JP2001233600A - Carrying device and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable loading of a heavy object onto a carriage directly without provision of rails, enable a load of the object to be received at a flat surface at all times even at a stepped portion, and also enable control of posture. SOLUTION: A plurality of carriage frames 2, 3 are superposed on each other so as to be movable relatively in a horizontal direction via guides 1a, 1b. A pair of elogatable legs 4, 5, 6 is provided forward and rearward to each of the frames 2, 3. Drivers to elongate or shrink the legs 5, 7 are provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transportation device capable of carrying heavy objects and transporting not only flat ground but also stairs.

[0002]

2. Description of the Related Art As a conventional transporting apparatus of this type, for example, one disclosed in Japanese Patent Application Laid-Open No. 63-300100 (hereinafter referred to as a first conventional example) can be mentioned. The object of the first conventional example is to maintain a stable carrying posture of a heavy object on an inclined conveying path such as a stair, and to quickly and easily convey a heavy object to an installation place. A guide rail is installed in advance on the inclined conveyance path, and an angle-adjustable inclined carriage having a plurality of rolling rollers and a horizontal carriage loaded with a heavy object is set thereon. That can be transported on inclined transport paths such as stairs while maintaining the horizontal state of heavy objects by pulling the inclined carriage by the lifting winch device provided above the guide rail while maintaining and maintaining the horizontal It is.

A second conventional example is disclosed in, for example,
As shown in JP-A-66838, there is a crawler-based transport device. This means that a carrier with a crawler is provided with a carrier on which the angle can be adjusted, and the carrier can be transported on the stairs while operating the clutch lever of the handle that is integrated with the carrier and protrudes to the rear of the vehicle, and In the, it is possible to travel by traveling wheels arranged so as to protrude below the contact surface of the crawler,
The object can be easily conveyed irrespective of a change in the state of the stair path (the length of the stairs, inclination, etc.).

[0004]

However, each of the above-mentioned conventional examples has the following problems. Problems of the first conventional example It is necessary to set the rails in accordance with the length and the inclination angle of the stairs, which not only complicates the rail structure but also complicates the work. There is no proper means for fixedly supporting the rail, and there is a safety problem. If there is a landing in the middle, it is necessary to change the setup of the rails and the like, and the work becomes complicated. Separate transporting means is required for loading the transported goods onto the cart. The problem of the second conventional example The grip force (resistance to slip, holding force) in the crawler system is a holding force due to a physical catch between a step edge and a protrusion on the crawler surface. Therefore, it is necessary to obtain a larger gripper as the weight of the conveyed article increases or as the inclination angle increases, so that the stair edge is damaged, and in some cases, the non-slip member or the like set on the stair edge is peeled off. There is a concern and safety is a major issue. Conveyed objects (A
(TM devices, computer-related devices, etc.), when transporting from a flat floor to a staircase, or when transporting from a staircase to a flat surface such as a landing, the device for maintaining the posture of the conveyed object, or the sharp posture of the crawler itself An auxiliary device or the like for avoiding the change is required, and the device must be complicated and expensive. The control means for realizing the above is also complicated.

The technical problem of the present invention is that a rail is not required,
An object of the present invention is to allow a heavy object to be directly loaded on a truck and a load to be always received on a flat surface even on a stair portion, so that the posture can be easily adjusted or controlled.

[0006]

According to a first aspect of the present invention, there is provided a transporting apparatus comprising: a plurality of bogie frames superimposed so as to be relatively movable in a horizontal direction via a guide; One or more sets of telescopic legs are provided, and a plurality of driving devices are provided to independently extend and retract each leg of at least one bogie frame.

[0007] Further, according to a second aspect of the present invention, in the first aspect, among the legs of each bogie frame, the leg length of the uppermost leg during stair transport is fixed.

[0008] Further, according to a third aspect of the present invention, in the transportation device according to the first or second aspect, the plurality of bogie frames are provided.
Each of the legs of at least one bogie frame is provided with a wheel having a rotation restraining means.

According to a fourth aspect of the present invention, there is provided the transportation device according to the second aspect, wherein the leg length is provided near a telescopic leg located on a side opposite to the leg having a fixed length with respect to the center of gravity of the conveyed object. A new leg fixed to the same leg length as the fixed leg is installed, and a wheel is provided for each of these fixed leg length legs.

According to a fifth aspect of the present invention, in the transportation device according to the fourth aspect, the new leg is formed of a first telescopic leg with wheels that can be extended by a predetermined amount, and the new leg is positioned with respect to the center of gravity of the conveyed object. A second telescopic leg with wheels is provided on the opposite side and closer to the position of the center of gravity than the leg length fixed leg.
And the second telescopic leg with wheels, so that the bogie can be supported inside the frontmost leg and the rearmost leg when the upper bogie frame covers the lower bogie frame.

According to a sixth aspect of the present invention, there is provided the transportation device according to any one of the first to fifth aspects, wherein an upper floor surface and a transported object mounting surface are provided at the edge of the bogie frame on the leg side, which is the highest during stair transport. A swingable flap is provided to bridge the gap so that there is almost no step.

According to a seventh aspect of the present invention, in the first to sixth aspects of the present invention, the relative distance to the step surface of the front stairs is measured or defined at or near the uppermost leg during stair transport. Means are provided.

According to an eighth aspect of the present invention, there is provided the transportation device according to the first to seventh aspects, wherein a means for detecting a stair edge is provided when the bogie frame is moved.

According to a ninth aspect of the present invention, there is provided the transportation device according to any one of the first to eighth aspects, wherein a means for detecting a ground contact state with a floor surface is provided on the uppermost leg during stair transport.

According to a tenth aspect of the present invention, in the first to ninth aspects, the lowest leg at the time of stair transport is provided with a means for detecting a ground contact state with the floor surface.

According to a eleventh aspect of the present invention, in the transportation device according to the first to tenth aspects, the telescopic mechanism of each leg is formed by any one of the link mechanism, the fluid pressure mechanism, and the linear motion mechanism, or a combination thereof. It is composed.

According to a twelfth aspect of the present invention, in the transportation device according to the eleventh aspect, the linear motion mechanism includes an upper connecting member and a lower connecting member that fix and connect the two front and rear linear moving rods and upper and lower ends thereof. A substantially rectangular movable portion, a fixed portion fixed to a bogie frame having a pair of upper and lower guides for slidably guiding the respective linear motion rods, and a rotatable fixed to the fixed portion to an upper connecting member It consists of a screw shaft that passes through the screw and a drive mechanism that drives the screw shaft, and these are provided independently on the left and right sides of the bogie frame, or are arranged on the left and right sides of the bogie frame, and a bottom plate is provided between the respective lower connecting members. And are integrally formed to be provided.

