JP2015521978A - Transport for transporting cargo and people on stairs and planes - Google Patents

Abstract

The present invention relates to freight and human transport on stairs and planes, and particularly to an armchair-equipped vehicle with a person on it. The transport system includes an armchair for a person to sit on and a frame on which an elevating device is attached from above. The frame is equipped with one horizontal longitudinal guide on each of the front, rear, left and right, and each guide has an L-shaped wheel column and a pair of spider axle wheels so that it moves horizontally and vertically. In order to adjust the length of the base, a driving device for moving the wheel column in the horizontal and vertical directions along the frame is attached. The wheel base is composed of four spiders, and each spider has a running / supporting wheel on each arm. A horizontal rotation shaft is attached to the end of each arm of the spider perpendicularly to the axis of the arm, and traveling and support wheels are fixed to the rotation shaft in a non-movable manner. Each spider shaft is connected to a power unit via a transmission to rotate its own spider on this shaft. A steering device is attached to the frame. For this steering device, each arm has a vertical axis at the tip along the arm, and an axle is attached to the vertical axis. The axle can be rotated about the longitudinal axis. The vertical axis is mechanically connected to the steering device so that all wheels of a pair of spiders or all wheels of all spiders rotate synchronously. [Selection] Figure 1

Description

The invention relates to the field of transports for transporting cargo or people on a flat surface and for raising and lowering them on steps such as stairs and escalators. Primarily, the present invention can be used for one person to carry heavy cargo independently without physical force from muscles, or for one person who cannot walk by himself to sit in an armchair-equipped car without an attendant. Can be used to carry

Wheelbarrows for moving cargo along stairs and planes are known. (See Russian Patent No. 2095266 C1 for invention “moving wheelbarrow over staircase”, priority claim: November 12, 1993, inventor Taranuha II.) This wheelbarrow comprises a frame with a handle, A plurality of travel / support wheels and a roll slider on which rolls supported by the edges of the steps of the stairs when the stairs are raised and lowered are provided in a row. A roll slider is used when moving on a plane.

This wheelbarrow reduces the physical force required to lift the cargo along the stairs and to drop it at a constant speed.

The disadvantage of this analog is that it requires a great deal of human power for the operator to move up and down the stairs and to move manually on a plane. Therefore, such a wheelbarrow cannot be used for autonomous transportation of an armchair-equipped vehicle, regardless of the power of the disabled person or using an electric drive device.

The cause of these disadvantages of the analogues is that the wheelbarrow slider roller is weakly engaged with the step end of the staircase, and as a result the car slides off the stairs if the operator does not hold it down.

In terms of technical essence and functional application, the prior art closest to the transport system of the present invention is a device for lifting an armchair loaded with cargo and / or a person on the stairs. It is. The Russian patent No. 17 November 17, 1998 for the invention “Motor Driven Stair Upward Device”. 2201367 C2, see inventor Arsten Bernd. This device is intended for transportation of motorized and detachable items and cargo, especially vehicles with armchairs on which people who cannot walk can ride. The device includes a robust frame with power source, driving force device, drive control system, touch sensor and sensor, and stair lift. One traveling wheel is attached to each of the left and right sides of the frame so that the apparatus is supported by the upper step and the lower step of the stairs. In order to guarantee a support process that is almost perpendicular to the walking surface of the staircase, a support device is attached to the frame, and two or three lifting devices are attached to the other end of the support device. A motor driven rotary spider with a support wheel is mounted and the drive is synchronized with an upward device for climbing stairs with the support wheel as the spider rotates. When transporting on a flat surface, the support device is lifted under the cargo to be transported, in particular under the armchair-equipped vehicle. In order to maximize the reliability and stability when a car loaded equipment or armchair loaded with people climbs stairs, the vertical direction with the step surface closer to the center of the horizontal plane of the stairs is the fulcrum An upward-facing device in the form of a supporting leg that moves in a straight line is proposed. The device is equipped with a touch plate type tactile sensor that is activated only when the device is near the edge of the next step and activates a drive that performs the next upward staircase.

The technical result of the prior art is that the device is light and compact, creating a device that can be mounted and removed very safely on any cargo to be transported, especially on an armchair-equipped vehicle. .

The inherent disadvantage of the prior art is that it is only possible for the attendant to manually lift and lift the stairs in a car and armchair-equipped vehicle (because the device is held down so that it does not fall off the stairs). It is in the point. This eliminates the possibility of remote controlled or self-contained transport and maneuvering of armchair-equipped vehicles by a person sitting in the armchair-equipped vehicle. Transportation through the stairs of an armchair-equipped vehicle is only possible after enduring the discomfort caused by the significant inclination of the armchair-equipped vehicle on which people are placed.

The above disadvantages are related to the fact that the entire center of gravity perpendicular is located near the axis of the pair of running wheels, which reduces the stability of the transport on the stairs. It will cause uncontrollable driving accidents and falling from the stairs. These drawbacks are also associated with the low structural stability of the device that travels on stairs with cargo and armchair-equipped vehicles.

Russian patent no. For "moving wheelbarrow over stairs" 2095266 C1, Priority claim: November 12, 1993, Inventor Taranuha II. Russian patent no. Dated November 17, 1998 to "Motor Driven Stair Upward". 2201367 C2, inventor Arsten Bernd

The object of the present invention is to comfortably bring a person sitting in a cargo or armchair-equipped vehicle without an attendant in the ascending / descending process of steps such as stairs and escalators, and in the process of moving on horizontal and inclined planes, The goal is to create a stable and safe transportation system for stable, safe and independent transportation.

