JP2002059844A - Travelling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a simple and compact traveling device provided with a step cancellation function. SOLUTION: This device is provided with a wheel 2 movably supporting a main body part 1, a crank 4 rotatably attached to a location not to obstacle rotation of the wheel 2, and an arm 5 attached to a location shifting from an axial center of the crank 4 and driven with using the crank 4 as a foothold to move a tip part in a direction going away from the axial center, and is capable of lifting the main body 1 together with the wheel 2 by contacting a ground contacting body 50 attached to a tip of the arm 5 on the ground during traveling. The device can be built in compactly around a vehicle axle 21 accordingly, and stably operate.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving device which can be used as a weight carrying device, a care support device, a walking support device, a rehabilitation device, an electric wheelchair, a wheeled robot, and the like.

[0002]

2. Description of the Related Art Conventionally, various types of traveling apparatuses of this type have been developed. For example, forklifts, lifters, wheelbarrows, and the like are known as traveling devices for carrying luggage, and wheelchairs and the like are known as traveling devices for transporting people.

[0003] By the way, there are stairs, obstacles, and the like on a traveling path, and not all of them are only flat places. When traveling in such a place, it is particularly difficult to get over a large step having a radius equal to a radius of a wheel.

Therefore, in order to enable the vehicle to travel even in such a place, a step-eliminating mechanism has been developed in which an articulated link or the like is incorporated so as to float the main body.

[0005]

However, the articulated link mechanism has an extremely large number of parts, and it is unavoidable that the main body becomes large due to the assembly. In particular, in a two-wheel drive type traveling device such as carrying small packages,
It is desired that the step difference eliminating mechanism be incorporated in the main body as compactly as possible.

An object of the present invention is to realize a traveling apparatus that functions as such a step clearance mechanism and has a function that can be adapted to various uses.

[0007]

For this purpose, a traveling apparatus according to the present invention comprises a wheel for movably supporting a main body, a support member rotatably mounted at a position which does not hinder the rotation of the wheel, and An arm attached to a portion deviated from the axis of the member, the supporting member being driven by the scaffold, and being capable of moving the tip in a direction away from the axis, the arm having a tip at the time of the movement. The main body portion can be lifted together with the wheels by grounding the vehicle. It is particularly desirable that the mounting position of the support member that does not hinder the rotation of the wheel be coaxial with the wheel.

With such a configuration, if the arm is rotated about the mounting position, the position of the arm supported by the support member can be moved within the movable range. Then, the arm whose support point has been moved in this way is driven by the support member, and the tip is moved in a direction away from the axis, so that the tip is grounded to the corresponding portion at each moving position. The main body can be lifted to the step clearance position by the reaction force. In particular, when the support member is coaxial with the axle, the arm only rotates around the axle, so there is no need to worry about interference between the support member and the arm and the axle. It is possible to configure the vehicle by incorporating it compactly around the axle. Of course, in a configuration in which the mechanism is located at the center of the vehicle body, it is possible to slightly deviate from the coaxial. When the wheel is shifted downward with respect to the drive shaft of the support member, a large margin is provided between the tip of the support member and the ground when the support member is rotated. The support member (and the arm) can be lengthened by this amount. In this case, the reach of the arm is widened, and a higher step can be cleared. Further, even when the diameter of the wheel may be small, such as for indoor use only, the step that can be cleared can be made as large as that for outdoor use.

In this case, a driving system for driving the support member;
It is effective that the drive system for driving the arm is configured to operate independently.

With such an independent drive system, the support member and the arm can be individually operated,
According to the size of the step, an optimum operation can be performed so that the vertical movement of the vehicle body is minimized. Therefore, the swing applied to the luggage or the care receiver (in the case of a wheelchair) is reduced, and at the same time, the operation force applied to the steering wheel is also reduced. When employed in a care support device, the burden on both the care receiver and the caregiver can be reduced.

In particular, if the grounding position of the arm is set near the grounding position of the wheel, the movement of the center of gravity when transferring the load from the wheel to the arm can be reduced, and the moving operation can be performed smoothly, and at the moment of the movement of the center of gravity. It is also possible to effectively prevent an unstable state due to the generation of a moving force in the entire traveling device.

Therefore, the traveling device of the present invention has two parallel wheels as drive wheels, and reduces the burden on the operator in a configuration in which the vehicle travels while the main body is artificially supported via the handle or the like at the step. It can be very favorable.

As a specific configuration of the arm, when the supporting position on the supporting member is on the axle, the arm takes a vertical posture, and at least the front end portion falls within the diameter of the wheel, and the supporting member rotates from that position. As the position where the arm is supported deviates from the axle, the tip is moved in a direction of projecting from the diameter of the wheel.