According to a thirteenth aspect of the present invention, in the transportation device according to the first to twelfth aspects, of the legs of each bogie frame, the lowermost leg at the time of stair transportation and the spacer member can be detachably attached to the lower surface thereof. It is composed.

According to a transportation method according to a fourteenth aspect of the present invention, the upper bogie frame and the lower bogie frame are superposed so as to be relatively movable in a horizontal direction, and the respective bogie frames are provided with telescopic front and rear legs. When ascending the stairs while loading the goods and keeping the posture of the goods substantially horizontal,
(A) a lower bogie frame supporting step in which the front and rear legs of the lower bogie frame support the load; and (b) a lower vertical bogie frame by a predetermined vertical distance while the upper bogie frame covers the lower bogie frame. A lower bogie frame raising process for raising the upper bogie frame, (c) an upper bogie frame advancing process in which the upper bogie frame moves on the lower bogie frame and advances by a predetermined horizontal distance, and (d) the front and rear legs of the upper bogie frame are loaded. And (e) a lower bogie frame advancing step in which the lower bogie frame moves below the upper bogie frame and advances by a predetermined horizontal distance.
(E) is repeated to ascend the stairs.

According to a transportation method according to a fifteenth aspect of the present invention, the upper bogie frame and the lower bogie frame are superposed so as to be relatively movable in the horizontal direction, and the respective bogie frames are provided with extensible front and rear legs. When loading a transported object and descending the stairs while maintaining the attitude of the transported product substantially horizontal,
(B) an upper bogie frame supporting step in which the front and rear legs of the upper bogie frame support the load; and (b) a lower bogie frame advancing step in which the lower bogie frame moves below the upper bogie frame and advances by a predetermined horizontal distance. (C) a lower bogie frame supporting step in which the front and rear legs of the lower bogie frame support the loaded load;
(D) an upper bogie frame advancing step in which the upper bogie frame moves on the lower bogie frame and advances by a predetermined horizontal distance;
(E) a lower bogie frame lowering step of lowering the lower bogie frame by a predetermined vertical distance in a state where the upper bogie frame covers the lower bogie frame. It is characterized by repeating the process and descending the stairs.

According to a sixteenth aspect of the present invention, in the fourteenth aspect, when the upper bogie frame or the lower bogie frame advances, the front and rear legs of the upper bogie frame or the lower bogie frame that advance. It is characterized in that one of the front and rear legs advances while supporting one of the loading loads in an auxiliary manner, and the other of the front and rear legs expands and contracts.

In the transportation method according to claim 17, in claim 14 or claim 15, when the upper bogie frame or the lower bogie frame advances, the front and rear legs of the advancing upper bogie frame or lower bogie frame. It moves forward while supporting the loaded load.

In the transportation method according to claim 18, the leg length of the front and rear legs of the upper bogie frame or the lower bogie frame which advances in the upper bogie frame advancing step or the lower bogie frame advancing step in claim 14 or 15. Are fixed, and the front and rear legs of the lower bogie frame or the upper bogie frame that do not move forward extend and contract.

According to a nineteenth aspect of the present invention, there is provided a transportation method according to the fourteenth, sixteenth, seventeenth, or eighteenth aspect, wherein the foremost leg and the rearmost leg when the upper bogie frame is covered on the lower bogie frame. A transport method in which the transported goods are loaded and the landings of the ascending stairs are turned around by a transporting device having telescopic legs with wheels that can be extended by a fixed amount inside each other and before and after sandwiching the center of gravity of the transported goods, (A) supporting the load with the telescopic legs with wheels, (b) extending the telescopic legs with wheels, and (c) moving the bogie until the uppermost leg enters the area of the turning staircase. And a step of turning.

According to a twentieth aspect of the present invention, there is provided the transportation method according to any one of the fifteenth to eighteenth aspects, wherein the lower bogie frame is covered with the upper bogie frame while the innermost of the foremost leg and the rearmost leg. A transport method in which transported goods are loaded and turned around a landing on a descending stair by a transporting device having telescopic legs with wheels that can be extended by a predetermined amount before and after sandwiching the center of gravity of the transported goods. The method is characterized by comprising a step of supporting the loaded load by the telescopic legs with wheels, and (b) a step of turning the bogie until the lowest leg enters the area of the turn destination stairs.

According to a twenty-first aspect of the present invention, there is provided a transportation method according to the fourteenth to eighteenth aspects, wherein a conveyed article is loaded from the upper floor to the conveyed article mounting surface or from the conveyed article mounting face to the upper floor floor. At the time of unloading the conveyed goods, the transport device is stopped at the position of the descending stairs where the conveyed goods mounting surface can match the upper floor, and the flap is placed in the gap between the conveyed goods mounting surface and the upper floor do it,
It is characterized in that a conveyed article is loaded or unloaded.

[0027] In the transportation method according to claim 22, in claim 14, 16, 17, or 18, when the upper bogie frame is advanced when climbing the stairs, the relative distance to the step surface of the front stairs is measured. , And manages the frame feed amount.

According to a twenty-third aspect of the present invention, in the transportation method according to the fifteenth to eighteenth aspects, when the lower bogie frame is advanced when descending the stairs, a stair edge is detected and a frame feed amount is managed. And

According to a twenty-fourth aspect of the present invention, in the transportation method according to the twenty-second aspect, at the time of ascent and descent after advancement of the upper bogie frame when ascending the stairs, a contact state between the uppermost leg and the stair surface is detected, It is characterized in that the stroke amount at the time of extension and contraction of the rear leg is managed.

According to a twenty-fifth aspect of the present invention, in the transportation method according to the twenty-third aspect, at the time of descending after descending the stairs after descending the lower bogie frame, a contact state between the lowest leg and the floor is detected. The operation mode is switched from a staircase to a floor operation mode.

According to a twenty-sixth aspect of the present invention, in the fourteenth to twenty-fifth aspects, a spacer member is attached to the lower surface of the lowermost leg which requires a large stroke during stair transport, and the lowermost leg itself is attached. The telescopic stroke required for the telescopic mechanism is reduced.