The object of the present invention according to claim 1 is to provide a structure for a freight transportation system or an armchair-equipped vehicle by attaching to a transportation system a general-purpose wheel base for plane traveling using only traveling / supporting wheels and for stair climbing. Is to simplify. Supplementary objectives are to increase the number of supporting and traveling wheels, and in the process of raising and lowering the transport mechanism, such as stairs and escalators, by variably placing these wheels at the optimal fulcrum on the steps. Or to ensure accident-free transportation of humans in a car equipped with an armchair. A supplementary objective of improving stability on stairs is to structurally ensure optimal adjustment of the center of gravity of the entire transportation system carrying cargo or people relative to the center of the wheel support area on the stairs.

The supplementary technical effect according to claim 2 is that the distance from each wheel supported by the step to the vertical wall of the nearest step is measured and the distance between the running / supporting wheel and the spider shaft. By automatically adjusting the length of the spider arm to adjust the optimum distance, the stability of the transportation system is improved.

A supplementary technical effect according to claim 3 is the improvement of the stability of the transportation system on the stairs and the escalator by the automatic interlock for preventing the traveling and supporting wheels from rotating in reverse.

The supplementary technical effect according to claim 4 is that the position of the center of gravity of the armchair on which the person is placed is lowered in the relative relationship with the lateral support points of the armchair with respect to the frame, so that the chair naturally moves like a pendulum. By being able to be vertical, it is possible to always keep the human vertical position comfortable when stepping up and down steps such as stairs and escalators and when traveling on a flat surface.

The supplementary technical effect according to claim 5 is that the armchair on which the person is placed is moved to the optimum point zone in the supporting area of the traveling wheel in the vertical direction, thereby stabilizing the armchair-equipped vehicle on the stairs or escalator. Is to improve the performance. In the case of freight transportation, the stability of the transportation system is achieved by structurally ensuring the leveling of the freight support structure and the level of the freight on the freight support structure when moving up and down by stairs or escalators.

The supplementary technical effect according to claim 6 is that heavy and / or large cargo can be lifted by floor or ground or other suitable level from a mechanized device to the transport and this cargo or human Can be moved to other locations with a mechanized device.

The supplementary technical effect according to claim 7 is an improvement in the handling performance of the transportation engine in a narrow area.

The supplementary technical effect according to claim 8 is that the rotation of the traveling / supporting wheel is blocked, and the traveling / supporting wheel is turned in parallel with the longitudinal direction of the staircase step so that the stairs and the escalator are rotated. It is possible to improve the stability of the transportation system when raising and lowering the steps such as.

A supplementary technical effect according to claim 9 is the comfort of transportation management for humans on a cargo or armchair-equipped vehicle by means of an in-vehicle battery, a motor, an electric drive and a program control panel of the transportation system.

The set objective is achieved by the transport mechanism for transporting the disabled persons sitting in the armchair of the cargo loaded on the transport or armchair equipped on the stairs and on the plane with a robust frame. . A freight support structure for fixing the cargo is attached to the frame of the freight transportation system. An armchair for a person to sit is attached to the frame of the armchair-equipped vehicle. Under the frame of such a transportation system, a wheel base with a traveling / supporting wheel that can rotate in any direction and a lifting device for lifting the transportation system along steps such as stairs and escalators are attached. . The lifting device is provided with a mechanical or electric drive device (s), which are equipped with a drive control system for running the transport and adjusting the lifting device and wheelbase. A horizontal rotating shaft is attached to the lower side of the frame, and a three-arm spider with three identical arms is non-movably attached to the shaft, and these arms are positioned on a vertical plane. Thus, the boss of each spider is immovably fixed, and the radiation angle between the arms is 120 °. A horizontal rotation axis is attached to the tip of each arm perpendicular to the vertical axis. Traveling and supporting wheels are attached to this rotating shaft, and these wheels can be rotated in any direction by its own rotating shaft so that the transport can travel on these traveling wheels. ing. A driving device is mechanically connected to the shaft of the spider, and the spider is rotated when the transportation system supported by the traveling wheel and the support wheel moves up and down on the steps of the stairs and the escalator.

A prominent feature that distinguishes this transport aircraft from the prior art is that the wheel base is composed of four three-arm spiders, and the traveling and supporting wheels are attached to the respective arms of the respective spiders. One horizontal and vertical guide is attached to each of the front left and right and rear left and right of the frame. Each guide has an L-shaped wheel column movably attached in the horizontal and vertical direction, and the horizontal portion is accommodated in the guide. A horizontal rotating shaft is attached to the lower part of the vertical portion of the wheel column, and the above-mentioned three-arm spider is attached nonmovably thereto. Each guide has a horizontal and vertical movement of the wheel struts along the frame (to adjust the length of the left and right wheelbase between the paired spider shafts), and (cargo or human) A manual mechanical, hydraulic or electric drive is installed to move the center of gravity of the transport from the center of the running wheel support area to the top of the stairs. All the wheels on the steps such as stairs and escalators are arranged at a safe fulcrum, ensuring stability. Each spider shaft is connected via a mechanical transmission to a mechanical or electric drive for rotating the spider independently or synchronously. The frame is provided with a steering system (for an operator or a person sitting in an armchair-equipped vehicle) to turn the paired front and / or rear support / running wheels independently. For this purpose, in each arm, an axle is installed at the end of the longitudinal axis of the arm, and this axle with wheels can rotate on a plane perpendicular to the longitudinal axis. The longitudinal axis is mechanically coupled to the steering system so that all wheels of a pair of spiders or all spiders can rotate synchronously.

