JP2000062658A - Self-traveling stairs moving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent crawler running devices from slipping and diagonally running on the stairs as well as to use compact crawler running devices. SOLUTION: A self-traveling stairs moving device transmits driving force of electric motors 13, 20 to right and left front crawler running devices 1a, 1b and rear crawler running devices 2a, 2b. The crawler running device 1b, 2b are guided by toothed open belts 32 and a rail means 31 having a meandering preventing guide 35 while being prevented from slipping, and it runs along the inclination of the rail means. Moreover, the other crawler running devices 1a, 2a rotatably supported on support frames 5a, 5b and to be integrally oscillated with the crawler running devices run on the stairs in a state where they are inclined along the inclination of the rail means 31 laid along the inclination of the stairs.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled staircase moving device for moving a stairway in a station, a public facility, etc. by a wheelchair or luggage and self-propelled up and down by the power of a drive source. The present invention relates to a self-propelled staircase moving device having a crawler traveling device that is compact and enables stable traveling.

[0002]

2. Description of the Related Art Conventionally, as a stair climber for carrying a wheelchair on which a person is mounted and climbing stairs, for example, Japanese Patent Laid-Open No. 6-
There is one disclosed in Japanese Patent No. 278665. The stair lift includes a self-propelled body having a crawler traveling device that is driven by a drive motor, and a loading platform that is supported on a rear end portion of the self-propelled body so as to be rotatable back and forth by a shaft. Is integrally provided with a holding handle, and an electric cylinder is interposed between the holding handle and the self-propelled body. When moving on a flat ground, the stair lifter holds the self-propelled body and the loading platform in a parallel state with the electric cylinder in the contracted position and grounds the casters and wheels provided on the loading platform to run. When moving up and down the stairs, the electric cylinder is extended so that the ground surface of the crawler contacts at least two steps of the stairs, and the self-propelled body travels by the drive motor in a state of being inclined along the stair inclination angle. At the same time, the loading platform is held in a substantially horizontal state.

Further, the stair lift is provided with a guide wheel protruding laterally from the self-propelled body, and the guide wheel is fitted into a guide rail provided on a side portion of the stair so that the stair lift can automatically move up and down. The running of the runner is stable.

On the other hand, as disclosed in, for example, Japanese Unexamined Patent Publication No. 8-80879, a steeply sloping ground traveling vehicle having a pair of crawler traveling devices on the left and right sides of the machine body has been proposed.
This includes an upper revolving structure in which a working machine such as a hydraulic shovel is incorporated, a support frame that rotatably supports the revolving structure, and a pair of front and rear crawler traveling devices on the left and right sides. The front crawler traveling device is swingably connected to the front portion of the support frame, and the support frame and the rear crawler traveling device are swingably connected by connecting pins provided at both ends of the connection link. Further, a swing jack is interposed between the connecting link and the rear end of the support frame.

In the steep slope traveling vehicle, the power from the engine provided in the working machine is transmitted to the four crawler traveling devices to travel on the steep slope, and the front crawler traveling device swings its front portion. The support frame, which is freely supported,
It is held in a substantially horizontal state by a swing jack that expands and contracts based on a signal from a horizontal sensor.

[0006]

The stair lift described above moves up and down by hooking the lugs of the rubber crawler on the corners of each step along the slope of the stairs, but the stairs are wet or the crawler traveling device runs. If the direction and the stairs are not orthogonal to each other, the crawler lug may not be caught at the corner of the stairs, and the crawler traveling device may slip and skew the stair elevator, or even force the elevator to the side. By inserting the guide wheel into the guide rail, it is possible to prevent the elevator from sideways,
The above-mentioned slippage of the crawler traveling device cannot be prevented, and it is not sufficient for stable traveling of the elevator.

Further, the stair lift requires a long rubber crawler traveling device whose ground contact surface extends over at least two steps of the stairs, and one or more steps of the stairs are provided in front of the crawler traveling device. An inclined traveling surface having a height is required, and the crawler traveling device becomes large.

Further, since the relatively long crawler traveling device is required, when moving from a flat surface to a staircase or from a stairway to a flat surface, the load center of gravity of the crawler traveling device exceeds the transition point. A sudden angle change occurs at a time, the electric cylinder cannot follow the sudden angle change of the self-propelled body, and the passenger of the wheelchair is suddenly turned downward or turned upward, I feel anxiety. In particular, when descending stairs from a flat surface on the floor, the crawler traveling device momentarily changes its angle from the horizontal state to the staircase inclination angle when the load center exceeds the uppermost step corner. In combination with the fact that it is placed on the wheelchair, the wheelchair passenger is momentarily swung downward and feels a great psychological fear.

On the other hand, when the steered terrain vehicle having the four crawler traveling devices is used for climbing stairs, the crawler lugs do not catch on the stairs and the crawler traveling device may slip, as in the above stair elevator. There is. Also, considering that the four crawler traveling devices have one of the front or rear crawler traveling device on the stairs and the other on the flat surface, each crawler traveling device is required to stably travel. A crawler grounding surface having a length of two steps or more is required, and an inclined running surface having a height of one step or more is required in front of each crawler traveling device, and the size of the device is inevitable. .

Therefore, the present invention provides a self-propelled staircase moving device which uses a compact crawler traveling device and prevents the crawler traveling device from slipping and skewing on stairs, thereby solving the above-mentioned problems. That is the purpose.

[0011]

The present invention according to claim 1 has two left and right rows of crawler traveling devices (L, R) and drive sources (13, 20) for driving these crawler traveling devices. A self-propelled portion (3) formed by integrally connecting left and right crawler traveling devices, and a support frame (5a, 5b) that rotatably connects the self-propelled portion and supports a cargo bed (7).
And will be installed on the side of the stairs along the inclination angle of the stairs,
Rail (31) means having a concave-convex portion, and one of the left and right crawler traveling devices (L) is guided by the rail means (31) in a non-slip state to travel and The crawler traveling device (R) travels on stairs.

According to a second aspect of the present invention (see FIGS. 5, 6, 11 and 12), the crawler traveling device (R, L,
1a, 1b, 2a, 2b) are teeth (32
Rubber crawler (3) with a) formed all around the outer peripheral surface
2) and the rail means (31) is arranged along the left and right sides of the elongated member (33) having teeth (33a) having the same pitch as that of the rubber crawler. The self-propelled staircase moving device according to claim 1, further comprising a meandering prevention guide (35) for guiding the side surface of the crawler.

The present invention according to claim 3 (see FIG. 11),
The long member is a rubber toothed open belt (3
3) The self-propelled staircase moving device according to claim 2, which is composed of 3).

According to a fourth aspect of the present invention (see FIGS. 1 to 4), the support frame (5) of the crawler traveling device is provided.
a, 5b) and the connecting portion (6) coaxially with the floating roller (3
6) is provided, and the floating roller is rollingly contacted above the rail means (31) so that the one crawler traveling device (L,
The self-propelled staircase moving apparatus according to any one of claims 1 to 3, further comprising a guide rail (37) for preventing lift of the rail means (1b, 2b) from the rail means.

According to a fifth aspect of the present invention (see FIGS. 1, 5, 13, and 17 to 19), the left and right two-row crawler traveling devices (L, R) are front crawler traveling devices, respectively. (1a, 1b) and rear crawler traveling device (2a, 2)
b), and the self-propelled portion (3) connects the left and right front crawler traveling devices (1a, 1b) to the left and right drive wheels (9a, 9b).
drive shaft (10) for connecting b) and connecting shaft (6) for connecting the central portions of the left and right track frames (11a, 11b).
The front electric motor (13) provided integrally with each other and bridging the drive shaft and the connecting shaft, and the output shaft of the electric motor is interlocked with the drive shaft (10). Self-propelled section (3F) and the left and right rear crawler devices (2
a, 2b), the drive shaft (16) connecting the left and right drive wheels (15a, 15b) and the left and right track frames (17a,
17b) are integrally formed with a connecting shaft (19) for connecting the central parts of them, and a rear electric motor (20) is provided by bridging the drive shaft and the connecting shaft, and an output shaft of the electric motor is provided. A rear self-propelled portion (3R) interlocked with the drive shaft (16), and the support frame (5a, 5b)
However, the front self-propelled portion (3
F) is rotatably supported by the connecting shaft (6) of the rear self-propelled portion (3R) and the connecting shaft (19) of the rear self-propelled portion (3R). 6), which is rotatably supported, and which holds the loading platform (7) in a horizontal state regardless of the inclination angle of the self-propelled portion (H ₁ ,
H _2, H ₃₎ and the provided in the self-propelled stairs moving unit according to any one of claims 1 to 4.