[0014] In order to allow the support position of the arm to be shifted by 360 ° without rotating even if it rotates with the wheel during traveling, the arm and the support member must be within the diameter of the wheel. It is desirable to have such a shape.

Of course, it is also possible to utilize the basic operation as described above for purposes and applications other than the step elimination.

[0016]

An embodiment of the present invention will be described below with reference to the drawings.

In the traveling apparatus of this embodiment shown in FIG. 1, a main body 1 having a handle 11 projecting from a part thereof is supported by a pair of wheels 2 so as to be able to travel. It is configured such that a load W can be loaded on the main body 1 and transported. Then, when the vehicle reaches a position where a step is required to be eliminated, the step eliminating mechanism 3 is incorporated so that the main body 1 can be lifted together with the wheels 2 to the step eliminating position.

As shown in FIGS. 2 and 3, the step eliminating mechanism 3 mainly includes a crank 4 as a support member and an arm 5 supported by the crank.

In mounting the crank 4, the axle 2
1 has a pipe member 22 fitted on its outer periphery so as to be relatively rotatable. The axle 21 and the pipe member 22
The motors 21c and 22c can be driven to rotate via a and 21b or gears 22a and 22b, respectively. What is indicated by reference numeral 22x is a bearing.

The crank 4 is a disc-shaped one which is attached to the tip of the pipe member 22 so as to be integrally rotatable. The crank 4 has a through hole 41 at the center through which the axle 21 penetrates. And the first gear 61 is axially mounted on the protruding end. A drum 43 is rotatably provided at an appropriate position of the main body 1 via a bearing 42. The tire 20 constituting the wheel 2 is mounted on the outer periphery of the drum 43, and the drum 43 has a gear 44a,
A motor 44c is connected via a motor 44b.
c allows the tire 20 to be driven to rotate together with the drum 43.

The arm 5 is rotatably mounted near a base end 5a via a support shaft 51 at a position deviated from the axis of the crank 4 through a second gear 62. The second gear 62 is externally engaged with the first gear 61. The grounding body 50 is attached to the tip 5b of the arm 5. This grounding body 50
Is an approximately cocoon-shaped outer periphery of which is formed in an arc shape having a diameter of the wheel minus α. When the wheel 2 is in contact with the ground and the support shaft 51 of the arm 5 is at the highest point regardless of the attitude angle of the main body 1. (See Fig. 2)
The grounding body 50 provided on the tip 5b side of the arm 5 can be swung back and forth without contacting the ground.

Next, a method of handling the traveling device will be described. When running on a normal flat road, the arm 5 is held in the state shown in FIG. At this time, the arm 5 is stored at a position where the center line L of the arm 5 coincides with a line passing through the center of the crank 4, that is, the center of the axle 21. Even if the crank 4 rotates together with the wheel 2, the arm 5 remains on the floor. It does not touch the surface.

If there is a step, as shown in FIG. 4A, it stops at this side and drives the motor 21c. At this time, the second gear 62 performs a planetary motion around the first gear 61, and the arm 5 having the base end attached to the second gear 62.
Makes the ground contact body 50 protrude in a direction away from the axle 21 while rotating to the left. And this grounding body 50
Is grounded near the grounding point of the wheel 2. Next, the motor 22c is driven to rotate the crank 4 attached to the pipe member 22 counterclockwise in the figure. At this time, since the second gear 62 is fixed via the arm 5, the first gear 61 conversely performs a planetary motion around the second gear 62 while gradually moving its axle 21 to the second gear 62. Is lifted along an arc centered on the support shaft 51 of FIG.
(B)). At this time, the operator need only carry the handle 11. At a stage where the handle 11 has been lifted to some extent, the handle 11 provided on the main body 1 is pulled forward (FIG. 4).
(C)), the wheels 2 land on the upper stage (FIG. 4 (d)), and then the arm 5 is pulled up. The lifting of the arm 5 is realized by driving the motor 21c to the state shown in FIG. 2 where the center line L of the arm 5 coincides with the line passing through the axle 21. The above-described operation may be repeated at a continuous step, and the downward step may be assisted by causing the step eliminating mechanism 3 to perform an operation opposite to the above.

As described above, in the traveling apparatus of this embodiment, since the crank 4 is mounted coaxially with the axle 21, if the axle 21 is rotated, the position at which the arm 4 is supported by the crank 4 will be described. Can be moved around the axle 21. Then, in this way, the support point (support
By driving the moved arm 5 of 1) with the crank 4 as a scaffold and moving the grounding body 50 attached to the tip in a direction away from the axle 21, the grounding body 50 is moved to a corresponding portion at each moving position. Main body 1
Can be lifted to the cancel position corresponding to the step. As described above, since the crank 4 is coaxial with the axle 21 and the arm 5 only rotates around the axle 21, there is no need to worry about interference between the crank 4 and the arm 5 and the axle 21. 5 can also be reduced. Therefore, the step difference canceling mechanism 3 can be compactly assembled around the axle 21, and it is possible to increase the load capacity, effectively increase the safety, and the like.