In accordance with claim 2, the transport is characterized in that each arm of all spiders is constructed so that the length of all arms can be adjusted synchronously and simultaneously in each spider. . To this end, each arm of each spider is a machine for extending or shortening the length of the arm, thereby extending or shortening the distance from the axis of each traveling wheel to the axis of the spider accordingly. It is equipped with an electric, hydraulic or electric drive device. In front of each running / supporting wheel of each spider arm, touch sensor for tracking the control signal for the distance from the wheel to the edge of the step, contacting the edge of the step such as stairs and escalator Is attached. The transport is equipped with an automatic adjuster that moves all the tactile sensors for receiving these control signals, all the drives for adjusting the length of the arms, and the wheel struts horizontally and vertically. It is connected to the moving drive. This automatic adjuster is intended to automatically adjust the length of the left and right wheelbases between the left and right spider shafts in accordance with the sensor signal. In this way, all the supporting and traveling wheels can be automatically arranged as close as possible to the walls of the steps in order to increase the stability of the transport aircraft when moving up and down the stairs.

In accordance with claim 3, the transport system is characterized by the fact that the various drive devices are equipped with automatic interlock mechanisms, for example a device that can be switched by an operator or a person on an armchair. These mechanisms prevent the spider and supporting wheels from going backwards, and prevent the wheels from turning freely when moving up and down the stairs and running on a plane, or turning horizontally during steering.

According to claim 4, the transportation system is characterized in that vertical struts are attached to the left and right of the frame. A horizontal shaft is attached to the upper end of each column. On these shafts, armchairs for people to sit are attached in a pendulum shape, and when the transportation system tilts during the stair climbing process, the overall center of gravity of the armchairs supported by these shafts is the armchair The armchair is kept vertical by being at a position lower than the support line.

In accordance with claim 5 and according to claim 4, the transport system is characterized in that the support system for mounting the cargo support structure or armchair is, for example, a manual, mechanical or hydraulic drive or electric semi-automatic drive Or it is characterized by being composed of four struts with automatic drive. These drives adjust the length of these struts and adjust the position of the armchair on which the cargo or person rests on the transport horizontally or vertically in order to increase the stability of the transport on the stairs And / or adjusting the height of the armchair on which the cargo or human is placed and / or allowing the cargo or armchair to be moved along the frame.

According to claim 6, the transport vehicle is characterized in that its frame is provided with a laterally extended guide for mounting the wheel struts. This ensures an internal free space in the internal support area of the transport and allows the cargo to be transported to and from the surface of the transport before loading the cargo onto the cargo support structure or before placing a person on the seat of the armchair-equipped car. Or a person can be arranged. The payout type guide is provided with a mechanical, hydraulic or electric drive device for paying out the guides in the lateral direction. The frame is equipped with an elevator or winch with a mechanism for securing cargo on the floor or ground, or higher, to lift or move cargo or people to the transport, Or used to transship cargo or people to another support by mechanized equipment.

In accordance with claim 7, the transport system is characterized in that the wheelhead is provided with a mechanism that allows the support wheels to turn horizontally by 90 and 180 degrees in various directions. This allows for in-situ turn of the transport and / or sudden turn in a narrow area and / or lateral movement on the steps of stairs and escalators. For this purpose, the transport system is provided with a mechanism for blocking the rotating shaft of certain or all traveling and supporting wheels.

In accordance with claim 8, the transport system is provided with a mechanism for blocking the rotating shaft of certain or all running and supporting wheels, and a tactile sensor between each wheel and the step vertical wall nearby. Is characterized by being attached. By this, the spider rotates in a state where the direction of the wheel is changed in parallel to the longitudinal direction of the steps of the stairs, so that this transport mechanism can safely move up and down the steps such as stairs and escalators. Can do.

In accordance with claim 9, the transport system is for semi-automatically and / or automatically controlling the onboard battery, the reversible motor, the automatic drive device and the travel direction of the transport aircraft and the cargo and human transport modes. Characterized by the fact that a program control panel is installed. This ensures optimum stability when the transport system moves up and down steps such as stairs and escalators, and makes it easy and comfortable to operate such a transport system.

The mechanism figure of the armchair carrying vehicle with the mechanical control apparatus for left hands is shown (front view of a stairs downward state). The mechanism figure of the armchair carrying vehicle with the mechanical control apparatus for right hands is shown (rear view of the stairs upward state). A wheelbase with a tactile sensor with a support / running twin wheel attached to the end of the spider arm. A three-arm spider with a wheelhead is shown. A telescopic hydraulic arm is provided, and a running / supporting wheel is attached to the tip of each arm. A mechanism diagram (right side view) of an armchair-equipped vehicle that is traveling on a plane by a mechanical and hydraulic drive device for traveling control and mechanism adjustment is shown. A mechanism diagram (right side view) of an armchair-equipped vehicle that is traveling on a plane by an electric drive device for traveling control and mechanism adjustment is shown. The mechanism diagram (right side view) of the freight transportation system in the stairs upward mode loaded with leveled cargo is shown. The transport system includes an electric drive device, and the traveling / supporting wheels are turned in parallel to the longitudinal direction of the steps. The mechanism diagram (right side view) of the freight transportation organization going up the stairs is shown. The transport is equipped with an electric drive, is in a stair-up mode, the cargo is leveled, and the travel and support wheels are directed on the step along the upward track. A mechanism diagram (right side view) of a freight transportation engine having an electric drive device and in a horizontal plane traveling mode is shown.