According to a sixth aspect of the present invention (see FIGS. 1, 5 and 13), the crawler traveling device (1a, 1b, 2).
The self-propelled staircase moving device according to any one of claims 1 to 5, wherein the length of each crawler ground contact surface (a, 2b) is not more than the length of two stairs.

According to a seventh aspect of the present invention (see FIG. 8A), a plurality of support wheels (40) including casters (40a) are provided below the loading platform (7), and the support wheels (40) are provided. ) To the crawler traveling device (R, L, 1
a, 1b, 2a, 2b) operating means (41, 63a, 63) for switching between a downward projecting position and an upward retracting position.
The self-propelled staircase moving device according to any one of claims 1 to 6, which is provided with b).

According to the eighth aspect of the present invention (see FIG. 8B), a plurality of support wheels (40) including casters (40a) are provided below the loading platform (7), and the support wheels (40) are provided. ) To the front crawler traveling device (1a, 1
b) and the rear crawler traveling device (2a, 2b) project downward, the position retracted upward, and either one of the front and rear crawler traveling device (1a, 1b) is retracted upward and the other (2a, 2b) is projected downward relative to the other wheel (40).
3 ', 63b') is provided, The self-propelled stairs movement apparatus of Claim 5 is provided.

[Operation] Based on the above configuration, the self-propelled staircase moving device (A) has an electric motor or an electric motorized wheelchair (K) mounted on a loading platform (7) with an occupant, for example. The driving force is transmitted to the left and right crawler traveling devices (L, R) of the self-propelled portion (3). Then, the left or right crawler traveling device (L, 1b, 2b) is
The rail means (31) having an uneven portion is guided by being prevented from slipping and runs along the inclination angle of the rail means. Also,
The other crawler traveling means (R, 1a, 2a) rotatably supported by the support frames (5a, 5b) and swinging integrally with the one crawler traveling device is installed along the inclination angle of the stairs. The rail means (31) travels on stairs while being inclined along the inclination angle.

At this time, in the one crawler traveling device, for example, the teeth (32a) of the crawler (32) have rail means (3).
1) It meshes with the teeth (33a) of the long member (33) to run without slipping, and is guided on both sides by the meandering prevention guides (35) to prevent skewing.
Drive along the stairs. Further, for example, the floating roller (36) is brought into rolling contact with the guide rail (37), and the crawler traveling device travels while being prevented from being lifted up from the rail means (31).

The reference numerals in parentheses are for the purpose of contrasting with the drawings, but do not limit the structure of the present invention.

[0022]

According to the first aspect of the present invention, the one crawler traveling device travels while being guided by the rail means having the concavo-convex portion while being guided by the rail means, so that the crawler traveling device is prevented from slipping and skewing. The self-propelled staircase moving device can stably move up and down the stairs without causing the occurrence. Also,
Since the left and right crawler traveling devices are integrally connected and rotatably supported by the support frame, the other crawler traveling device also travels on the stairs while being inclined along the inclination angle of the rail means. Therefore, the front of the crawler traveling device does not require a high-sloping traveling surface for overcoming the stairs, and the self-propelled portion can be made compact, and the rail means is provided on the side portion of the stairs. There is no need to provide rail means for the other crawler traveling device in the staircase portion, and the usability as a staircase is not impaired.

According to the second aspect of the present invention, in one crawler traveling device, the teeth of the rubber crawler mesh with the teeth of the elongated member, and the crawler side face is guided by the meandering prevention guide to travel. Therefore, slip and skew can be surely prevented, and the self-propelled staircase moving device can travel with high safety and reliability.

According to the present invention of claim 3, the rubber crawler and the rubber-made open belt with teeth mesh with each other so that the running can be ensured and the open belt can be attached to the bottom surface of the rail means. By fixing
Rail means can be easily constructed in a short period of time.

According to the fourth aspect of the present invention, the lift-up preventing guide rail prevents the lift-up from the rail means of the crawler traveling device, and the moment acting on the cargo bed or the transition portion between the stairs and the flat surface. Even if a lifting force is applied to the crawler traveling device, the crawler can reliably contact the rail means, prevent slipping and skewing, and ensure stable traveling.

According to the present invention of claim 5, a front crawler traveling device and a rear crawler traveling device are provided on each of the left and right sides, and the carrier is oscillated around a connecting shaft for supporting the front crawler traveling device on a support frame. Since it is movably supported, even when the self-propelled staircase moving device moves between the flat surface and the stairs, the angle change between the self-propelled part and the platform can be moderated,
The horizontal holding means can hold the loading platform in a horizontal state reliably and easily. In addition, the left and right front and rear crawler devices are connected to each other by a connecting shaft and a drive shaft,
And since the front and rear electric motors are supported by these connecting shafts and drive shafts, the self-propelled portion has a simple structure and
The transmission can also be made simple and compact, and by connecting the support frame to the front and rear connecting shafts, the front self-propelled part and the rear self-propelled part can be connected by the support frame, which is relatively lightweight and reliable. You can get a high self-propelled unit.

According to the sixth aspect of the present invention, the crawler traveling device has a relatively short length, and the self-propelled portion can be made compact.

According to the seventh aspect of the present invention, the flat surface can be run by wheels including casters to easily turn the stairs moving device to a desired position, and the wheels can be moved up and down when going up and down the stairs. Can be reliably prevented from retracting above the crawler traveling device and the wheels interfering with stairs or the like to prevent the crawler traveling device from self-propelling.

According to the eighth aspect of the present invention, even when moving on a flat surface, if there are irregularities such as Braille blocks, it may feel heavy when transported by wheels. Ground the crawler traveling device of
One of the crawler traveling devices and casters makes it possible to steer in a desired direction while self-propelled, and even in a heavy load state in which an electric wheelchair is placed on a bed, one operator flattens the surface with an uneven surface. The surface can be easily transported.

[0030]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. The self-propelled staircase moving device A _{1 according} to the first embodiment, as shown in FIGS.
It is provided with a self-propelled unit 3, support frames 5 (a, b), a loading platform 7 on which an electric or manpower wheelchair K, etc. can be placed, and horizontal holding means H ₁ for holding the loading platform 7 in a horizontal state. Self-propelled unit 3
As shown in FIGS. 5 and 7, the front crawler traveling devices 1a and 2a and the rear crawler traveling devices 1b and 2 are respectively provided on the left and right sides.
b, and each of the pair of front and rear crawler traveling devices has two rows of left and right crawler traveling devices L and R.
Are configured.

The left and right front crawler traveling devices 1a, 1b and rear crawler traveling devices 2a, 2b are connected at their front and rear central portions with track frames 11a, 11b and 17a, 17b by connecting shafts 6, 19, respectively. At the same time, the drive wheels 9a, 9b and 15a, 15b are connected by the drive shafts 10, 16, and the left and right front crawler traveling devices 1a, 1b are connected to each other and the rear crawler traveling devices 2a, 2b.
b is integrally connected. Further, the front and rear connecting shafts 6, 19 are rotatably supported by the left and right support frames 5a, 5b, so that the left and right front and rear crawler traveling devices 1a, 1b and 2a, 2b respectively have central portions thereof. Are rotatably supported by the support frames 5a and 5b.

A front electric motor 13 consisting of a DC motor with an electromagnetic brake straddling the front connecting shaft 6 and the drive shaft 10.
Is supported, and the output shaft of the motor 13 is a case 50.
It is interlocked with the drive shaft 10 via a reduction gear housed inside. Electric motor 1 configured integrally with these
3, the connecting shaft 6, the drive shaft 10, and the left and right front crawler traveling devices 1a and 1b constitute a front self-propelled portion 3F. A rear electric motor 20 composed of the same DC motor with an electromagnetic brake is supported across the rear connecting shaft 19 and the drive shaft 16, and the output shaft of the motor 20 is a reduction gear housed in a case 51. It is interlocked with the drive shaft 16 via. An electric motor 20, which is integrally configured,
The connecting shaft 19, the drive shaft 16, and the left and right rear crawler traveling devices 2a and 2b constitute a rear self-propelled portion 3R.