[0032]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. Hereinafter, the present invention will be described based on the illustrated embodiments. FIG. 1 is a plan view showing the overall configuration of a transport device according to a first embodiment of the present invention, and FIG.
The figure shows the state before moving forward (ascending) on the stairs, (b)
The figure shows a state after the vehicle has advanced (raised). FIG. 2 is a side view showing the overall configuration of the transport device according to the first embodiment, FIG. 3 is a front view showing a first leg portion which is the highest during stair transport, and FIG. 4 is a second leg portion thereof. FIG. 5 is a front view showing the third leg, and FIG. 6 is a front view showing the fourth leg at the bottom during the stair transport.
(A) shows a state in which a spacer member is attached to the lower surface of the fourth leg, and (b) shows a state in which the fourth leg is extended from the state shown in (a). FIG. 7 is a front view showing a modification of the fourth leg in the case where the spacer member is not used,
FIG. 8 is a front view showing another modified example of the fourth leg in the case where the spacer member is not used, and FIG.
FIG. 10 is an explanatory view of a method of loading and transporting a heavy object from a flat ground to a stair by the first embodiment apparatus adopting the method of FIG. 10, FIG. Similarly, FIG. 12 is an explanatory view of a method of transporting from a stair to a flat ground such as a landing, and FIG. 12 is an illustration of a method of transporting from a flat ground to a stair when a method of attaching a spacer member to the lower surface of the fourth leg is employed. FIGS. 13A and 13B are explanatory diagrams of a method of transporting a vehicle from a stair to a flat ground such as a landing.

The transport device according to the first embodiment has a pair of linear guides 1a,
Bogie frames 2 and 3 superimposed vertically so as to be relatively movable in the horizontal direction via 1b, and at least one or more pairs of legs 4 and 5 provided on each of the upper and lower bogie frames 2 and 3
6, 7 and drive devices 8, 9 for independently extending and retracting the legs 5, 7 of the lower bogie frame 3.

More specifically, as shown in FIGS. 1 to 3, the upper bogie frame 2 has a rectangular shape wider than the lower bogie frame 3, and has two front corners, that is, a lower bogie. A pair of fixed leg lengths 4 serving as first legs 4 are provided on the lower surfaces on both sides outside the overlapping portion with the frame 3.
a, 4b are attached, and wheels 11a, 11b provided with rotation restraining means (not shown) are provided at the lower ends of the fixed legs 4a, 4b. The first leg 4, that is, each fixed leg 4
As shown in FIG. 2, a and 4b are the uppermost legs when carrying the stairs, and here, the fixed legs will be described as an example.
This can be made up of telescopic legs.

Also, on the rear side of the upper bogie frame 2 on both sides outside the overlapping portion with the lower bogie frame 3, FIG.
As shown in FIGS. 2 and 5, a pair of poles 6 a and 6 b serving as third legs 6 are respectively provided to penetrate the upper bogie frame 2. A plurality of leg length adjusting holes 12 penetrating in the radial direction at predetermined intervals in the longitudinal direction are formed in each of the poles 6a and 6b, and are fixed to the lower surface of the upper bogie frame 2 so that the respective poles 6a and 6b are fixed.
The pins 13a, 13b selectively penetrating the cylindrical bodies 10a, 10b into which the 6b is inserted and the leg length adjusting holes 12 are provided.
The amount of each downward projection is defined. Then, the wheels 14a, 1 having rotation restraining means (not shown) at the lower ends of the third legs 6, ie, the poles 6a, 6b
4b is provided. The downward projecting amounts of the pair of fixed legs 4a and 4b serving as the first leg 4 and the pair of poles 6a and 6b serving as the third leg 6 are as follows.
Since the upper bogie frame 2 on which the heavy object W is placed is required to be kept horizontal, the same protruding amount is set so as not to tilt left and right. Therefore, it is not always necessary to separate them, and for example, the fixed legs 4a and 4b may be connected and fixed at the lower side to be integrated, and the pawls 6a and 6b may also be connected and fixed at the lower side to be integrated. It may be. Further, a plate for preventing the mounted object (heavy object W) from dropping off may be provided on the upper edge of the upper bogie frame in a detachable manner.

The lower bogie frame 3 has a rectangular shape, and is provided on the lower surface of a front portion movable between the fixed legs 4a and 4b, and is provided with a parallel ruler using a slider as shown in FIGS. A free second leg 5 is provided,
A driving device 8 that drives the second leg 5 to expand and contract is provided. The second leg 5 basically comprises parallel channel-like members 17, 18 arranged one above the other as in FIG. 4, and links 21, 22 of the same length which are pivotally connected 19 at the center and intersect. One end of each of the links 21 and 22 is pivotally connected 23 and 24 to one end of each of the channel-shaped members 17 and 18, respectively.
A parallel movement mechanism is provided in which the other ends of the members 1 and 22 are slidably fitted into the grooves 25 and 26 of the channel members 17 and 18 via sliders 27 and 28, respectively. Then, the parallel movement mechanism configured as described above is used to form upper and lower frame members 31 and 32 extending in the width direction of the lower bogie frame 3.
And one set is installed before and after. That is,
The front sides of the upper and lower frames 31 and 32 constitute the channel-like members 17 and 18 of one of the parallel motion mechanisms, respectively.
32 is a channel-like member 1 of the other parallel movement mechanism.
7, 18 are constituted.

The drive unit 8 includes a pair of hydraulic cylinders 33 and 34 and a direct drive type pump 3 integrated with the hydraulic cylinders 33 and 34, respectively.
5, 36 (only one is shown in FIG. 4) and each pump 3
And a battery (not shown) serving as a driving power source for each of the hydraulic cylinders 33, 34, and each end of the piston rod of each of the hydraulic cylinders 33, 34 is connected to one of the front and rear links 21, 22, 21, 22. , 21 are pivotally connected to a connecting rod 40 (FIG. 2) connecting between predetermined positions 39 (FIG. 4) closer to the pivot point 23 on one end side than the central pivot point 19, and the bottom sides of the hydraulic cylinders 33, 34 are connected. , Is pivotally attached to one of the left and right sides of the lower frame 32, that is, a side 43 (FIG. 2) located on the slider 28 side.

The direct drive type pump 35,
Reference numeral 36 is directly connected to each of the pressure chambers in the corresponding hydraulic cylinders 33 and 34, and has not only a pump function but also a tank function so that the return pressure can be used. For this reason, the generated hydraulic pressure is larger than the driving force, the battery can be driven, and the driving mode is completely independent.

On the lower surface of the rear part of the lower bogie frame 3, as shown in FIGS. 1, 2 and 6, the lowermost leg during stair transport, that is, basically the same as the second leg 5 described above. And a driving device 9 for driving the fourth leg 7 to expand and contract is provided, and a spacer member 46 is detachable on the lower surface of the fourth leg 7. Attached to. The driving device 9 has the same configuration as the driving device 8 of the second leg 5 described above.