Figures 1, 2, 5 and 6 autonomously transport a person riding in an armchair-equipped vehicle with limited possibilities (when the attendant does not hold and control the armchair-equipped vehicle). An armchair-equipped vehicle is shown. This armchair-equipped car can run on the plane with its own wheels only with the power of one hand of the person sitting on the armchair, and when moving up and down steps such as stairs and escalators, Rotate the wheel and walk with the running wheels blocked in rotation. In the figure, 1a is the horizontal plane of the lowest step of the stairs, 1b is the horizontal plane of the second step above it, and 1c is the horizontal plane of the third step of the upper stage. 1d is the edge of these steps. 1e is the vertical wall of these steps. The armchair-equipped vehicle has a solid frame 2. The armchair 3 for a person to sit on is fixed to the right vertical column 4a on the right side and fixed to the left vertical column 4b on the left side. A vertical guide 5a is attached from the upper side at the center on the right side of the frame, and a left vertical guide 5b is attached on the left side of the frame in a non-movable manner. Screw gear devices are attached to the upper ends of the guides 5a and 5b, and these screw gear devices are mechanically connected to the columns 4a and 4b, respectively. The struts are connected to a manual drive for moving the armchair up and down above the frame by manipulating them. A right horizontal horizontal axis 7a is attached to the right armrest of the armchair, and a left horizontal horizontal axis 7b is attached to the left armrest, and the upper ends of the columns 4a and 4b are attached to the horizontal horizontal axes, respectively. These axes can be rotated in the vertical vertical plane of the armchair-equipped car so that the armchair on which the person is placed is naturally vertical by the center of gravity of the person. In order to fix the vertical state, a fixing device 8 is installed on the shafts 7a and 7b. Four horizontal and vertical guides are attached to the frame: a right front guide 9a at the front of the right frame, a left front guide 9b at the left, a right rear guide 9c at the rear of the right frame, and a left rear guide 9d at the left. It is attached. Each of these guides is provided with one L-shaped wheel strut, and its horizontal portion moves vertically: the guide 9a has a right front strut 10a and the guide 9b has a left front strut. The right rear column 10c is attached to the guide 10c, and the left rear column 10d is attached to the guide 9d. Screw gear devices 11a, 11b, 11 and 11d are attached to the guides 9a, 9b, 9c and 9d, respectively, and these screw gear devices are mechanically connected to wheel struts in the respective guides. In addition, each guide is connected to a manual drive device that moves the wheel struts in the horizontal and vertical directions (within a distance φ). One rotating shaft 12 is attached to each of the lower ends of the wheel struts 10a, 10b, 10c, and 10d so that the shaft can rotate in a vertical and vertical plane. A spider with three arms is fixed to each of the shafts 12 of the wheel struts 10a, 10b, 10c and 10d, and a right front spider 13a, a left front spider 13b, a right rear spider 13c and a left rear spider 13d are fixed in a non-movable manner. ing. In every spider boss, three arms 14 that are positioned in a plane perpendicular to the horizontal spider axis and have the same radiation angle between the arms are fixed in a non-movable manner. A vertical rotation shaft is movably assembled to each arm, and this shaft can be expanded and contracted in the vertical direction along the arm, and can rotate on a plane perpendicular to the longitudinal direction of the shaft. At the end of each longitudinal rotation shaft farther from the spider shaft, another rotation shaft perpendicular to this rotation shaft is attached, and there is a single wheel or preferably a twin wheel traveling / supporting wheel 15. Are fixed in a non-movable manner, and the wheels can be rotated in any plane with respect to the longitudinal direction of the arm by the respective rotation shafts. The traveling wheels are indicated by the following symbols according to the various modes of travel: 15 is the wheel in the mode of the armchair-equipped car supported vertically by the wheel placed perpendicular to the horizontal plane, 15a is the step of the stairs Wheels in the mode of the armchair-equipped vehicle supported vertically by the wheels placed vertically on the steps, 15b is the wheel in the mode vertically supported by the side of the wheel, and 15c is no load that is not supported by the wheels. Wheel in mode. A general-purpose mechanical drive device 16 connected to the lever 17 is installed on the frame. A person (sitting in an armchair-equipped car) can obtain a mechanical operating moment by manually operating the lever in the direction of the arrow α, and this mechanical moment can be obtained by the drive device 16 for all the armchair-equipped cars. It is converted into translational or rotational movement for tasks such as mechanical adjustment, self-supporting, transportation on a plane and raising and lowering stairs. A fixed ratchet device and lever 17 (operation in the direction of arrow β) starts the mechanical drive and rotates the required travel and support wheels. In order to adjust the horizontal and vertical state of the wheel struts 10a, 10b, 10c and 10d with respect to the frame, the lever 17 has a bidirectional ratchet device mechanically connected to the drive device 16 and the screw gear devices 11a and 11b. A changeover switch 18 is installed. In order to adjust the height of the armchair above the frame, the lever 17 is provided with a changeover switch 19 with a bidirectional ratchet device mechanically connected to the drive device 16 and the screw gear devices 6a and 6b. . To adjust the length of each spider arm, the lever 17 has a bidirectional ratchet device connected to the drive device 16 and mechanically connected to a screw mechanism 29 for extending and retracting the longitudinal axis. The changeover switch 20 is installed. In order for the spiders 13a, 13b, 13c and 13d to rotate in the correct direction in the vertical plane and / or to block rotation due to failure, the frame is mechanically connected to the drive 16 and the spider shaft 12 A bidirectional ratchet device 21 is installed. In order for the wheels 15, 15a, 15b, 15c to turn correctly in a horizontal plane or to block turning due to an accident, the lever 17 is bi-directionally mechanically connected to the drive device 16 and the respective wheel lateral shaft. A changeover switch 22 with a ratchet device is installed. In order to adjust the traveling wheels 15, 15 a, 15 b, 15 c to rotate in the correct direction on the vertical plane, and to block the rotation caused by those accidents, the lever 17 includes the drive device 16 and each traveling / supporting wheel. A change-over switch 23 with a bidirectional ratchet device mechanically connected to the horizontal axis is provided.