Further, as shown in FIG. 7, the cargo box 7 is swingably supported on the front connecting shaft 6 via left and right bearings 52a and 52b. As shown in FIGS. 2, 3 and 4, the loading platform 7 has pillars 34 provided upright at the four corners of the bottom plate 28, and the protective frames 2 are provided on the left and right side surfaces and the rear surface across these pillars.
9 is provided, and a handle 24 is provided at the rear portion. Further, in the front part of the bottom plate of the loading platform 7, as shown in FIGS.
As shown in FIG. 5, the left and right handing plates 30 and 30 are rotatably supported, and the handing plate has a folding structure in which two plates 30a and 30b are rotatably connected to each other. The plates are connected by a horizontal bar 38 or the like at the connecting portion. Further, a gas spring 23 is installed between the upper ends of the left and right front columns 34 and the left and right support flanges 5a, 5b, and the spring receives a moment load acting on the luggage carrier 7. In addition, the bottom plate 28 of the loading platform 7 has a structure shown in FIG.
As shown in FIG. 5, a battery 55 is mounted in the central portion of the lower surface thereof, casters 40a, 40a are respectively provided on the left and right front and rear portions, and the fixed wheel 4 is provided on the central portion.
0,40 are installed.

The left and right front and rear crawler traveling devices 1a, 1b, 2a and 2b are rotatably supported at the center by connecting shafts 6 and 19, as shown in FIG. Track frames 11a, 11b, 17a, 17b
The drive wheels 9a, 9b, 15a, 15b are rotatably supported at one end of the track frame. Further, a bolt 5 is provided on the other end side of the track frame.
A slide frame 59 is supported by 6 and a nut 57 so as to be adjustable in the length direction, and an idler wheel 60 is supported by the frame 59. Further, a guide rail 61 is fixed to the lower side of the track frame. A rubber crawler 32 is wound around the drive wheels 9a, 9b, 15a, 15b and the idle wheel 60. That is, each crawler traveling device 1a, 1b, 2a, 2b is rotatably supported by the connecting shafts 6 and 19 at approximately the center in the length (front-back) direction and width (up-down) direction.

Further, the crawler 32 has teeth 32a, 32b having the same pitch formed over the entire circumference of the outer peripheral surface and the inner peripheral surface thereof, and these teeth extend to the full width of the crawler so as to be orthogonal to the longitudinal direction. ing. And the drive wheel 9
The a, 9b, 15a and 15b are formed with teeth such as timing pulleys and are provided with flanges projecting in the outer radial direction on both sides, and the idler wheel 60 is cylindrical and has flanges on both sides. Has been formed. Accordingly, the inner teeth 32b of the crawler 32 mesh with the teeth of the drive wheel to rotate between the crawler 32 and the idler wheel 60, and the lower surface of the crawler 32 is supported by the guide rails 61 while traveling on the ground. Reference numerals 63a and 63b in FIG. 6 denote inclined cam pieces for grounding or releasing the grounding of the crawler traveling device, which are provided so as to project from the side surfaces of the transmission cases 50 and 51 (see FIG. 5, later in FIG. 8). Explain).

On the other hand, as shown in FIG. 1, FIG. 4, FIG. 5 and FIG. 12, on one side of the stairs, rail means 31, a lifting prevention guide rail 37 and a horizontal holding guide rail 21 are installed from the bottom. ing. The rail means is provided along the slope of the stairs, that is, so as to connect the corners T of the stairs, and is installed on the flat surfaces above and below the stairs for a predetermined length from the stairs. The rail means is shown in FIGS.
As shown in detail in (b), the bottom surface thereof has convex and concave portions for slip prevention, and specifically, the long member 33 having teeth 33a of the same pitch as the teeth 32a of the outer peripheral surface of the crawler 32.
Is fixed. Preferably, the elongate member is formed of a rubber toothed open belt 33, and the elongate toothed belt is fixed by being attached to the bottom surface or the like. Further, the rail means 31 is provided with meandering prevention guides 35 having rising surfaces on the left and right sides of the open belt 33, and the guides guide both side surfaces of the crawler 32 so as not to come off.

Further, the floating prevention guide rail 37
Is installed parallel to the rail means 31 at a predetermined height apart from the rail means 31 except for the connecting portion with the lower flat surface of the rail means. On the other hand, the front crawler traveling devices 1a and 1b
And connecting shafts 6, 19 of the rear crawler traveling devices 2a, 2b
As shown in detail in FIGS. 4, 7, and 9, the left and right projections further project from the traveling devices, and the floating roller 36 is rotatably supported by the projections. Then, one of the left and right sides of the idler roller 36 (the front portion and the rear portion) is brought into rolling contact with the guide rail 37 from below to prevent the crawler traveling device from floating.

The horizontal holding guide rail 21 has a U-shaped cross-section that is open in the direction of the stairs, and is provided below the stairs with a predetermined bias. On the other hand, a rotating roller 22 is rotatably supported at a predetermined position on a rear portion of the loading platform 7 so as to project to the left and right sides. Then, one of the right and left of the rotating rollers 22 is connected to the guide rail 2.
Roll within 1. The guide rail 21 and the rotating roller 22 form a horizontal holding mechanism H ₁ together with the gas spring 23.

Further, as shown in FIG. 8, a crawler traveling device grounding operation pestle 41 is provided at a rear portion of the loading platform 7 by a pivot pin 65 so as to be operable in the front-rear direction. The tip of the operating pestle 41 is connected to a moving pestle 66 slidably supported below the bottom plate of the loading platform 7, and the moving pestle is provided with rollers 67a and 67b at two downwardly protruding lugs. It is rotatably supported. On the other hand, as described above, the transmission cases 50, 5 of the front traveling portion 3F and the rear traveling portion 3R are included.
1 is provided with inclined cam pieces 63a and 63b projecting laterally, and the rollers 67a and 67b can be brought into rolling contact with the inclined cam pieces. Incidentally, reference numeral 42 in the figure denotes a toggle clamp provided at the lower portion of the loading platform 7, and the support flanges 5a, 5
The hook 69 near the rear connecting portion b is hooked to more reliably hold the upper portion of the rear traveling portion 3R.

Reference numeral 70 in FIGS. 2 and 7 denotes a control panel provided at the rear of the loading platform 7, and the operator operates a pendant switch (not shown) connected to the control panel by a cord. As a result, the self-propelled staircase moving device A ₁ is operated for traveling. Further, reference numeral 71 is a foot-operated parking brake provided in the lower rear portion of the luggage platform 7.

Next, the operation of the self-propelled staircase moving device A ₁ according to the above-described first embodiment will be described. A case will be described in which the wheelchair K is placed with the occupant on the luggage platform 7 and the self-propelled staircase moving device A ₁ is moved from the lower side to the upper side of the stairs as shown in FIG. 1, for example. The left front crawler traveling device 1b and the rear crawler traveling device 2b are aligned with the rail means 31 on the lower flat surface of the stairs, and the rotating roller 22 is fitted into the guide rail 21. At this time, the front and rear rolling rollers 36, 36 also contact the lower surface of the guide rail 37.

In this state, the operating pestle 41 is operated backward to release the continuous check of the self-propelled unit 3 and the loading platform 7, and the front and rear electric motors 13 and 20 are driven by the pendant switch. As a result, the front and rear crawler traveling devices 1a, 1b, 2a, 2b in the left and right rows all travel at the same speed, while the crawler traveling devices 1b, 2b in the left row travel while being guided on the rail means 31. . That is, the rubber crawler 3
The teeth 32a on the outer peripheral surface of 2 are the teeth 33a of the open belt 33.
The crawler 32 travels without slipping, and both side surfaces of the crawler 32 are guided by the guides 35, 35 to prevent meandering, and the front and rear crawler traveling devices 1b,
2b advances, and even in the portion of the rail means 31 installed along the stairs inclination, as described above, the crawler traveling devices 1b, 2b in the left column slip due to the engagement by the teeth and the guide by the guide. Proceed without doing and without meandering.