In particular, when the grounding position of the arm 5 is set near the grounding position of the wheel 2, the movement of the center of gravity when transferring the load from the wheel 2 to the arm 5 can be reduced. It is also possible to effectively prevent the occurrence of a moving force in the entire traveling device at the moment of the movement and falling into an unstable state. Particularly, in this embodiment, the step difference eliminating mechanism 3 is driven in a state where two parallel wheels contact the ground and one end is held by the handle 11, so that the fluctuation of the supporting force can be minimized. This can greatly contribute to reducing the burden on the operator for operating the steering wheel.

In particular, as a specific configuration of the arm 5, when the support position on the crank 4 is on the axle 21, the arm 5 takes a vertical posture, and at least the distal end portion fits within the diameter of the wheel 2.
As the crank 4 rotates from that position and the support position of the arm 5 deviates from above the axle 21, the grounding body 50 is moved in a direction to protrude from the diameter of the wheel 2. Regardless of the (angle), the grounding body 50 of the arm 5 can be moved to any grounding point within the range of the length of the crank 4 + the arm 5 about the axle 21. Thereby, the arm 5 can be brought into contact with the optimum location regardless of the posture of the main body 1 at the step,
Reduces bearing capacity fluctuations in a wide variety of bump situations,
It is possible to realize a smooth and stable lifting operation.

In particular, the arm 5 and the crank 4
, So that it does not hinder running even if it rotates with the wheel 2 during running, and effectively guarantees movement of the support position of the arm 5 over the entire range of 360 °. be able to.

Further, in places other than the steps, various handlings such as loading and unloading of luggage can be performed using the arm 5.

The configuration of the present invention is not limited to the above-described configuration. For example, the number of drive wheels is basically two in parallel, but may be one, three, four, or the like.

The presence / absence and height of the step may be detected by a limit switch or a proximity sensor, and the angle or posture may be detected by using a rotary encoder or a gyro, so that the step cancellation mechanism may be appropriately controlled.

Further, a clutch and a brake may be provided between the respective shafts to share the drive unit. For example, the drive of the wheels and the crank may be switched by one motor.
Alternatively, the two parallel wheels can be driven via differential gears, as in a motor vehicle.

The driving force of the arm may be transmitted directly between the first gear and the second gear, or may be transmitted via an idler gear or a chain. It is also possible to configure the drive of the arm in the crank.

The gear may be arranged on the inner surface of the crank opposite to the arm. In this case, the first gear is driven by the pipe member, and the crank is driven by the axle.

Alternatively, as shown in FIG.
In a rack shape, and this rack can be used as the arm 105. In this case, if the rack is secured long upward and the movable range of the arm 105 is widened, it is possible to clear a larger step. 105a is a guide roller for guiding the linear movement of the arm 105.

Further, as shown in FIG. 6, an arm 205 which is curved in a semicircle in accordance with the diameter of the wheel 2 may be used. In this case, although the symmetry of the arm 205 is lost, the rotation range of the arm 205 is widened, and the arm 205 can be rotated continuously from the step before the rotation of the wheel 2. The wheel 2 can be lifted. Further, since interference with the axle 2 can be avoided by the concave portion 205a of the arm 205, the arm 205 can be disposed on the axle 21 side of the wheel.

An end effector (adapter) such as a shoe, an auxiliary wheel, a fork, a hook, a toe (second arm), a hand, or the like may be attached to the arm so that the arm can be selected according to the form of the load and the transport condition. This replacement operation can be automated by operating the arm.

Alternatively, as shown in FIG. 1, a caster type auxiliary wheel may be mounted in front of the main body. Further, a hinge-type stopper 10 is provided at a lower front part of the main body 1, and when the inclination angle of the main body 1 increases in a falling direction when the step is raised and lowered, the stopper 10 comes into contact with the ground and It is also effective to limit the inclination angle to a safe range.

At the step, the center of gravity may be lowered by tilting the carrier backward. Further, the handle may be slightly extended so that the operation can be performed slightly away from the vehicle body.

Further, a step for a driver to ride may be provided behind the main body.

Using a CCD camera, the step and the height thereof may be detected in front by image processing, and the arm may be driven. In this case, the phase of the arm can be set to an optimum position during the approach, and the step can be cleared without stopping the operation.