FIG. 3 shows a wheel base unit (a side view of a traveling wheel and a right side view of a vertical vertical section). The wheel base unit (attached to one end of any spider arm) is provided with two support / running wheels 15 (broken lines indicate the contours of the individual wheels). Both wheels are non-movably attached to a common horizontal rotating shaft 24. This shaft is attached to the tip of the vertical axis of the spider arm 14 so as to rotate, so that the traveling / supporting wheel can rotate on a vertical plane. Two robust discs (for assembling two wheels on this shaft) are non-movably attached to the common shaft. A tire 26 fixed to the disk with a nut 27 fastened to the end surface of the shaft 24 is assembled to the outside as viewed from the shaft of each disk. These discs cover the tire from both sides and protect it from contact with the step and the radial support surface (when the wheel is supported vertically on the tire) and protect it from contact with the outer surface (the wheel is When tilted up and supported by the side of the wheel). The spider arm 14 has an automatic adjustment device for automatically and accurately setting the traveling wheel at the target point of the stair step (to optimize the stability of the car equipped with the armchair when the stair and escalator are stepped up and down). 28 is attached. This automatic adjustment device includes a distance Δ1 when the wheel is in a vertical vertical state or a distance Δ2 when the wheel is turned by 90 degrees with respect to the travel line of the armchair-equipped vehicle (the sensor is a staircase). A tactile sensor made of spring is attached for measurement (when mechanically touching the edge of the). In accordance with the distances Δ1 and Δ2 from the wheel to the vertical wall and edge of the stair step, the sensor tracks the control signal sent to the automatic adjustment device 28, thereby raising and lowering the step of the staircase and the escalator. The movement of the armchair-equipped car is controlled safely and automatically.

FIG. 4 shows a side surface of the wheel base unit. This unit is provided with an L-shaped wheel column 10. A horizontal rotating shaft 12 is attached to a hole at the lower end of the vertical portion of the support column, and the spider can rotate in an arbitrary direction on the vertical plane exclusively by the rotating shaft 12. The spider can be rotated in the direction of the arrow γ1 or when walking up the arrow γ2 when the stairs are upward. A vertical rotation shaft 30 is installed along each arm, and the shaft can be rotated in the direction of the arrow γ4 in a plane perpendicular to the shaft. This makes it possible to turn the wheel when maneuvering the armchair-equipped vehicle and changing the course to the left or right, or to move the running wheel (s) when going up the stairs in the spider's walking rotation mode. You can block and swivel them 90 degrees in the horizontal plane. A horizontal wheel shaft 24 (moving perpendicularly to the shaft 30) to which the traveling wheel 15 is attached is installed at the outer end of the vertical rotation shaft 30 of each arm of each spider. Thus, each wheel 15 can be rotated along an arrow γ3 in an arbitrary direction on a plane parallel to the axis 30 and can be turned along an arrow γ4 in an arbitrary direction on a plane perpendicular to the axis 30. It has become. In order to extend and contract all arms of all spiders in the vertical direction (by moving the vertical rotary shaft 30 in the vertical direction along the arms), a mechanical screw gear device 33 is incorporated in each arm. . In addition to this, mechanical transmission devices 31 and 32 are also attached to the arm, and the former (for the purpose of rotating the traveling wheel when the armchair-equipped vehicle moves straight) The latter is mechanically connected to the longitudinal axis 30 of the arm (for turning the running wheel in various directions along the arrow γ4 in a plane perpendicular to the axis 30). The axis is rotated in a plane perpendicular to the axis 30. This makes it possible to turn and steer a car equipped with an armchair, and to turn the wheel by 90 degrees (to rotate the spider up and down safely in the walking mode) Become. Each of the mechanical transmission devices 31 and 32 is made in the form of a telescopic shaft with a bevel gear attached to the tip. One of these transmissions is installed to transmit the rotational moment of the vertical axis of rotation and the other is to transmit the rotational moment of the horizontal axis of the wheel. In order to expand and contract each arm of the spider, a screw gear device 33 or a hydraulic cylinder 34 is incorporated in the arm, and in order to adjust the length of the arm within a distance Ω in the direction of the arrow. Are connected to manual or electric drive units. The pipe-like column 14a is integrated with the spider boss. The device 33 or 34 is mounted at the end of the column closer to the axis 30 of the spider. Inside the hydraulic cylinder, a hydraulic cylinder piston is mounted on the end of the shaft 30 which is closer to the spider shaft.

The armchair-equipped vehicle shown in FIGS. 1, 2, 3, and 4 is used by the person sitting in the armchair-equipped vehicle for the self-contained transportation work in the following manner. A person sitting in an armchair-equipped car (Fig. 1) blocks all wheels with a ratchet device before the stairs descend in the direction of arrow A so that the wheels do not change direction. Slowly and carefully approach the first step on the top of the stairs to a position where a safe distance approximately equal to the width of the step can be maintained between the top step and the step. All the traveling wheels of both front spiders are turned 90 degrees by the steering device. Turns on the ratchet device that blocks the rotation of all traveling wheels of the front both spiders, turns off the vertical feeding and fixing device of the pair of front L-type wheel platforms, and reverses the ratchet device for traveling wheels of the rear spiders Turn on. Optimizing the longitudinal extension of the wheel struts, or based on experience, to retract the armchair-equipped vehicle with the rear wheel and widen the wheelbase between the spider's front and rear axles Pay out just the right length. The initial extension length of the wheel column is fixed by a fixing device in the guide of the frame. The ratchet device (s) that synchronously rotate the spider in the downward direction of the stairs of the armchair-equipped vehicle is turned on, and these ratchet devices prevent the front spider from rotating freely in the downward direction. A pair of front spiders of a pair of front spiders are lowered to two adjacent steps by a manual drive. While keeping the distance of these wheels from the vertical wall of these steps at a safe and equidistant distance, turn on the ratchet device to synchronize the length of all arms of all spiders, The length of each arm is adjusted by the drive until the distance from each twin wheel of the supported front spider to the vertical walls of these steps is equal. After that, the length of the arm is fixed by the fixing device so that the arm does not expand and contract freely while the rear traveling wheel is turned by 90 degrees. After this, all spiders turn on the synchronous ratchet device with a manual drive and visually check that the two wheels of each rear spider hit the two upper steps, All spiders will continue to face down until they are properly supported by the upper step. If the distance from these wheels to the vertical walls of the adjacent steps is incorrect, these wheels are rotated and adjusted with visual control. The rear wheel struts are moved by a manual drive until the wheelbase between the front and rear spider shafts is optimized (so that all traveling wheels are correctly placed on the steps in the downstairs process). At this time, the length of the wheel base between the spider shafts is repeatedly adjusted while visually confirming whether such adjustment is correctly performed, and only the length of the spider arm is adjusted by the mechanical drive device. When going down the stairs, the vertically adjusted armchair can be fixed by the armchair fixing device until it is completed downward. After the downward movement is completed, all devices, all spiders, and all travel and support wheels are adjusted so that plane travel (as shown in FIGS. 5 and 6) can be performed normally.