That is, the fourth leg 7 basically includes parallel channel-like members 47 and 48 which are set to be longer than the width of the lower bogie frame 3 and are disposed vertically, as shown in FIG. Links 51 of the same length, which are pivoted 49
52, one end of each link 51, 52 is pivotally connected 53, 54 to one end of the channel-shaped member 47, 48, respectively, and the other end of each link 51, 52 is connected to the channel-shaped member 4 respectively.
Sliders 57 and 5 are respectively provided in grooves 55 and 56 of
8 is constituted by a parallel motion mechanism slidably fitted through the same. The upper and lower frame members 6 extending in the width direction of the lower bogie frame 3 are structured as described above.
1 and 62, and one set is installed before and after.
That is, the front sides of the upper and lower frames 61 and 62 constitute the channel-shaped members 47 and 48 of one of the parallel motion mechanisms, and the rear sides of the upper and lower frames 61 and 62 are the channel-shaped members of the other parallel motion mechanism. The members 47 and 48 are configured.

The driving device 9 includes a pair of hydraulic cylinders 63,
64, and direct-drive pumps 65, 66 integrated with the hydraulic cylinders 63, 64, respectively.
(Only one is shown in FIG. 6) and a battery (not shown) serving as a drive power source for each of the pumps 65 and 66.
The distal ends of the piston rods of the hydraulic cylinders 63 and 64 are pivotally connected to connecting rods 70 (FIG. 2) connecting the central pivot points 49 of the links 51 and 52, respectively. The lower frame 62 is pivotally attached to one of the left and right sides, that is, a side 73 located on the slider 58 side.

The direct drive type pump 65,
66 has not only a pump function but also a tank function as well as the pumps 35 and 36 on the second leg 5 side, can use return pressure, can be driven by a battery, and has a completely independent drive. It can take the form.

The pivot point of each piston rod of the drive unit 9 of the fourth leg 7 is set to the central pivot point 4 of each link 51, 52.
The reason for setting 9 is that the required stroke of the fourth leg 7 is large, the length of each of the links 51 and 52 becomes long in connection with this, and the length of the cylinder for obtaining the required hydraulic pressure is obtained. In the retracted state of the piston rod, 1 / of the link length
It is due to being suppressed within two.

On the other hand, the pivot point 39 of each piston rod of the drive unit 8 of the second leg 5 is set closer to the pivot point 23 on one end side than the central pivot point 19 of each link 21, 22. The required stroke of the second leg 5 is smaller than that of the fourth leg 7 and, in connection with this, the length of each of the links 21 and 22 is reduced, and the required stroke of the cylinder is reduced. The length is set to 1 /
This is because it cannot be suppressed within two.

The fourth leg which requires a large stroke is constituted by a parallel movement mechanism comprising a parallel ruler using a slider, and a spacer member 46 is detachably attached to a lower end thereof. The description has been given by way of example, but the present invention is not limited to this.
8 and a leg 82 having an expansion and contraction mechanism using a ball screw 82a as shown in FIG. 8, and the like. In the case of the leg 81 or the leg 82 using the ball screw 82a, a large stroke can be obtained, so that the spacer member can be eliminated.

Next, a method of transporting a heavy object W using the transport device of the first embodiment will be described based on FIGS. 9 to 13 and with reference to FIGS. First, as the fourth leg, a leg 81 including a plurality of toggle joint mechanisms capable of obtaining a large stroke is used, and a heavy object W occupying four steps of stairs in a plan view is loaded.
In the example, the span between the third leg 6 and the third leg 6 is set to two steps, and the span between the second leg 5 and the fourth leg 81 is three steps. (Fig. 9), the method of transportation when going up the stairs (Fig. 10), and the method of transportation from the stairs to a flat land such as a landing (Fig. 9). 11) will be described.

Transportation method from flat ground (floor) to stairs
(FIG. 9) (a) First, on the floor H, the third leg 6 is connected to the first leg 4.
Are adjusted by the pins 13a and 13b so as to have the same protrusion amount as that of the second leg 5 and the fourth leg 8 by the driving devices 8 and 9.
1 is retracted and lifted off the floor, and wheels 11a, 11b,
In this state, the heavy load W is loaded on the upper bogie frame 2, and a plate for preventing the heavy load W from dropping is attached to the periphery of the upper bogie frame. 11a, 11b, 14a, 1
4b. At this time, the load of the heavy object W or the like is transmitted via the upper bogie frame 2, the first leg 4, and the third leg 6,
It is supported by wheels 11a, 11b, 14a, 14b.

(B) When the vehicle approaches the stairs K, the wheels 11a, 11b, 14a, and 14b operate the rotation restricting means to ensure safety.
After b, 14a, 14b do not roll freely,
The second leg 5 and the fourth leg 81 are simultaneously extended by the driving devices 8 and 9, and the first leg 4 is moved one step of the stairs K while maintaining the horizontal state of the lower bogie frame 3, that is, the heavy object W. Raise slightly above eye level. The lifting load of the heavy object W or the like at this time is supported by the second leg 5 and the fourth leg 81 via the lower bogie frame 3. First leg 4 is stairs K
The pins 13a and 13b adjust the amount of downward projection so that the third leg 6 is extended from the first leg 4 by one step height of the step K when the third leg 6 is raised to a position slightly higher than the first step. I do.

(C) Next, the upper bogie frame 2 is moved to the stairs (1
Push it forward by the depth of (d).

(D) Next, until the first leg 4 and the third leg 6 touch the ground, that is, the wheels 11a and 11b
The wheels 14a and 14b are respectively in contact with the horizontal surface of the step and the floor surface, and the load of the heavy object W or the like is applied to the wheels 11a and 14b via the upper bogie frame 2, the first leg 4 and the third leg 6. 11
The second leg 5 and the fourth leg 81 are simultaneously retracted until the lower bogie frame 3 enters the free state when received by the b, 14a, and 14b. The amount of degeneration at that time is that the second leg 5 is the first leg 4
Until the fourth leg 81 slightly floats from the floor surface.

(E) After that, the free lower bogie frame 3 is pushed forward by the depth of the stairs (first step). By the above-described procedures (a) to (e), the heavy object W can be transported forward by one stair.