On the other hand, the front and rear crawler traveling crawler devices 1a and 2a in the right row travel on flat surfaces and stairs, but the front traveling part 3F and the left and right front crawler traveling devices 1a and 1b. Rear crawler traveling device 2a, 2
The rear traveling section 3R composed of b is integrally formed and is rotatably supported by the support frames 5a and 5b by the connecting shafts 6 and 19, so that the left side (upper) of FIG.
As shown in the state, when the front traveling unit 3F enters the ascending entrance of the stairs, the front crawler traveling device 1b in the left row is guided by the rail means 31 and tilts at the same angle as the front portion in the right row. Even if the crawler traveling device 1a also inclines and does not have a large inclined traveling surface in the front, the right-row crawler traveling device 1a rides on the corner T of the stairs and hooks the teeth of the crawler 32 to travel on the stairs. . Similarly, the right rear crawler traveling device 2a also inclines integrally according to the inclination by the rail means 31 of the left rear crawler traveling device 2b and travels on the stairs.

At the climbing portion of the stairs, the inclination angle with respect to the horizontal is gradually increased so that the front crawler traveling devices 1a and 1b are bridged at the height of the first step, and in this state. Also, the rear crawler traveling devices 2a, 2b are on a flat surface, and therefore the line connecting the two connecting shafts 6, 6;
The angle change of the (support frames 5a, 5b) is gradual, the self-propelled portion further advances, and the front and rear crawler traveling devices (that is, the self-propelled portion) are completely inclined along the stairs. The angle of the self-propelled portion increases until it matches the stairs inclination, but the rate of change (angular velocity) is small, and after the self-propelled portion matches the stairs inclination angle, the angle increases. The angle change rate (angular velocity) is maintained at 0.

At this time, the loading platform 7 includes the support frames 5a, 5a.
b is swingably supported about a connecting shaft 6 connecting the front crawler traveling devices 1a and 1b, and a rotating roller 22 arranged at a predetermined position of the loading platform 7 rolls on a guide rail 21. It is moved and guided, so that the cargo bed 7
Is always kept geometrically horizontal regardless of changes in the inclinations of the support frames 5a and 5b and the self-propelled portion 3.

In this state, as shown in FIG. 10, the load W1 acting on the loading platform 7 (the loading platform's own weight + loading load) directly acts on the front crawler devices 1a, 1b via the connecting shaft 6 and at the same time. The load W2 acts on the guide rail 21 via the moving roller 22. The front crawler traveling device is subjected to a load W3 obtained by adding the weight of the traveling device to the load from the platform 7. Further, the component force S2 of the rotating roller 22 in the direction along the guide rail 21 acts on the support frames 5a, 5b as the compressive force F of the gas spring 23, and acts on the rear crawler traveling devices 2a, 2b as a moment load. The rear crawler traveling device is acted on by a load W4 obtained by adding the own weight of the traveling device to the moment load via the gas spring. Therefore, the load of the loading platform 7 acts in a distributed manner on the front crawler traveling device, the rear crawler traveling device and the guide rail 21, and both crawler traveling devices exert sufficient pressing force V3, V4 on the rail means 31. To do. Thus, the contact pressure between the teeth 32a of the crawler 32 and the teeth 33a of the open belt 33 of the rail means 31 is secured, and even if a tooth profile having a pressure angle that smoothly meshes is adopted, the thrusts S3, S4 of the crawler traveling device are adopted. It is possible to prevent floating due to.

Then, as shown on the right side (upper side) of FIG. 1, the front crawler traveling devices 1a and 1b reach the upper end of the stairs, and the connecting shaft 6 which is the center of rotation and the point of load application has the highest step angle. After passing the section T ₁ , the traveling device instantaneously changes from the solid line to the horizontal state along the upper flat surface from the staircase inclination angle as shown by the chain line. However, even in this state, the height of the connecting shaft 6, which is also the swing center of the luggage carrier 7, does not change, and the luggage carrier 7 is held in a horizontal state.

Further, the self-propelled portion 3 advances, the front crawler traveling devices 1a and 1b travel on the horizontal portion 31a and the flat surface of the rail means, and at the same time, the rear crawler traveling devices 2a and 1b.
As the line 2b travels on the staircase slope of the rail means 31, the line (the self-propelled part 3) connecting the two connecting shafts 6 and 19 of the support frames 5a and 5b changes its angle so that it gradually approaches horizontal. The angle change is caused by the rear crawler traveling devices 2a, 2
It continues until b is positioned on the rail means horizontal portion 31a and the flat surface, but the rate of change (angular velocity) is small.

With the forward movement of the self-propelled portion 3, the loading platform 7 is horizontally supported by the pivoting roller 22 being guided by the guide rail 21 while the front portion of the loading platform 7 is swingably supported by the connecting shaft 6. However, as described above, the self-propelled unit 3
Since the angle change of is slow, the rate of angle change with the cargo bed 7 is small, and the cargo bed 7 is reliably held in a horizontal state.

When the above-described self-propelled staircase moving device A ₁ is moved, for example, when moving from the lower flat surface to the stairs, the horizontal moving speed of the rear crawler running device is faster than that of the front crawler running device. , Or even when a lifting force acts on the crawler traveling device due to acceleration or deceleration acting during stair climbing, the idle rollers 36, 3 supported by the connecting shafts 6, 19
Since 6 is in rolling contact with the lower surface of the guide rail 37, the front crawler traveling device and the rear crawler traveling device are reliably prevented from rising from the rail means 31. This causes the crawler 32 to move the open belt 3 of the tooth 32a.
3 for meshing with teeth 33a and meandering prevention guide 3 on its side surface
The guide by 5 is secured, and both crawler traveling devices travel reliably.

In the above description, the case of climbing the stairs from the lower side to the upper side has been described. However, even when the stairs are lowered from the upper side to the lower side, the wheelchair is placed in the state opposite to the drawing in the traveling direction. Except that, it works similarly. That is, the self-propelled portion travels with the rear part forward (reverse), one crawler traveling device travels in a state where the rail means does not slip, and the other crawler traveling device swings integrally to climb up the stairs. Even if you are traveling on a flat surface and a moving part of stairs,
The angle change of the self-propelled portion including the front and rear crawler traveling devices is small, and the loading platform 7 travels while being held in a horizontal state by the rotation roller 22 being guided by the guide rail 21.

Further, in the above embodiment, the rotating roller 22 is used.
Since the guide rail 21 is arranged in the rear portion of the luggage carrier 7, the amount of protrusion of the guide rail 21 on the lower flat surface is large. This is because the rotating roller is installed in front of the luggage carrier.
The protrusion of the guide rail can be reduced or eliminated.

Next, transfer of the self-propelled staircase moving device A ₁ (similarly to other embodiments described later) on a flat surface will be described. When the operating punch 41 is at the rear (the position of the chain line in FIG. 8A and the state of FIG. 1), the moving punch 66 is at the front position, and the front and rear rollers 67a and 67b are installed in the transmission cases 50 and 51. Inclined cam pieces 63a, 63b
Is not in contact with. In this state, the self-propelled body 3 and the loading platform 7 are in a non-coupling state in which they are swingably connected by the connecting shaft 6,
As described above, the cargo bed 7 and the self-propelled body 3 travel while changing the angle. When the loading platform 7 is not restrained by the guide rails 21 or the like, it depends on the loading load of the loading platform, but in general,
Due to the compressive force of the gas spring 23, the front traveling crawler traveling devices 1a and 1b move to the rear portions (drive wheels 15a and 15b).
Only the side) is grounded, and the rear traveling crawler traveling devices 2a and 2b are entirely grounded.