The step up (FIG. 2) by the armchair-equipped vehicle is performed in the direction of arrow B in the following manner. A person (sitting in an armchair-equipped vehicle) rides on the traveling / supporting wheels of the armchair-equipped vehicle until the pair of front traveling wheels hits the vertical wall of the first stairs. All the traveling wheels of the pair of front spiders are turned 90 degrees by a steering operation. Remove the armchair fixing device and let the armchair adjust itself to keep it vertical. Turn on the ratchet device to properly synchronize the front spiders and simultaneously block all traveling wheels of these spiders. Turn off the ratchet / fixing device to keep the rear spider out and let the front spider out naturally in the vertical direction. A pair of front spiders are rotated by a manual drive and the armchair-equipped vehicle climbs the first two steps. While visually checking the position of these wheels at the first two steps, the ratchet device is turned on and the length of all arms of all spiders is adjusted synchronously by a manual drive. After that, manually block the lengths of these arms of all spiders by themselves with these ratchet devices. As the spider rotates, it climbs the next few steps and visually confirms that the pairs of traveling wheels of each rear spider rest safely on the bottom two steps. The wheelbase between the spider shafts is adjusted to the optimum length by a manual drive device, and the rear wheel column that is housed in the guide of the frame is fixed so that it does not extend or retract without permission. Turn all the wheels of the pair of rear spiders 90 degrees, rotate all the spiders synchronously, and prevent the reverse rotation of these spiders with the ratchet device (while moving the manual drive device back and forth) Climb the stairs using an armchair-equipped car. Check that all wheels are safely mounted on the steps until climbing is complete, and correct the arm extension or retraction as necessary. After exiting the plane, switch all travel devices, spiders and travel wheels to a state suitable for traveling on a flat horizontal surface or slope (as shown in FIGS. 5 and 6).

The armchair-equipped vehicle shown in FIG. 5 or 6 travels on the plane 1d (in the direction of C) supported by the eight traveling / supporting wheels 15 continuously, with the four traveling wheels 15e not working working up. FIG. 5 shows the right side of an automated electric armchair-equipped vehicle. This is because the person on the armchair-equipped vehicle comfortably controls the plane 1 and the stairs. It is intended to carry out independent transportation (without the assistance of a person with a physical disability) who is transported in this armchair-equipped vehicle. For this purpose, the frame of such an armchair-equipped vehicle includes a vehicle-mounted battery 35, a reversible motor 36 with a speed reducer 37, a hydraulic automatic drive device including an electric hydraulic pump 38, hydraulic cylinders, and an armchair-equipped vehicle. Above, an automatic device is installed to control the hydraulic cylinder described above. The hydraulic drives 39a, 39b, 39c and 39d are mechanically connected on the one hand with the fixed guides 9a, 9b, 9c and 9d of the frame and on the other hand with the fixed wheel struts 10a, 10b, 10c and 10d, respectively. ing. By these hydraulic drive devices, the relative positions of these wheel struts with respect to the frame can be moved and fixed in the horizontal and vertical directions. A vertical right front strut 40a and a right rear strut 40b are attached to the upper part of the frame on the right side of the armchair to support the armchair. A vertical left front column 40c and a left rear column 40d are attached to the upper left frame of the armchair. From below, these columns are attached to the joints of the frame. At the top, these right struts are attached to the horizontal right common shaft 7a of the right armrest of the armchair, and the left struts are attached to the left common shaft 7b (of the armchair left armrest). The lower end of each such hydraulic drive unit is attached to the joint of the frame. The armchair is suspended like a pendulum on these support columns, and the vertical vertical axis is supported by the shafts 7a and 7b so that the armchair can be kept in a vertical state by the total weight of the armchair and the person sitting there. It is designed to swing on a flat surface. A fixing device 8 is attached to one horizontal axis of the armchair to maintain a vertical state that is comfortable for a person sitting in the armchair. Each strut is connected to its own hydraulic drive at the bottom (post 40a is hydraulic drive 41a, post 40b is hydraulic drive 41b, 40c is hydraulic drive 41c, and post 40d is It is respectively connected with the hydraulic drive device 41d). In each spider arm, a touch sensor 29 is installed in front of the traveling wheel, and an automatic adjuster 28 is connected thereto (FIG. 3). The automatic adjuster 28 is electrically connected to a hydraulic automatic drive device. The automatic adjuster 28 is electrically connected to an automatic adjustment control panel 42 (attached to the armchair of the armchair). The control panel 42 is electrically connected to the hydraulic automatic drive device. A hydraulic cylinder 34 (FIG. 4) connected to the automatic hydraulic drive device and the automatic control panel 42 is incorporated in each arm so that the arm can automatically expand and contract according to the signal of the touch sensor. Each arm is provided with a mechanical transmission device 31 or 32, which transmits rotational movement from the reducer to the longitudinal rotary shaft 30 of the arm for turning and maneuvering of the armchair-equipped vehicle, and is also plane by the traveling wheel. In order to travel above, the rotational motion is transmitted to the horizontal axis 24 of the traveling wheel. A ratchet device is installed on the frame to adjust the rotation direction of the spider and block the rotation, and to adjust the turning and rotation of the traveling wheels for safe stair climbing by the armchair-equipped car. A footrest is attached to the armchair to support a person sitting in the armchair-equipped vehicle. The wheel (s) 15e is lifted above the support surface in a stopped state. The armchair-equipped vehicle travels on the plane 1 with eight wheels 15 by rotating all the wheels 15 in the direction of the arrow γ3. The lever 17 is used only for manual steering (moving wheel in the horizontal plane exclusively) by moving it in the direction of arrow α. The switching devices 21, 22 and 23 with ratchet devices installed on the lever are respectively the rotation direction and rotation block of the spider, the rotation direction and rotation block of the traveling wheel, the rotation of the traveling wheel for straight movement of the armchair-equipped vehicle, and This is for manual control of the rotating block. The control panel 40a includes an automatic program control system for all ratchet devices, work modes and operating procedures (similar to the operating procedure descriptions for the armchair-equipped vehicles of FIGS. 1 and 2). However, the switching of all the devices and controller of the mechanical system can be performed by using an automatic control device from a control panel for automatic travel with visual control. In the lift mode, it can be performed only by manual steering of the traveling wheels.