(F) In the operation of the second step of the step K, first, the second leg 5 and the fourth leg 81 are simultaneously extended from the state of (e) to maintain the horizontal state of the heavy object W. Then, the first leg 4 is raised until it is slightly higher than the second step of the stairs K. Thus, the lifting load of the heavy object W or the like is supported by the second leg 5 and the fourth leg 81 via the lower bogie frame 3. When the first leg 4 ascends to a position slightly higher than the second step of the stairs K, the pins 13a, 13a, 13c are extended so that the third leg 6 is further extended by one step height of the step K from the first leg 4. 13
The downward projection is adjusted by b.

(G) Next, the upper bogie frame 2 is moved to the stairs (2
Push it forward by the depth of (d).

(H) Next, until the first leg 4 and the third leg 6 touch the ground, that is, the wheels 11a and 11b
The wheels 14a and 14b are respectively in contact with the horizontal surface of the step and the floor surface, and the load of the heavy object W or the like is applied to the wheels 11a and 14b via the upper bogie frame 2, the first leg 4 and the third leg 6. 11
The second leg 5 and the fourth leg 81 are simultaneously retracted until the lower bogie frame 3 enters the free state when received by the b, 14a, and 14b. The amount of degeneration at that time is that the second leg 5 is the first leg 4
Until the fourth leg 81 slightly floats from the floor surface.

(I) Thereafter, the free lower bogie frame 3 is pushed forward by the depth of the stairs (second step). By the above procedures (a) to (i), the heavy object W can be transported forward by two steps.

(J) In the operation of the third step of the stairs K, first, the second leg 5 and the fourth leg 81 are simultaneously extended from the state of (i) to maintain the horizontal state of the heavy object W. The first leg 4 is raised until the first leg 4 is slightly higher than the third step of the stairs K, and the third leg 6 is slightly higher than the first step of the stairs K. Thus, the lifting load of the heavy object W or the like is supported by the second leg 5 and the fourth leg 81 via the lower bogie frame 3.

(K) Next, the upper bogie frame 2 is moved to the stairs (3
Push it forward by the depth of (d).

(L) Next, until the first leg 4 and the third leg 6 touch the ground, that is, the wheels 11a and 11b
The wheels 14a and 14b are respectively in contact with the first horizontal surface of the stairs K on the horizontal surface of the stairs K, and the load of the heavy object W is applied to the upper bogie frame 2, the first leg 4, and the third leg 6 Through,
The second leg 5 and the fourth leg 81 are simultaneously retracted until the wheels 11a, 11b, 14a, and 14b receive and the lower bogie frame 3 becomes free. The amount of retraction at this time is set so that the second leg 5 becomes shorter than the first leg 4 and the fourth leg 81 slightly floats from the floor surface.

(M) Thereafter, the free lower bogie frame 3 is pushed forward by the depth of the stairs (third step). By the above procedures (a) to (m), the heavy object W can be transported forward by three steps.

Transportation method when going up the stairs (FIG. 10) (a) As an initial state, the first leg 4 and the third leg 6 are in contact with the ground, and the second leg 5 and the fourth leg 81 are in the stair surface. , That is, the wheels 11a and 11b are in contact with the fourth horizontal surface of the stairs K, and the wheels 14a and 14b are in contact with the second horizontal surface of the stairs K. Via the upper bogie frame 2, the first leg 4, and the third leg 6, the wheels 1
1a, 11b, 14a, and 14b, and the lower bogie frame 3 is in a free state.

(B) First, from the state of (a), the second
The fifth leg 4 and the fourth leg 81 are simultaneously extended, and the first leg 4 is slightly higher than the fifth step of the stairs K while maintaining the horizontal state of the heavy object W, and the third leg 6 Are slightly higher than the third step of the stairs K, respectively. Thus, the lifting load of the heavy object W or the like is supported by the second leg 5 and the fourth leg 81 via the lower bogie frame 3.

(C) Next, the upper bogie frame 2 is moved to the stairs (5
Push it forward by the depth of (d).

(D) Next, until the first leg 4 and the third leg 6 touch the ground, that is, the wheels 11a and 11b
The wheels 14a and 14b are grounded on the horizontal surface of the stairs K, and the wheels 14a and 14b are respectively grounded on the horizontal surface of the stairs K. Through,
The second leg 5 and the fourth leg 81 are simultaneously retracted until the wheels 11a, 11b, 14a, and 14b receive and the lower bogie frame 3 becomes free. The amount of degeneration at this time is set until the second leg 5 becomes slightly higher than the fifth step of the stairs K, and the fourth leg 81 becomes slightly higher than the second step of the stairs K.

(E) Then, the free lower bogie frame 3 is pushed forward by the depth of the stairs (fifth step). According to the above procedures (a) to (e), the heavy object W can be transported forward by one step in the staircase. Thereafter, the steps (a) to (e) are repeated to appropriately control the amount of expansion and contraction of each leg, so that the stairs can be sequentially raised. Note that, during the operation of climbing the stairs, that is, at the time of steady stair transport, the length (projection amount) of the third leg 6 is also fixed as described above. For this reason, stairs 1
The number of steps of the elevating operation per step is simplified, and the transport time on the stairs can be reduced. The same applies to the operation down the stairs.

How to transport from the stairs to a flat land such as a landing
(FIG. 11) (a) As an initial state, the first leg 4 and the third leg 6 are in contact with the ground, and the second leg 5 and the fourth leg 81 are slightly floating from the landing Ha and the stairs, respectively. That is, wheels 11a and 11b
Is on the landing Ha, and the wheels 14a and 14b are in contact with the second horizontal plane of the stairs K, respectively, and the load of the heavy object W is applied via the upper bogie frame 2, the first leg 4 and the third leg 6. Therefore, it is assumed that the wheels 11a, 11b, 14a, and 14b receive and the lower bogie frame 3 is in a free state.

(B) First, from the state of (a), the second
The leg 5 and the fourth leg 81 are simultaneously extended, and while the horizontal state of the heavy object W is maintained, the first leg 4 is respectively raised until it is slightly higher than the surface of the landing Ha. This allows
The lifting load of the heavy object W or the like is supported by the second leg 5 and the fourth leg 81 via the lower bogie frame 3. Then
The retracting amount of the third leg 6 is adjusted by the pins 13a and 13b, and the third leg 6 is retracted by one step height of the stairs K.

(C) Next, the upper bogie frame 2 is pushed forward by the depth of one stair.

(D) Next, until the first leg 4 and the third leg 6 touch the ground, that is, the wheels 11a and 11b
In addition, the wheels 14a and 14b are on the third horizontal surface of the stairs K,
Each of the wheels 11a, 11g, is grounded, and a load such as a heavy object W is applied via the upper bogie frame 2, the first leg 4, and the third leg 6.
The second leg 5 and the fourth leg 81 are simultaneously retracted until the lower bogie frame 3 enters the free state when received by 11b, 14a, and 14b. The amount of degeneration at that time is as follows.
a until the fourth leg 81 is slightly higher than a
Until it becomes slightly higher than the second stage.