From this state, as shown in FIG.
The operator moves the operating rod 41 forward (from the chain line position to the solid line position).
When it is operated to, the moving pestle 66 moves rearward, and the rollers 67a, 67 rotatably supported by the front and rear lug portions thereof.
b also moves together. Then, the inclined cam pieces 63a and 63 provided so as to project laterally from the transmission cases 50 and 51.
The rollers 67a and 67b come into contact with b (see FIGS. 5 and 6) and move along the cam pieces, so that the transmission cases 50 and 5
Lift 1 upwards. As a result, the front traveling unit 3F and the rear traveling unit 3R are lifted, the left and right front and rear crawler traveling devices are separated from the flat surface G, and the front and rear casters 40a in the left and right two rows provided on the lower portion of the cargo bed 7 are provided. 40a and the central fixed ring 40 are grounded. Further, the left and right toggle clamps 42 are hooked on the hooks 69 and rotated to securely hold the rear crawler traveling devices 2a and 2b at the upper position.

In this state, the operator can move the flat surface to an arbitrary place while freely turning by the front and rear casters 40a, 40a by holding and pushing the handle 24. As a result, with the wheelchair K placed on the platform 7, the left and right crawler traveling devices are aligned with the rail means 31, and the position of the stairway moving device such as fitting the rolling roller 22 to the guide rail 21 is adjusted. It can be done easily and quickly. Further, the lower flat surface, the landing in the center of the stairs, the upper flat surface, and the crossovers such as the underground passage and the overpass can also move freely while changing the direction while the wheelchair is still on.

Next, a partially modified embodiment will be described. Even if it is on a flat surface, if there are irregularities such as Braille blocks, especially when starting the stairs moving device from the irregularities,
In a heavy load state in which an electric wheelchair or the like is placed on the bed, it is possible that the stairs moving device is moved by manpower excessively. In this case, it is preferable that one of the front and rear crawler traveling devices is grounded to assist the power traveling of the crawler traveling device. As an example, the inclined cam piece 63b at the rear part is formed as a gentle inclined surface or a horizontal plane, and further, the cam piece 6b.
By removing 3b itself, the operation of the operating rod 41
The front crawler traveling devices 1a and 1b are exclusively lifted to release the ground. As a result, the rear crawler traveling devices 2a, 2b
The front crawler traveling devices 1a and 1b are lifted in a state where the vehicle is grounded, and the operator is free to turn by the front casters 40a while being assisted by the driving force of the electric motor 20 of the rear crawler traveling device. Even with a heavy load on uneven surfaces such as blocks, one operator can easily move. When the rear crawler traveling device is lifted to release the ground, it can be held in the lifting position by operating the toggle clamp 42.

Further, another embodiment will be described with reference to FIG. In this embodiment, the front and rear inclined cam pieces 63 are
The shapes of a'and 63b 'can be changed, and the operating punch 41 can be operated and fixed in three positions. That is, the flat portion a is provided below the front inclined cam piece 63a ′, and the flat portion b is provided above the rear inclined cam piece 63b ′. As a result, the front roller 67a moves forward from the release position of the operating punch 41 (the position indicated by the chain line in FIG. 8 (a)) by one step.
The rear roller 67b moves to the boundary of the flat surface a along the inclined surface of a ', and the rear roller 67b moves to the boundary of the inclined surface along the flat portion b of the rear inclined cam piece 63b'. In this state, similarly to the above, the front self-propelled body 3F is lifted and the front caster 40a is lifted.
Is grounded, but the rear self-propelled body 3R is not lifted up, and the rear crawler traveling device is in a grounded state. Further, when the operating pestle 41 is operated further forward by one step, the front roller 67a moves along the flat surface a of the front inclined cam piece 63a 'to maintain the front self-propelled portion in the lifted state and the rear roller 67a. 67b moves along the inclined surface of the rear inclined cam piece 63b ', lifts the rear self-propelled portion, and grounds the rear caster 40a and the central fixed wheel 40.

Further, as shown in FIG. 3, in order to move the wheelchair up and down on the bed 7 at a predetermined position on the flat surface, the footboard 71 is parked while stepping on the foot brake 71.
0, unlatch and rotate downward, and
The two folded plates 30a and 30b are extended while being grounded to form a relatively long left and right transfer plate. This allows
The wheelchair K is easily moved to the loading platform 7 by the bridge plates 30a and 30b.
You can get on or off the platform. At this time, the wheelchair K gets on in the forward direction of the self-propelled staircase moving device, and the wheelchair passenger always faces the forward direction regardless of whether the stairs are lifted or lowered.

Next, a second embodiment of the present invention will be described with reference to FIGS. The same parts as those in the embodiment described above are designated by the same reference numerals and the description thereof will be omitted. In the above-described embodiment, the guide rail 21 for the horizontal holding mechanism H ₁ of the loading platform 7 is required outside the rail means 31 on the side of the stairs. Since the guide rails extend a predetermined length on the flat surfaces of the upper and lower ends of the stairs, the convenience of using the stairs may be impaired, especially when there is a rush hour such as at a station, it obstructs passage. Sometimes. Therefore, the present embodiment is characterized by using the horizontal holding mechanism H ₂ that holds the loading platform horizontally without using the guide rails.

A bracket 75 is attached to the support frames 5a and 5b.
The front end portions 26a of the left and right electric cylinder devices 26 are rotatably connected to the bracket 75, respectively. Further, the left and right electric cylinder devices 26 are rotatably connected to a predetermined position of the loading platform 7 at their base ends having a motor 26b. On the other hand, a horizontal sensor (horizontal detecting means) 25 such as a gas rate gyro, a vibrating gyro, or a droop is disposed in the lower rear part of the cargo bed 7, and the horizontal sensor directly or by angular acceleration (or angular velocity). In addition, the levelness of the loading platform 7, specifically, the horizontal angle (0
The tilt angle from (degrees) can be detected.

Then, the control section in the control panel 70 receives the signal from the horizontal sensor 25 so that the loading platform 7 maintains the horizontal state regardless of the angle change of the self-propelled section 3 (and the support frame 5a). , And outputs a predetermined signal to the electric cylinder device 26.

Therefore, according to the present embodiment, the self-propelled unit 3
Drives the crawler traveling device on either the left or right side while being guided by the teeth of the guide rail 31 while traveling, and the crawler traveling device on the other left and right integrated with the crawler traveling device moves up and down stairs. At this time, as shown in the left side (lower side) of FIG. 13, when shifting from a flat surface to a stairway entrance, first, the front crawler traveling devices 1a and 1b are inclined so as to extend to the first stage, and the rail means is moved. As the stairs moving device A ₂ advances, the self-propelled portion 3 (and the support frame 5a,
The inclination angle of 5b) is gradually increased, but the rate of change is small. Therefore, the rotation speed of the electric cylinder device 26 that is contraction-controlled based on the signal from the horizontal sensor 25 may be slow, and the platform 7 can be held in a horizontal state in response to the signal from the horizontal sensor 25.

Then, the rear crawler traveling devices 2a, 2b.
When the rail means 31 is completely driven into the inclined portion, the inclination angle of the self-propelled portion 3 becomes a constant angle along the inclination angle of the stairs, and in principle, the horizontal sensor 25 does not detect the angle change, and the electric cylinder device 26 becomes Holds in place.

Further, as shown on the right side (upper part) of FIG. 13, the front crawler traveling devices 1a and 1b reach the uppermost part of the stairs and are the center of rotation and the swinging center of the loading platform 7 as well. When exceeds the uppermost corner, the front crawler traveling device momentarily changes from the staircase inclination angle to the horizontal state, but the angular relationship between the support frames 5a and 5b and the loading platform 7 does not change,
The electric cylinder device 26 has a fixed length, and the loading platform 7 is maintained in a horizontal state. Furthermore, as the staircase moving device A ₂ advances, the angle of the self-propelled portion (supporting frame) gradually changes toward the horizontal direction, but the rate of change (angular velocity) is small, and the signal from the horizontal sensor 25 indicates Correspondingly, the electric cylinder device 26 extends relatively slowly to hold the platform 7 in a horizontal state. And the rear crawler traveling device 2
When a and 2b are also completely flat and the self-propelled portion 3 (support frames 5a and 5b) becomes horizontal, the extension of the electric cylinder device 26 is stopped and the platform 7 is maintained horizontally.