FIG. 6 shows a fully automatic electric type equipped with a vehicle-mounted battery 35, a reversible motor 36 with a speed reducer 37, and a control panel 42a for electronically controlling all electric drive units for transporting people comfortably. A right side view of an armchair-equipped vehicle is shown. Electric drive devices 44a, 44b, 44c and 44d for moving and fixing the relative position of the wheel struts to the frame in the horizontal and vertical directions are respectively guides 9a, 9b, 9c and 9d on the one hand and wheel struts 10a on the other hand. , 10b, 10c and 10d. In the upper part of the frame 2 (similar to FIG. 5), the armchair hangs like a pendulum with the vertical shafts 40a, 40b, 40c and 40d and the armchair armrest horizontal axis as fulcrums. The fixing device 8 on the armchair horizontal axis is for fixing a vertical state that is comfortable for a person sitting in the armchair. Each strut is connected at its lower part with its own reversible electric screw drive. That is, the column 40a is connected to the electric drive device 45a, the column 40b is connected to the electric drive device 45b, the column 40c is connected to the electric drive device 45c, and the column 40d is connected to the electric drive device 45d. These electric drive devices are attached to the joint on the frame. In order to adjust the length of each arm 14 of each spider 13, a reversible electric drive is incorporated in each arm (as shown in FIG. 4) to rotate these spiders. Yes. In order to rotate the traveling wheel in each spider, a reversible electric drive 47 is installed, but the spider arm turns the wheel at the time of steering, and the armchair-equipped car runs on these wheels. When doing so, mechanical transmission devices 31 and 32 for rotating those wheels are installed. The control system uses a motorized regulator that is connected to a control panel (to properly rotate and block the spider and wheels). The lever 17 (movably attached to the frame) is for operating the turning of the traveling wheel. Safe driving and stability in the stairs of an armchair-equipped car automatically activates all the equipment and electric drive of the armchair-equipped car without the intervention of a person sitting in the armchair-equipped car and without the assistance of an attendant Guaranteed by programmatically controlling.

Fig. 7 shows the movement in the stair lift mode in the direction of arrow D (in the walking mode in which the traveling wheels are turned parallel to the longitudinal direction of the stair step and their rotation is blocked and only the spider is rotated). A freight trolley is shown. FIG. 8 shows the same cart ascending the stairs in the walking mode in the direction of the arrow by the rotation of the spider and the traveling wheel (oriented longitudinally with respect to the upward direction). In FIG. 9, the same freight cart is shown running in the direction of arrow E with eight traveling wheels 15 on the plane. 7 is structurally similar to the armchair-equipped vehicle shown in FIG. 6 above in terms of structure. FIG. 7 shows a cargo cart loaded with cargo 49 (on the cargo support structure 47). The cargo support structure is kept horizontal by four strong support columns 49a, 49b, 49c and 49d, and the electric drive devices 50a, 50b, 50c and 50d corresponding to the respective support columns are mounted on these support columns. And adjust the height of the horizontal support column of the cargo support structure on which the cargo is loaded, and the cart supported by the eight traveling wheels 15 when the cart tilts vertically on the steps such as stairs and escalators. By placing the overall center of gravity optimally at the center or optimal point of the step support surface, the stability of the carriage is kept to a maximum and safe transport is carried out. Cargo transportation by this carriage is controlled by a portable or in-vehicle remote program electronic control panel 40b. The control panel automatically adjusts all the equipment of the lifting equipment, selects and controls all travel modes of the cargo cart, turns and controls the cart remotely, freight with its own crane or winch without human power Can be loaded and unloaded. In the control panel, the person only sets the required work mode, the traveling direction on the plane, and the step elevation direction such as stairs and escalators.

This structure of the transport can be calculated in a standard way using standard equipment, based on the existing construction materials, the technical data of which can be calculated by known standard methods. It is. Similar transportation has already been produced by various companies around the world for quite some time.

