is only subjected to a radial load on the bottom surface of the claw, the projection claw is housed in the wheel and the catching surface does not catch the ground, and the wheel runs flat like a wheel without the projection claw. To do. (A) is an example of a wheel with the circumference divided into eight equal parts and the projection claws arranged in one row. When a plurality of rows of projection claws are overlapped while shifting the phase, Wheels can be climbed without slipping.

[FIG. 11] is a safety device for stopping the car in the middle of the stairs, and is a brake that locks the rotation in the direction to descend when the vehicle body is tilted and releases it when it is level. (A) shows the state when the vehicle is level (b)
Indicates the state when the vehicle body is tilted. This brake (65) is hinged to the vehicle body (15)
Since the vertical position is maintained not only when the vehicle body is horizontal but also when the vehicle body is tilted, the wheel is not touched when the vehicle body is horizontal, and when the vehicle body is tilted, it touches the wheel and hits it with the rotation of the wheel (45 ) Bites into the wheel and the protrusion (32) presses the wheel to lock the rotation in the direction in which the wheel descends. The brake (65) suspended vertically on the vehicle body has a protrusion (32) in addition to the contact (45). The protrusion (32) extends to the opposite side across the hinge, such as when the tire air pressure is low. To prevent it from rotating and passing

Car wheels going up and down stairs Round, square, equilateral triangle, rhombus wheels Wheels attached to gears arranged radially around the motor gear Wheels attached to gears arranged radially around the motor gear Wheels attached to gears arranged radially around the motor gear Two-sided wheel The wheel of the car that goes up and down the stairs that rotates once by the revolution of the axle The wheel of the car that goes up and down the stairs that rotates once by the revolution of the axle The wheel of the car that goes up and down the stairs that rotates once by the revolution of the axle Wheels with protruding claws Safety device for cars to stop in the middle of stairs

Explanation of symbols

(1) Car body (2) Axle supporting the weight of the car body (3) Gear driven by an electric motor or the like (4) Gear or wheel rotation shaft (5) (4) Gear attached to the bearing via a bearing (6) (4 (7) Wheel attached to (4) via bearing (8) Wheel attached to (4) with key (9) Wheel frame (10) (9 ) Chain attached inside
(11) Shock absorbers such as tires and rubber attached to the outside of (9) (12) Link plate for connecting the rotating shaft and rotating shaft (13) Panel for attaching a plurality of rotating shafts (19) Motor (20) Bearing
(25) Panel attached to (4)
(26) Stair kicking part (27) Stair tread part (28) Stair non-slip part
(41) Sled
(42) Slope
(43) Spiral auxiliary wheel (r1) Distance from the center of the auxiliary wheel to the tread just before running up the slope (r2) Distance from the center of the auxiliary wheel to the tread at the position where the slope is going up

Claims (5)

A moving means comprising: a board that rotates about the main shaft; and a plurality of outer ring bodies that rotate about the support shafts provided at a plurality of peripheral portions of the plate;
The distance between the position farthest from the main shaft of the outer ring body and the main shaft is arranged so as to gradually increase or decrease,
Rotating means that rotates about the main shaft so that the outer ring body is sequentially grounded and the main shaft moves in a direction away from or closer to the ground contact surface. It is a board provided with a plurality of outer ring bodies that rotate about the main shaft and rotate about the support shafts provided at a plurality of locations on the periphery thereof,
A board characterized in that the distance between the position farthest from the main shaft of the outer ring body and the main shaft is gradually increased or decreased,
Stairs characterized in that the board rotates about the main shaft, the outer ring body contacts the ground sequentially, and the main shaft moves in a direction away from or close to the ground contact surface to travel over a step. Up and down the car. A polygonal wheel to which an internal gear is attached, an axle that supports the weight of the vehicle body, and a pinion that rotates around the outer axle and moves inside each side of the outer periphery of the polygonal wheel along the internal gear. Prepared,
After the pinion moves on the straight part parallel to each side of the outer periphery of the polygonal wheel of the internal gear, and passes through the inside of the vertex of the polygonal wheel, the polygon of the polygon is centered on the vertex. It is a car that goes up and down stairs, characterized by rotating wheels and traveling over steps.
A vehicle that moves up and down the stairs by rotating the pinion by rotating the polygonal wheel while the pinion rotates and travels on a flat ground and moves along the pinion. A board that rotates about the axle, a pinion that attaches to each of the opposite ends of the board that are opposite to each other about the axle, and a two-sided wheel that attaches to each pinion,
The two-sided wheel is composed of a lower side on the grounding side, two sides on the opposite side and two vertices, and has an elongated hole inside, and the elongated hole has an internal gear having a straight portion parallel to the lower side and the upper side. Is attached. A stair lift that accommodates the pinion in the elongated hole and moves along the internal gear,
One of the pinions attached to each of both ends of the board runs on a straight portion of the internal gear inside the lower side of the two-sided wheel, and the other of the pinions attached to each of the both ends of the board is in the air. The two-wheels that floated in the air are moved forward while supporting the linear part of the inner gear on the inner side of the upper side of the two-sided wheel that is floating on the front, and the one side of the pinion is the inner gear on the inner side of the lower side. When the board moves along the straight part of the plate and passes through the end of the slot, the panel rotates around the axle,
It is a car that goes up and down stairs, characterized in that the two wheels attached to each pinion run on the ground while moving up and down or run over a step,
A vehicle that moves up and down the stairs as the pinion rotates and travels on flat ground, and the board on which the pinion is mounted rotates. A vehicle that goes up and down stairs with wheels attached to an axle and ratchet blade-shaped protruding claws rotatably attached to a spindle that is equally distributed on the outer edge of the wheel,
The projection claw has a bottom surface that contacts the ground in the tangential direction of the wheel and a hooking surface that meshes with a non-slip portion in the radial direction of the wheel, and contacts the ground when the bottom surface contacts the ground or a staircase kick. When the wheel's radial force acts, it rotates around the support shaft and is stored in the wheel, and the non-slip portion of the staircase comes into contact with the catching surface and the wheel's circumferential force acts. A vehicle that ascends and descends the stairs, resisting this, and engaging the non-slip portion of the staircase with the non-slip portion of the stairs so that the wheel travels over a step without slipping.