When the load is a person, the load may be handled via a support jig for supporting the elbow, shoulder, waist and the like of the body.

Further, the seat is retracted backward, and the armrest is
When held upward via a spring, the foot is grounded, and a part of the weight is supported by an armrest, it can be used as a walking assist device. This spring may be held by an arm.

It is also possible to control the supporting force and the moving direction by detecting the force acting on the spring. At the step, the seat and the armrests may be returned to the original position, the seat may be seated, and the arm may be cleared as in the previous example.

In addition, the present invention can be applied to a wide range of applications, such as wheelchair replacement, nursing care support equipment, assistance for sitting and standing up, and rehabilitation equipment.

Further, the present invention can be applied to a mobile robot for many uses requiring clearing of a step and high safety. In particular, when the present invention is applied to a robot, when the robot falls, it is possible to return to its own power using the arm.

If the arm is slightly moved outside the wheel diameter during the rotation of the wheel, the pitch per rotation can be changed. It is also possible to rotate the wheels via the arms. At the step, contact the wheel with the side of the step,
The lifting of the main body and the rotation of the wheel may be performed while the wheel is pressed against the side surface of the step by the arm. Also,
The arm can be pulled up while the arm is in contact with the side surface of the step so that the main body does not rotate, or it can be pulled up by using a recoil when the main body is tilted forward and returned.

It is needless to say that the above basic operation can be used for other purposes / applications other than the step elimination.

Other configurations can be variously modified without departing from the spirit of the present invention. For example, in a configuration in which the mechanism section is located at the center of the vehicle body, it is possible to slightly deviate from the coaxial. When the wheel is shifted downward with respect to the drive shaft of the crank, a large margin is provided between the tip of the crank and the ground when the crank is rotated. The crank (and arm) can be lengthened by this amount. In this case, the reach of the arm is widened, and a higher step can be cleared. Further, even when the diameter of the wheel may be small, such as for indoor use only, the step that can be cleared can be made as large as that for outdoor use.

[0049]

The present invention is embodied in the form described above and has the following effects.

That is, according to the present invention, the support member for supporting the arm is rotatably mounted so as not to hinder the rotation of the wheel by, for example, providing the support member coaxially with the axle. The interference can be effectively avoided, and each mechanical component can be compactly assembled in the apparatus. Then, through the operation of the arm and the support member, it is possible to effectively operate the function as a step-eliminating mechanism, and to load and unload luggage placed near the floor or on a table,
It can be used for a wide range of purposes, such as lifting the front of the vehicle body when clearing a small step, adjusting the angle of the bed or seat, and guiding a fall on a slope.

Of course, in a configuration in which the mechanism is located at the center of the vehicle body, it is possible to slightly deviate from the coaxial. When the wheel is shifted downward with respect to the drive shaft of the support member, a large margin is provided between the tip of the support member and the ground when the support member is rotated. The support member (and arm)
Can be lengthened. In this case, the reach of the arm is widened, and a higher step can be cleared. Further, even when the diameter of the wheel may be small, such as for indoor use only, the step that can be cleared can be made as large as that for outdoor use.

In particular, if the drive system for driving the support member and the drive system for driving the arm are configured to operate independently, the support member and the arm can be operated individually. According to the size of the step, an optimum operation can be performed so that the vertical movement of the vehicle body is minimized. Therefore, the swing applied to the luggage or the care receiver (in the case of a wheelchair) is reduced, and at the same time, the operation force applied to the steering wheel is also reduced. When employed in a care support device, the burden on both the care receiver and the caregiver can be reduced.

[Brief description of the drawings]

FIG. 1 is a schematic view showing an embodiment of the present invention in a use state.

FIG. 2 is a front view showing a main part of the embodiment.

FIG. 3 is a longitudinal sectional view of FIG. 2;

FIG. 4 is an operation explanatory view of the embodiment.

FIG. 5 is a diagram showing a modification of the present invention.

FIG. 6 is a diagram showing another modified example of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Main body part 2 ... Wheel 4 ... Support member (crank) 5 ... Arm

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Katsutoshi Kamoto 1-8-1, Tsukuwa, Otsu-shi, Shiga F-term in Shimadzu Mektem Co., Ltd.

Claims (2)

[Claims] 1. A wheel for movably supporting a main body, a support member rotatably mounted at a position which does not hinder the rotation of the wheel, and a support member mounted on a portion deviated from the axis of the support member. Arm that can be driven by a scaffold to move the distal end in a direction away from the axis, and by moving the distal end of the arm to ground during the movement, the main body can be lifted together with the wheels. A traveling device characterized by being configured as described above. 2. The traveling apparatus according to claim 1, wherein a drive system for driving the support member and a drive system for driving the arm operate independently.