Claims (9)

A transport for transporting cargo and people on stairs and planes. It has a frame, and a cargo support structure for fixing an armchair for cargo or humans to sit on is attached to the frame, and the wheel can be rotated in any direction from the bottom of the frame A wheelchair with running and supporting wheels and a climbing device for climbing the transportation system along the stairs are attached. The climbing device includes a mechanical or electric drive with a drive control system for adjusting and controlling it. A horizontal rotating shaft is attached to the bottom of the frame, and a spider with three or four arms is immovably attached to the shaft, and these arms are immovably attached to the boss of the spider. It is attached. These arms are located in a vertical plane and the angle between them is equal. At the end of each arm, a horizontal rotation axis is attached at right angles to the arm axis, and traveling and support wheels are attached to the axis in a non-movable manner. Can rotate. In the process in which the drive is mechanically connected to the spider shaft and the shaft of the traveling / supporting wheel of the spider, and the transport is supported by the steps of the stairs by these wheels, And rotate the wheels. The transport is characterized by the following. The wheel base is composed of four three-arm spiders or four-arm spiders, and each arm of each spider has a running / supporting wheel (s). One horizontal vertical guide is attached to each of the front left and right and rear left and right of the frame, and by each guide, an L-shaped wheel strut is attached so as to move in the horizontal and vertical direction. The horizontal portion is housed in this guide, and a horizontal rotation shaft is attached to the lower end of the vertical portion, and the above-mentioned three-arm spider is non-movably attached to the horizontal rotation shaft. Each guide has a manual mechanical or hydraulic type that moves the wheel struts horizontally and vertically along the frame to adjust the length of the left and right wheelbase between the pair of left and right spider shafts. Alternatively, an electric drive device is installed. This is because all the traveling wheels are placed on the safety fulcrum on the steps such as stairs and escalators, and at the same time, the support surface supported by the traveling wheels is the center of gravity of the transportation vehicle with the person sitting on the cargo or armchair. The purpose is to move from the center of the stairs upward. Each spider shaft is connected to a mechanical or motorized drive via a mechanical transmission in order to rotate its own spider independently or synchronously by this shaft. The frame is equipped with a steering device for an operator or person sitting in an armchair to autonomously change the direction of the front wheel pair and / or the rear wheel pair. In each arm, a wheel shaft is installed on the vertical axis installed at the tip along the arm, and the wheel shaft can rotate about the vertical axis. This longitudinal axis is mechanically coupled to the steering system so that all wheels of a pair of spiders can be rotated synchronously or all wheels of all spiders can be rotated simultaneously. Each spider arm is designed to allow the length of all arms to be adjusted simultaneously and synchronously in each spider, and for this purpose, each spider arm has its own arm A mechanical, hydraulic or electric drive is provided to extend or retract the length of the arm in order to properly extend or retract the distance from the traveling wheel shaft to its own spider shaft. In front of each running / supporting wheel of each arm of the spider, it touches the edge of the step such as stairs and escalators, and the control signal for the magnitude of the distance from this wheel to the edge of the step is tracked. A touch sensor is attached. The transport is equipped with an automatic adjuster, which is connected to all the tactile sensors and the drive that adjusts the length of the arm in order to receive their control signals. In addition, this sensor is connected to a driving device that moves the wheel column in the horizontal and vertical direction, and in order to improve the stability of the transportation system when moving up and down the stairs, all the supports are as close as possible to the vertical wall of the steps. -The purpose is to automatically arrange the traveling wheels and automatically adjust the left and right wheelbases between the left and right spider shafts. A transport according to paragraph 1 characterized by the above. The drive units are equipped with automatic block devices, such as ratchet devices, to prevent the operator or a person on the armchair-equipped vehicle from reversely rotating the spider and running / supporting wheels, The vehicle according to claim 1, characterized in that it can be operated to prevent the wheel from turning freely due to an accident and the horizontal turning of the wheel during steering. Vertical struts are attached to the left and right sides of the frame, and horizontal shafts are attached to the upper ends of the respective struts. These horizontal shafts are equipped with armchairs for people to sit on. The center of gravity of the armchair as a whole is lower than the support line of the armchair supported by these axes, so that when the transportation system is tilted during the ascending / descending process of the stairs, it is naturally vertical like a pendulum A transport device according to paragraph 1 characterized in that the state can be maintained. The support device for fixing the cargo support structure or the armchair is composed of, for example, four columns, and the columns have cargoes on the transportation for the purpose of improving the stability of the transportation on the stairs. Or adjust the vertical length of the columns and / or adjust the height of this cargo or human armchair so that the horizontal or vertical position of the person on the armchair-equipped vehicle can be adjusted. And / or a manual or mechanical or hydraulic or electric semi-automatic or electric automatic drive is installed for moving the cargo or armchair along the frame. Transportation according to paragraph 4. For transporting cargo or humans, the frame of the transport is intended to fix the wheel struts, and also before transporting this cargo or humans to the cargo support structure or armchair, And a transport mechanism according to item 1, characterized in that it is provided with a plurality of guides that are extended in the horizontal direction for the purpose of creating an internal empty space in which cargo or a person can be placed. The feeding guide for the frame is equipped with a mechanical, hydraulic, or electric drive for feeding the guides in the lateral direction and moving them, and also loads and moves cargo or people on the transportation system. Elevating cranes or winches are installed for transporting cargo or humans to another support, using machines, to fix cargo at the floor or ground level or at a higher level Is provided. The wheelhead is 90 degrees or 180 degrees for the transport to turn autonomously on the spot, or to turn sharply in a narrow area and / or move laterally on steps such as stairs and escalators. It is equipped with a mechanism for rotating the support wheels in a horizontal plane only in various directions, and for that purpose, the transport system is equipped with a mechanism for blocking the rotating shaft of a certain or all traveling wheels. Yes, transportation according to paragraph 1. Turn the wheels parallel to the longitudinal direction of the stair step, and safely climb up and down the stair step by rotating the spider with the touch sensor between each wheel and the nearby step vertical wall fixed In order to achieve this, the transport system according to the first aspect, characterized in that it comprises a mechanism for blocking the rotating shaft of certain or all traveling and supporting wheels. Transportation according to item 1, characterized by an on-board battery, a reversible motor, an automatic drive and a program control panel for semi-automatic control and / or automatic control of the direction of travel of this transport and the mode of transport of cargo or humans organ.

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