(E) Thereafter, the free lower bogie frame 3 is pushed forward by the depth of one step of the stairs. According to the above procedures (a) to (e), the heavy object W can be transported forward by the depth of one stair at the landing area. Thereafter, by repeating the above procedures (a) to (e) and appropriately controlling the amount of expansion and contraction of each leg, the leg can be successively transported forward in the landing section.

(F) That is, from the state of (e),
The second leg 5 and the fourth leg 81 are simultaneously extended, and the weight W
While maintaining the horizontal state, the first legs 4 are respectively raised until they are slightly higher than the surface of the landing Ha. Thus, the lifting load of the heavy object W or the like is supported by the second leg 5 and the fourth leg 81 via the lower bogie frame 3. Next, the retracting amount of the third leg 6 is adjusted by the pins 13a and 13b, and the third leg 6 is retracted by one step height of the stairs K so that its leg length becomes the same as that of the first leg 4.

(G) Next, the upper bogie frame 2 is pushed forward by the depth of one stair.

(H) Next, until the first leg 4 and the third leg 6 touch the ground, that is, the wheels 11a, 11b, 14a, 1
4b are in contact with the landing Ha, and the wheels 11a, 11b, 14a, 14b receive the load of the heavy object W or the like via the upper bogie frame 2, the first leg 4, and the third leg 6, and The second leg 5 and the fourth leg 81 are simultaneously retracted until the carriage frame 3 becomes free. The amount of degeneration at that time is
It is assumed that both the second leg 5 and the fourth leg 81 are slightly higher than the landing Ha. That is, the wheels 11a, 11
If all of the b, 14a, and 14b are in contact with the landing Ha and can support the load such as the heavy object W, the fourth leg 81 located at the rear end does not need to be supported. The leg 81 is retracted at a stroke for two steps.

(I) Thereafter, the free lower bogie frame 3 is pushed forward by the depth of one step of the stairs. According to the above procedures (a) to (i), the heavy object W on the landing Ha can be further transported forward by the depth of two steps.

In each of the operations shown in FIGS. 9, 10 and 11, the upper and lower bogie frames 2 and 3 are moved forward and the pair of poles 6a and 6b serving as the third legs 6 are moved downward. The adjustment of the protrusion amount is performed by an operator. However, it is needless to say that all of these series of operations can be automated by providing the amount of expansion and contraction of each leg and the operation detector of each operation, and providing the push-out operation mechanism of the upper and lower bogie frames and the third leg 6 operation mechanism. For example, the upper and lower carriage frames 2 and 3 are vertically overlapped so as to be relatively movable in the horizontal direction via a screw screw mechanism having a guide function, and the third leg 6 is also a parallel movement mechanism including a screw screw mechanism and a parallel ruler. Alternatively, a plurality of stages of toggle joint mechanisms or the like are employed, and the expansion and contraction operation of the upper and lower bogie frames 2 and 3 in the front-rear direction and the expansion and contraction operation of the third leg 6 are also driven by a driving device. Information such as a step height, a depth dimension, the number of steps, the presence or absence of a landing, and the like may be input to the control device, and information from the motion detector may be fed back to perform control.

Next, as a fourth leg, a parallel movement mechanism composed of a parallel ruler, and a spacer member 46 having a height of two steps on the lower surface can be removably attached to the leg 7 in FIG. , A heavy object W occupying four stairs in plan view is loaded, and the span between the first leg 4 and the third leg 6 in plan view is equivalent to two stairs and the second leg 5 And the fourth leg 7
The method of transporting from a flat ground (floor) to a staircase (Fig. 12), and a method of transporting from a staircase to a flat ground such as a landing, taking as an example the case where the span between planes is set to three steps of stairs, respectively. The method of transporting the product (FIG. 13) will be described.

Transporting method from flat ground (floor) to stairs
(FIG. 12) Even when the fourth leg 7 by the parallel movement mechanism including the parallel ruler is used, the operations (a) to (h) are performed by the fourth leg by the above-described multiple-stage toggle joint mechanism. The operation is basically the same as that shown in FIGS. (A) First, on the floor H, the third leg 6 is connected to the first leg 4.
Are adjusted by the pins 13a and 13b so as to have the same protrusion amount as that of the second leg 5 and the fourth leg 7 by the driving devices 8 and 9.
Of the wheels 11a, 11b, 1
4a, 14b, the vehicle can be pushed by hand, and in this state, a heavy object W is loaded on the upper bogie frame 2, and a plate for preventing the heavy object W from falling off is attached to a peripheral portion of an upper surface of the upper bogie frame. 11a, 11b, 14a, 14
b. At this time, the load such as the heavy object W is supported by the wheels 11a, 11b, 14a, and 14b via the upper bogie frame 2, the first leg 4, and the third leg 6.

(B) When the vehicle approaches the stairs K, the wheels 11a, 11b, 14a, and 14b operate the rotation restricting means to ensure safety.
After b, 14a, 14b do not roll freely,
The second leg 5 and the fourth leg 7 are simultaneously extended by the driving devices 8 and 9, and the first leg 4 is moved one step of the stairs K while maintaining the horizontal state of the lower bogie frame 3, that is, the heavy object W. Raise slightly above eye level. At this time, the lifting load of the heavy object W or the like is applied to the second leg 5 via the lower bogie frame 3.
And the fourth leg 7. The first leg 4 is one of stairs K
When the third leg 6 is raised to a position slightly higher than the step, the third leg 6 is extended from the first leg 4 by one step height of the stairs K.
The amount of downward projection is adjusted by the pins 13a and 13b.

(C) Next, the upper bogie frame 2 is moved to the stairs (1
Push it forward by the depth of (d).

(D) Next, until the first leg 4 and the third leg 6 touch the ground, that is, the wheels 11a and 11b
The wheels 14a and 14b are respectively in contact with the horizontal surface of the step and the floor surface, and the load of the heavy object W or the like is applied to the wheels 11a and 14b via the upper bogie frame 2, the first leg 4 and the third leg 6. 11
The second leg 5 and the fourth leg 7 are retracted at the same time until the lower bogie frame 3 is in the free state. The amount of retraction at this time is set so that the second leg 5 becomes shorter than the first leg 4 and the fourth leg 7 slightly floats from the floor.