As described with reference to FIG. 10,
The front crawler traveling devices 1a and 1b and the rear crawler traveling devices 2a and 2b are pressed against the rail means 31 by a force V due to a moment load or the like via the electric cylinder device 26.
3 and V4 are always operating, the lift prevention guide 37 may be omitted. In the case of the present embodiment, since the guide rail 21 as the horizontal holding mechanism is omitted, the lift prevention guide 37 is also omitted. Preferably, therefore the rolling roller 22 and the idler roller 36 are also omitted. Since the rising prevention guide 37 located on the inclined surface of the stairs does not get in the way, the guide may be provided at this portion and only the portion corresponding to the flat surface may be omitted. Further, the rail means 31 preferably has less or no protrusion from the flat surface, so that the open belt 32 is installed in the groove on the flat surface to prevent the meandering prevention guide 3.
It is preferable to make the upper end of 5 flush with the flat surface or to keep the protruding height thereof low. Further, the meandering prevention guide 35 may be lowered or the guide itself may be eliminated only in the flat surface portion. Further, the rail means 31 itself has the length of the flat surface portion corresponding to the length of the front or rear crawler traveling device from the boundary with the inclined surface, that is, the length of two steps or less from the boundary. Then, when the vehicle is self-propelled, only the crawler traveling device on the inclined surface of the rail means may be meshed with the rail means.

Further, the crawler traveling devices 1a, 1b, 2
Although the ground release of a and 2b may be performed by the operation punch 41 or the like described above, the ground release of the rear crawler traveling device is particularly performed.
The electric cylinder device 26 may be expanded and contracted by a pendant switch (not shown) extending from the control panel 70. That is, the electric cylinder device 26 is mounted on the rear crawler traveling devices 2a, 2 when the loading platform 7 is substantially horizontal.
While the b is held at the position where it comes into contact with the ground, the above-mentioned flat surface crawler traveling (the front portion is moved by the caster 40a and the rear portion is moved by driving the crawler traveling devices 2a and 2b) is performed, and the electric cylinder device 26 is further moved. After slightly contracting, the rear crawler traveling device is lifted, the rear casters 40a and the fixed wheels 40 are grounded, and the stair moving device is moved manually.

Next, a further modified third embodiment will be described with reference to FIGS. 17 to 19.

In the present embodiment, the horizontal holding mechanism H _{3 of the} loading platform is simple and free from delay and hunting by the program control using a highly reliable detecting means such as a potentiometer.
Is controlled.

The horizontal holding mechanism H ₃ according to this embodiment is
As shown in FIG. 17, the electric cylinder device 26, the means 45 for detecting the rotation speed of the electric motor of the self-propelled portion 3, and the rotation angle of the front crawler traveling device 1a with respect to the support frame 5a about the connecting shaft 6 are shown. Signals are input from the means 46 for detecting, the means 47 for detecting the rotation angle around the connecting shaft 19 of the rear crawler traveling device 2a with respect to the support frame 5a, and the above-mentioned means (step position detecting means) 45, 46, 47. A control unit U for outputting to the electric cylinder device 26 according to a preset (stored) program,
Is equipped with.

The detecting means 45 detects the number of revolutions of the output shaft of both or one of the electric motors 13 and 20 such as the brushless DC motors of the front traveling portion 3F and the rear traveling portion 3R so as to detect the electric speed of the control panel. It is composed of a sensor for detecting a pulse or a tachometer for detecting the number of rotations of the motor output shaft or the drive shafts 10 and 16. Further, front and rear angle detection means 46 and 47 for detecting the rotation angles of the front and rear crawler traveling devices are provided on either the left or right side, and potentiometers 46a and 47a installed on the support frame 5a.
And sensor bars 46b and 47b whose one ends are fixed to the front and rear track frames 11a and 17a and extend in the frame direction, and the tip bent portions of these sensor bars are connected to the arms 46c of the potentiometers 46a and 47a. , 47c are slidably fitted in the engaging grooves formed in the grooves 47c.

Next, the operation of the self-propelled staircase moving device using the horizontal holding mechanism H ₃ will be described with reference to the flowcharts shown in FIGS. 18 and 19. First, it is determined by the operation of the operator whether the stairs moving device is traveling in the forward direction (the stair climbing direction) or the backward direction (the stairs descending direction) (S
1), if it is in the forward direction, front and rear electric motors 1 for traveling
3, 20 in the forward (forward) direction (S2), and if it is in the backward direction, the electric motor is rotated in the backward (reverse) direction (S3), and the front and rear crawler traveling devices 1a, 1b,
Drive on 2a and 2b.

When traveling in the forward direction, when the front ends of the front crawler traveling devices 1a and 1b contact the inclined surface of the rail means 31, the crawler is short in the front-rear direction and rotates about the central connecting shaft 6 thereof. The traveling device rotates at a larger rotation angle than the rotation around the rear connecting shaft 19 of the support frame 5a and is relatively positive (counterclockwise in the figure) direction with respect to the support frame 5a. Rotate. The rotational change is detected by the potentiometer 46a via the sensor bar 46b and the arm 46c fixed to the track frame 11a (S4). Then, the total number of rotations of the electric motors 13 and 20 for traveling detected by the detection means 45 is started from the time when the angle change of the potentiometer 46a (that is, the front angle detection means 46) is detected (N =
0; S5), and an electric motor (26) such as a synchronous motor or a stepping motor at a speed corresponding to the rotation speed of the electric motor.
By rotating b), the electric cylinder device 26 starts contraction (S6).

Generally, this self-propelled staircase moving device is used at a fixed place such as a station, and even if there are many stairs to each platform at the station or the like, the staircase inclination angle is designed to be substantially constant. There is. Therefore, the staircase inclination angle is set in advance in the control panel 70, and the traveling electric motors 13,
The rotation speed of 20 and the rotation speed of the motor 26b of the horizontal control electric cylinder device 26 are related (linked). Thereby, the crawler 32 and the rail means 3
The electric cylinder device 26 contracts in response to the amount of movement of the self-propelled portion 3 that advances without slipping due to the meshing of 1 and the support frame 5a (self-propelled portion 3) is inclined, but the cargo bed is not supported. 7 is always kept horizontal.

In driving the electric cylinder device, the cumulative number of revolutions N of the traveling electric motor is a predetermined number U1, that is, the tip of the ground surface of the front crawler traveling device 1a, 1b rides on the inclined surface of the rail means 31. From the start, the rear end of the ground contact surface of the rear crawler traveling device 2a, 2b rides on the rail means inclined surface, and the self-propelled portion 3 (the line connecting both connecting shafts 6 and 19 of the support frame) makes the rail means inclined angle. Until a predetermined cumulative rotation number U1 corresponding to the distance until
> U1) Continue (S7). Then, when the integrated rotation speed N exceeds the predetermined number, the contraction drive of the electric cylinder device is stopped (S8). Furthermore, the self-propelled portion 3 continues to travel (raise) along the staircase inclination angle, and at this time, the electric cylinder device 26 is in a stopped state and the luggage carrier 7 is stably held in a horizontal state.

Then, the front crawler traveling devices 1a, 1b.
When the connecting shaft 6 part of reaches the upper end of the stairs (see FIG.
On the right side (upper part), the front crawler traveling device momentarily largely rotates in the minus (clockwise direction) direction around the connecting shaft 6 (S9). Then, similarly to the above, the front crawler traveling device is rotationally changed with respect to the support frame 5a, and the rotational change is detected by the potentiometer 46a (front angle detecting means 46), and similarly to S5.
At the same time when the number of revolutions of the electric motor for traveling is started (N = 0; S10), the electric cylinder device 26 is started to be driven in the extension direction (S11). The drive of the electric cylinder device is set to a speed corresponding to the rotation speed of the traveling electric motor, as described above, and the angle is changed so that the support frame 5a (the self-propelled portion 3) gradually approaches the horizontal direction. Accordingly, the loading platform 7 is extended at a predetermined speed and the loading platform 7 is always held in a horizontal state.