(E) Thereafter, the free lower bogie frame 3 is pushed forward by the depth of the stairs (first step). By the above-described procedures (a) to (e), the heavy object W can be transported forward by one stair.

(F) In the operation of the second step of the stairs K, first, the second leg 5 and the fourth leg 7 are simultaneously extended from the state of (e) to maintain the horizontal state of the heavy object W. Then, the first leg 4 is raised until it is slightly higher than the second step of the stairs K. Thereby, the lifting load of the heavy object W or the like is supported by the second leg 5 and the fourth leg 7 via the lower bogie frame 3. When the first leg 4 ascends to a position slightly higher than the second step of the stairs K, the pins 13a, 13a, 13c are extended so that the third leg 6 is further extended by one step height of the step K from the first leg 4. 13b
Adjust the amount of protrusion downward.

(G) Next, the upper bogie frame 2 is moved to the stairs (2
Push it forward by the depth of (d).

(H) Next, until the first leg 4 and the third leg 6 touch the ground, that is, the wheels 11a and 11b
The wheels 14a and 14b are respectively in contact with the horizontal surface of the step and the floor surface, and the load of the heavy object W or the like is applied to the wheels 11a and 14b via the upper bogie frame 2, the first leg 4 and the third leg 6. 11
The second leg 5 and the fourth leg 7 are retracted at the same time until the lower bogie frame 3 is in the free state. The amount of retraction at this time is set so that the second leg 5 becomes shorter than the first leg 4 and the fourth leg 7 slightly floats from the floor.

(I) Thereafter, the lower bogie frame 3 which has become free is pushed forward by the depth of the stairs (second step), and then the fourth leg 7 in the free state is further contracted by two steps of stairs. The spacer member 46 is attached to the lower surface.
According to the above-described procedures (a) to (i), the heavy object W is staircase 2
Steps can be transported forward.

(J) In the third step of the step K, the second leg 5 and the fourth leg 7 with spacer are simultaneously extended from the state of (i) to change the horizontal state of the heavy object W. While maintaining this, the first leg 4 is raised until it is slightly higher than the third step of the stairs K, and the third leg 6 is slightly higher than the first step of the stairs K. Thus, the lifting load of the heavy object W or the like is supported by the second leg 5 and the fourth leg with spacer 7 via the lower bogie frame 3.

(K) Next, the upper bogie frame 2 is moved to the stairs (3
Push it forward by the depth of (d).

(L) Next, until the first leg 4 and the third leg 6 touch the ground, that is, the wheels 11a and 11b
The wheels 14a and 14b are respectively in contact with the first horizontal surface of the stairs K on the horizontal surface of the stairs K, and the load of the heavy object W is applied to the upper bogie frame 2, the first leg 4, and the third leg 6 Through,
The second leg 5 and the fourth leg 7 with spacer are simultaneously retracted until the wheels 11a, 11b, 14a, 14b receive and the lower bogie frame 3 becomes free. The amount of retraction at that time is set until the second leg 5 becomes shorter than the first leg 4 and the fourth leg 7 with spacer slightly floats from the floor surface.

(M) Thereafter, the free lower bogie frame 3 is pushed forward by the depth of the stairs (third step). By the above procedures (a) to (m), the heavy object W can be transported forward by three steps.

How to transport from stairs to flat land such as landing
Method (FIG. 13) (a) As an initial state, the first leg 4 and the third leg 6 are in contact with the ground, the second leg 5 and the fourth leg 7 with spacer are slightly floating from the landing Ha and the stairs, respectively. State, that is, wheel 11
a and 11b are at landing Ha and wheels 14a and 14b are at stairs K
, And the wheels 11a, 11b, 14a, and 14b receive loads such as heavy objects W via the upper bogie frame 2, the first leg 4, and the third leg 6, respectively. ,
It is assumed that the lower bogie frame 3 is in a free state.

(B) First, from the state of (a), the second
The first leg 4 and the fourth leg 7 with the spacer are simultaneously extended, and the first leg 4
Each is raised until it becomes slightly higher than the surface a. Thus, the lifting load of the heavy object W or the like is supported by the second leg 5 and the fourth leg with spacer 7 via the lower bogie frame 3. Next, the amount of retraction of the third leg 6 is
Adjusted by a and 13b, and depressed by the height of the stairs K by one step.

(C) Next, the upper bogie frame 2 is pushed forward by the depth of one stair.

(D) Next, until the first leg 4 and the third leg 6 touch the ground, that is, the wheels 11a and 11b
In addition, the wheels 14a and 14b are on the third horizontal surface of the stairs K,
Each of the wheels 11a, 11g, is grounded, and a load such as a heavy object W is applied via the upper bogie frame 2, the first leg 4, and the third leg 6.
The second leg 5 and the fourth leg 7 with spacer are simultaneously retracted until the lower bogie frame 3 is in the free state when the lower leg 11b, 14a, and 14b receive it. The amount of degeneration at this time is set until the second leg 5 becomes slightly higher than the landing Ha, and the fourth leg 7 with spacer becomes slightly higher than the second step of the stairs K.

(E) Thereafter, the free lower bogie frame 3 is pushed forward by the depth of one step of the stairs. According to the above procedures (a) to (e), the heavy object W can be transported forward by the depth of one stair at the landing area. Thereafter, by repeating the above procedures (a) to (e) and appropriately controlling the amount of expansion and contraction of each leg, the leg can be successively transported forward in the landing section.

(F) That is, from the state of (e),
The second leg 5 and the fourth leg with spacer 7 are simultaneously extended, and while the horizontal state of the weight W is maintained, each of the first legs 4 is raised until it is slightly higher than the surface of the landing Ha. Thus, the lifting load of the heavy object W or the like is supported by the second leg 5 and the fourth leg with spacer 7 via the lower bogie frame 3. Next, the retracting amount of the third leg 6 is adjusted by the pins 13a and 13b, and the third leg 6 is retracted by one step height of the stairs K so that its leg length becomes the same as that of the first leg 4.

(G) Next, the upper bogie frame 2 is pushed forward by the depth of one stair.