Further, the self-propelled portion 3 moves forward, the connecting shaft 19 of the rear crawler traveling devices 2a and 2b goes over the upper corner of the stairs, and the crawler traveling device also turns horizontally to make the self-propelled portion horizontal. In this state, the predetermined integrated value U2 of the rotation speed of the traveling electric motor is set so as to correspond to the distance between the connecting shafts 6 and 19 of the front and rear crawler traveling devices.
Electric motor rotation speed integrated value exceeds the above specified value (N> U
2; S12), the drive of the electric cylinder device 26 is stopped (S13). In this state, the self-propelled unit 3 and the loading platform 7
Are almost parallel to each other, and the loading platform is held in a parallel state.

Then, the driving of the electric motor for traveling for a predetermined time or for a predetermined cumulative number of revolutions is continued so that the rear end of the rear crawler traveling device deviates from the upper corner of the stairs and moves forward by a predetermined amount to ensure safety. After that, the electric motor is stopped (S14), and the control of the stair climb is completed.

On the other hand, when it is determined in step S1 that the vehicle is going backward (in the descending direction of the stairs), the traveling electric motor 13,
20 is driven in the backward (reverse) direction to move backward in the self-propelled portion 3 (S3). Then, the rear crawler traveling devices 2a, 2b
When the traveling device rotates in the plus (counterclockwise) direction about the connecting shaft 19 as the connecting shaft 19 goes over the upper corner of the stairs,
The rotational change is detected by the rear angle detecting means 47 (S21). That is, the rotation of the rear self-propelled portion causes the track frame 17a to rotate about the connecting shaft 19, and the sensor bar 47b integral with the track frame 17a is connected to the potentiometer 47a installed on the support frame 5a via the arm 47c.
Is rotated, and the rotation change is transmitted to the control unit U.

At the same time, the total number of revolutions of the electric motor for traveling is started (N = 0; S22), and the electric cylinder device 26 is further driven in the extension direction (S23). The driving of the electric cylinder device is interlocked with the rotation speed of the traveling electric motor, and in the descending direction of the stairs, the load on the loading platform 7 and the self-weight of the stair moving device assist in the traveling direction. As compared with the stair climbing direction in which the load acts as a load, the rotational speed of the traveling electric motor becomes faster, and the electric cylinder device moves correspondingly faster.

Then, the integrated value N of the electric motor revolutions
However, both connecting shafts 6 and 19 of the front and rear crawler traveling devices
When the predetermined integrated value D1 (≈U2) approximately corresponding to the distance is exceeded (N>D1; S24), the electric cylinder device 26 is stopped (S25). In this state, the front crawler traveling devices 1a and 1b are also located on the staircase inclination portion, the self-propelled portion 3 has the constant inclination angle, and the cargo bed 7 is kept horizontal and self-propelled. Part 3 advances (reverses) in the stairs descending direction.

Then, the rear crawler traveling devices 2a, 2b.
When the tip of the ground contact point reaches the flat surface below the stairs (the flat surface of the rail means), the rear crawler traveling devices 2a and 2b rotate with a large change amount as compared with the change in the rotation of the support frame 5a. That is, while the support frame 5a rotates about the rear connecting shaft 6, the rear crawler traveling device rotates about the central connecting shaft 19, and the relative angle change between the two is determined by the potentiometer 47a (rear angle). The detection means 47) detects the angle change in the minus (clockwise) direction (S).
26). Then, the number of rotations of the electric motor for traveling is started to be integrated (N = 0; S27), and the electric cylinder device 26 is started to be driven in the contracting direction (S28). The drive of the electric cylinder device is controlled in conjunction with the rotation speed of the traveling electric motor, and the loading platform 7 is always maintained in a horizontal state regardless of the angle change of the self-propelled portion 3 (support frame 5a).

Further, as the self-propelled portion advances, the total number of revolutions of the electric motor for traveling from the grounded front end portion (front end in the traveling direction) of the rear crawler traveling device to the grounded rear end portion of the front crawler traveling device. When a predetermined value D2 (≈U1) approximately equivalent to the distance is exceeded (N>D2; S29), the drive of the electric cylinder device is stopped (S30), and the electric motor for traveling for a predetermined time or a predetermined integrated rotation speed is driven. Is maintained and the electric motor is also stopped at a position separated from the lower end of the stairs by a predetermined distance (S3
1) The control for descending stairs ends.

At the transition portion between the stairs and the flat surface, the distances of the moving portions are different on the upper end side and the lower end side of the stairs, so that the coefficient relating the traveling electric motor and the horizontal holding electric cylinder device motor is Further, since the traveling speed of the self-propelled portion and the rate of change in the tilt angle (angular velocity) of the support frame (self-propelled portion) are not linear at each position of the transitional portion, the cumulative number of revolutions of the electric motor for traveling is Based on the above, the controller calculates or the map is stored so that the loading platform is horizontal at each position of the self-propelled unit, and the loading platform is programmed in advance so that the loading platform is always horizontal regardless of each position of the transition portion. I'll do it.

According to the horizontal holding mechanism H ₃ described above,
The angle change detection of the front angle detection means 46 or the rear angle detection means 47 and the traveling electric motor rotation detection means (45) control the relationship of the self-propelled portion 3 with respect to the stairs and the electric cylinder device 26, so feedback is performed. Without
By controlling according to a preset program, the pallet 7 is accurately and surely held in a horizontal state without causing hunting or the like, and the wheelchair occupant does not feel uneasy. Furthermore, the front or rear angle detection means 4
Since the moving direction of the electric cylinder device is changed by the rotational change of the positive and negative directions of Nos. 6 and 47, malfunction does not occur, and in combination with highly reliable angle detecting means such as a potentiometer. It is possible to perform highly reliable and reliable control.

It should be noted that the angle change detection by the potentiometer has a predetermined dead zone width, and the step is performed by a slight angle change due to the meshing relationship between the teeth of the crawler and the teeth of the rail means on the inclined surface of the stairs. S4, S9, S2
No signal such as 1, S26 is output. Further, the front and rear angle detecting means are not limited to the potentiometers as described above, and may detect the angle change at the lower end of the stairs and the upper end of the stairs by using, for example, two sensor cams and limit switches.

Further, in the above-mentioned embodiment, the completion of the transition between the stairs and the flat surface is determined by the total number of revolutions of the electric motor for traveling. However, the present invention is not limited to this. It may be determined by detecting that there is no change in the front or rear angle detection means 46, 47. That is, steps S7 and S12 may be changed so that the rear angle change becomes 0, and steps S24 and S29 may be changed so that the front angle change becomes 0. Further, the driving of the electric cylinder device is started by changing the angle on the front side in the traveling direction, but this may be executed by changing the angle on the crawler traveling device on the rear side in the traveling direction.

Further, the angle change of the crawler traveling device on the rear side in the traveling direction is used as a safety device, and a predetermined integration of the electric motor for traveling from the angle change on the front side in the traveling direction (ie, S2, S9; S21, S26). It is preferable to stop the traveling electric motor and the electric cylinder device motor except when the rear angle change is zero within the rotation speed range. For example, the cumulative rotational speed N of the electric motor for traveling is set to the above U
1, U2, D1, and D2 are set to be slightly larger in the front-rear direction than the predetermined cumulative number of revolutions, and when the crawler traveling device moves while slipping, the electric cylinder device completes the movement. Even if it is in such a state, the angle detection means on the rear side in the traveling direction will continue to detect the angle change, and if the angle change is still detected even if the predetermined cumulative rotation speed width is exceeded, it is determined to be abnormal. Then, immediately stop the electric motor for traveling and activate the electromagnetic brake,
Stop stairs moving device.

In addition, for example, when climbing stairs, the front crawler traveling device is guided by the rail means, but when the rear crawler traveling device is disengaged from the rail means, the front crawler traveling device is electrically driven by a change in angle of the front crawler traveling device. Although the cylinder device starts to move, the tip of the rear crawler traveling device hits the bottom of the stairs and the self-propelled portion stops, and in this state, the angle by the rear angle detection means is reached before the predetermined accumulated rotational speed width is reached. When the amount of change becomes 0, the driving of the electric cylinder device is immediately stopped and the traveling electric motor is stopped.

Further, the front and rear angle detecting means 46, 4
It is preferable to stop the traveling electric motor and the electric cylinder device immediately when 7 detects an angle change of a predetermined range or more, that is, an angle of the flat surface and the inclined surface of the rail means or more. That is, when descending stairs, for example, when the front crawler traveling device is disengaged from the rail means, the longitudinal length of the traveling device does not include two or more steps of stairs. The traveling device pivots largely until its tip hits the stairs one step down. Similarly,
Even when the rear crawler traveling device is disengaged from the rail means, the traveling device rotates above the predetermined range. In this state, the electric cylinder device (although it is not driven when the front crawler traveling device is disengaged from the rail means) is stopped, the traveling electric motor is stopped, the electromagnetic brake is activated, and the stairs are moved. Immediately stop the device in that state.

As described above, by using the front and rear angle detecting means, it is possible to automatically stop at the time of abnormality and improve safety, and there is no guide rail. Can also ensure high reliability and safety.

In the above embodiment, the case where the crawler traveling device on the left side is meshed with the rail means has been described. However, the present self-propelled staircase moving device is constructed symmetrically, and the left or right side of the staircase can be seen. Even if there are rail means, guide rails, etc., the same can be applied. Moreover, although the above-mentioned embodiment demonstrated the case where a wheelchair was placed on the luggage carrier 7, the present invention is not limited to this, and luggage such as newspapers and magazines may be placed on the luggage carrier 7.

In the above-described embodiment, the front crawler traveling device and the rear crawler traveling device are provided on each of the left and right sides, but the present invention is also applied to a device having one crawler traveling device on each of the left and right sides. It is possible.

[Brief description of drawings]

FIG. 1 is an overall side view showing an operation of a first embodiment to which the present invention is applied.

FIG. 2 is a plan view of the self-propelled staircase moving device.

FIG. 3 is a side view thereof.

FIG. 4 is a rear view thereof.

FIG. 5 is a perspective view showing a self-propelled portion.

FIG. 6 is a side view showing a crawler traveling device (front and rear self-propelled portions).

FIG. 7 is a plan view showing a self-propelled portion.

FIG. 8A is a side view showing an operating means for releasing the ground contact of the crawler traveling device, and FIG. 8B is a diagram showing a partially modified embodiment.

FIG. 9 is a front view of a self-propelled staircase moving device.

FIG. 10 is a diagram showing a load state of the self-propelled staircase moving device.

FIG. 11 is a view showing the engagement between the crawler traveling device and rail means.

FIG. 12 is a diagram showing a staircase model applied to the first embodiment, in which (a) is a side view and (b) is a front view.

FIG. 13 is an overall side view showing the operation of the second embodiment to which the present invention is applied.

FIG. 14 is a plan view of the self-propelled staircase moving device.

FIG. 15 is a side view thereof.

FIG. 16 is a rear view thereof.

FIG. 17 is a schematic side view showing a horizontal holding mechanism according to a third embodiment of the present invention.

FIG. 18 is a flowchart showing the operation.

FIG. 19 is a flowchart showing a sequel to FIG. 18;

[Explanation of symbols]

1a, 1b front crawler traveling device 2a, 2b rear crawler traveling device 3 self-propelled portion 3F front self-propelled portion 3R rear self-propelled portion 5a, 5b support frame 6 (front) connecting shaft 7 cargo bed 9a, 9b drive wheel 10 Drive shafts 11a, 11b Track frame 13 Drive source (front electric motor) 15a, 15b Drive wheels 16 Drive shafts 17a, 17b Track frame 19 Connecting shaft 20 Drive source (rear electric motor) 31 Rail means 32 Rubber crawler 32a Teeth 33 Long member (open belt with teeth) 33a Teeth 37 Guide rail 40 Support wheels 40a Casters 41, 42 Operating means (pestle) A ₁ , A ₂ Self-propelled staircase moving device H ₁ , H ₂ , H ₃ Horizontal holding mechanism L , R Left and right crawler traveling device

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Shinichi Mita             197 I, Kumasaka-cho, Kaga City, Ishikawa Prefecture Daido Industry             Within the corporation (72) Inventor Toshihide Araya             197 I, Kumasaka-cho, Kaga City, Ishikawa Prefecture Daido Industry             Within the corporation (72) Inventor Yoshihiro Kitamura             197 I, Kumasaka-cho, Kaga City, Ishikawa Prefecture Daido Industry             Within the corporation (72) Inventor Kiyotaka Deguchi             197 I, Kumasaka-cho, Kaga City, Ishikawa Prefecture Daido Industry             Within the corporation (72) Inventor Toshiyuki Takai             2-2-2 Yoyogi, Shibuya-ku, Tokyo Tohnichi             Inside the passenger railway (72) Inventor Tadashi Takahata             2-2-2 Yoyogi, Shibuya-ku, Tokyo Tohnichi             Inside the passenger railway (72) Inventor Hitomi Hibino             2-2-2 Yoyogi, Shibuya-ku, Tokyo Tohnichi             Inside the passenger railway F-term (reference) 3D050 AA01 AA04 BB03 BB29 DD02                       DD06 EE03 EE08 EE11 EE15                       GG06 JJ01 JJ08 JJ09 KK04                       KK14

Claims (8)

[Claims] 1. A self-propelled portion having two left and right rows of crawler traveling devices and a drive source for driving these crawler traveling devices and integrally connecting the left and right crawler traveling devices; A support frame that is movably connected and that supports a loading platform, and rail means having a concave and convex portion that is installed along the inclination angle of the stairs on the side of the stairs, and the crawler on either the left or right side is provided. A self-propelled staircase moving device, characterized in that the traveling device is guided by the rail means while traveling, and the other crawler traveling device is traveling on stairs. 2. The crawler traveling device has a rubber crawler in which teeth having a predetermined pitch are formed all around the outer peripheral surface, and the rail means has teeth having the same pitch as that of the rubber crawler. The self-propelled staircase moving device according to claim 1, further comprising: a long member, and a meandering prevention guide that is arranged along the left and right of the long member and that guides the side surface of the crawler. 3. The self-propelled staircase moving device according to claim 2, wherein the elongate member comprises a toothed open belt made of rubber. 4. A floating roller is provided coaxially with a connecting portion of the crawler traveling device with the support frame, and the floating roller is rollingly contacted above the rail means to provide the rail of the one crawler traveling device. The self-propelled staircase moving device according to any one of claims 1 to 3, further comprising: a guide rail that prevents lifting from the means. 5. The left and right two-row crawler traveling devices each have a front crawler traveling device and a rear crawler traveling device, and the self-propelled portion includes the left and right front crawler traveling devices and left and right drive wheels. A drive shaft to be connected and a connecting shaft to connect the central parts of the left and right track frames are integrally configured with each other, and a front electric motor is provided bridging to the drive shaft and the connecting shaft, and an output shaft of the electric motor is provided. A front self-propelled portion that is interlocked with the drive shaft, and the left and right rear crawler devices integrally with each other by a drive shaft that connects the left and right drive wheels and a connecting shaft that connects the central portions of the left and right track frames. A rear self-propelled portion configured to bridge the drive shaft and the connecting shaft with a rear electric motor and to interlock the output shaft of the electric motor with the drive shaft;
The supporting frame is rotatably supported by the connecting shaft of the front self-propelled portion and the connecting shaft of the rear self-propelled portion on the left and right sides of the luggage carrier, and the luggage carrier is the front self-propelled portion. 5. The horizontal holding means, which is rotatably supported by a connecting shaft of the running part, and holds the loading platform in a horizontal state regardless of the inclination angle of the self-running part. Self-propelled stair mover. 6. The self-propelled staircase moving device according to claim 1, wherein each crawler traveling device has a crawler contact surface having a length equal to or less than the length of two stairs. . 7. A plurality of supporting wheels including casters are provided below the loading platform, and an operating means is provided for switching the crawler traveling device between a position where the crawler traveling device projects downward and a position where the crawler traveling device retracts upward with respect to these supporting wheels. The self-propelled staircase moving device according to any one of claims 1 to 6. 8. A plurality of support wheels including casters are provided below the loading platform, and the front crawler traveling device and the rear crawler traveling device project downward with respect to these support wheels and retract upward. An operating means is provided for switching between a position and a position in which one of the front crawler traveling device and the rear crawler traveling device retracts upward with respect to the caster and the other projects downward with respect to the other supporting wheels. The self-propelled staircase moving device according to claim 5.