(H) Next, until the first leg 4 and the third leg 6 touch the ground, that is, the wheels 11a, 11b, 14a, 1
4b are in contact with the landing Ha, and the wheels 11a, 11b, 14a, 14b receive the load of the heavy object W or the like via the upper bogie frame 2, the first leg 4, and the third leg 6, and The second leg 5 and the fourth leg with spacer 7 are simultaneously retracted until the bogie frame 3 becomes free. The amount of degeneration at this time is set until the second leg 5 becomes slightly higher than the landing Ha, and the fourth leg 7 with spacer becomes slightly higher than the second step of the stairs K. And the wheels 11a, 11
If the b, 14a, and 14b are all in contact with the landing Ha and can support the load such as the heavy object W, the support by the fourth leg 7 with the spacer located at the rear end becomes unnecessary. The spacer member 46 is removed from the lower surface of the fourth leg 7. As a result, both the second leg 5 and the fourth leg 7 are slightly higher than the landing Ha.

(I) Then, the free lower bogie frame 3 is pushed forward by the depth of one step of the stairs. According to the above procedures (a) to (i), the heavy object W on the landing Ha can be further transported forward by the depth of two steps.

By the way, FIG. 9, FIG. 10, FIG.
In FIGS. 12 and 13, both the required expansion and contraction strokes of each leg are substantially the same as the height of the first stair, the third leg is substantially the height of the second stair, and the fourth leg. Has been described as an example in which the height is set to substantially the height of four steps. In this case, assuming that the height of the stairs is 220 mm, the required expansion and contraction stroke of the fourth leg is approximately 900 mm, and the size under the frame required for the installation (dimension when fully retracted) Is added, the frame lower leg length at maximum extension is 120
It is about 0 mm. This means that in consideration of the width of a general staircase, if a toggle joint mechanism is used, it will be necessary to stack two steps as shown in FIG. 7, which reduces rigidity during elongation and increases manufacturing costs. May occur. The same applies to a linear motion shaft structure using a ball screw or the like as shown in FIG. On the other hand, the amount that each leg expands and contracts during normal stair transport (FIG. 10) is at most one stair height,
At the time of steady stair transport, as is clear from the comparison between FIGS. 10A and 10C, the fourth leg merely repeats a leg length approximately three steps high and four steps high. . From this, by attaching or detaching a spacer member having a height of two steps as shown in FIGS. 6, 12, and 13 on the lower surface of the fourth leg having the largest expansion / contraction stroke, The expansion and contraction stroke of the expansion and contraction mechanism of the fourth leg itself can be set to the height of two steps. For this reason, as shown in FIG. 6, a structure (parallel movement mechanism composed of a parallel ruler) basically similar to that of the second leg can be adopted, thereby simplifying the structure, stabilizing the weight supporting structure, increasing rigidity, and manufacturing. Cost can be reduced.

It should be noted that FIGS. 9, 10, 11, and 1 shown in FIGS.
2. In FIG. 13, from the flat ground (floor) to the stairs, or from the stairs or stairs to the flat ground such as a landing,
In any case, the description has been given by taking the ascending transportation method as an example, but FIG. 9, FIG. 10, FIG. 11, FIG.
It goes without saying that by performing the respective steps in the reverse order, it is possible to stably descend while a heavy object is loaded. in this case,
The lower trolley frame moves forward, and the upper trolley frame on which the load is placed will follow the upper trolley frame, but the invention is not limited to this. You may make it follow a lower bogie frame later. This is the same in the above-described operation at the time of ascent. That is, the lower bogie frame may be advanced first when ascending, and may be followed by the upper bogie frame on which the conveyed object is placed.

Also, FIGS. 9, 10, 11 and 1 described above.
2. In FIG. 13, the description has been given of an example in which the front and rear legs on the side of the advancing bogie frame are lifted when the upper bogie frame or the lower bogie frame advances, but the present invention is not limited to this. Instead, for example, one of the front and rear legs on the side of the bogie frame that moves forward, including the above-described descending operation, may be set so as to move forward while supporting the loaded load in an auxiliary manner. Further, the forward and backward legs of the bogie frame that advances further advance while supporting the full load, and at the same time, the front and rear legs of the bogie frame that do not advance perform the expansion and contraction operation,
The transport time may be shortened.

Embodiment 2 FIG. FIG. 14 is a plan view showing the overall configuration of the transport device according to the second embodiment of the present invention, and FIG.
The figure shows the state before moving forward (ascending) on the stairs, (b)
The figure shows a state after the vehicle has advanced (raised). FIG. 15 is a side view showing the entire configuration of the transporter according to the second embodiment, FIG. 16 is a front view showing a third leg which is a main part thereof, and FIG. It is an explanatory diagram of the transportation method when loading the stairs and going up the stairs,
(A) The figure shows the state before moving forward (ascending) on the stairs,
(B) The figure has shown the state after forward (up), respectively. In the drawings, the same parts as those of the first embodiment are denoted by the same reference numerals.

In the transportation device of the second embodiment, the bogie frame having the first leg 4 composed of a fixed leg, that is, the upper bogie frame 2A is extended to both sides from that of the above-described first embodiment, so that the width is wider. The third leg 6 is provided on both sides of the rear part outside the overlapping portion with the lower bogie frame 3.
A pair of poles 6a and 6b serving as A are respectively provided through the upper bogie frame 2A. Each pole 6a, 6
b, a plurality of leg length adjusting holes 12 penetrating in the radial direction at predetermined intervals in the longitudinal direction, and is fixed to the lower surface of the upper bogie frame 2A and the cylindrical body 10 into which the poles 6a and 6b are inserted.
a, 10b and pins 13a, 13b which selectively penetrate through each leg length adjusting hole 12, regulate the amount of downward projection of each. In this case, no wheels are provided at the lower ends of the third legs 6A, that is, the poles 6a and 6b, and the inner side of the third legs 6A, that is, the outer side of the overlapping portion of the upper bogie frame 2A and the lower bogie frame 3 is provided. A leg length fixed leg 92a having the same leg length as the first leg 4 (fixed leg 4a, 4b) and a wheel 91a, 91b provided at the lower end on the lower surface inside the overhang portion of each of the poles 6a, 6b. , 92b are newly attached.

The amount of downward projection of each of the pawls 6a and 6b functioning as the third legs 6A during the stair transport is required because the upper bogie frame 2 on which the heavy object W is placed must be kept horizontal. The same amount of protrusion is set so as not to be tilted left and right. Therefore, it is not always necessary to separate them from each other, and the poles 6a and 6b may be connected and fixed to each other at the lower side to be integrated, or may be legs formed of a parallel movement mechanism including a parallel ruler. In this case, the newly provided fixed leg 92
a, 92b are arranged on the outside and the poles 6a, 6b are arranged on the inside, or each of the poles 6a, 6b and the fixed leg 92 are arranged.
It is desirable that a and 92b be shifted back and forth at a position where they do not interfere with the fourth leg 7.

The first leg 4, that is, each fixed leg 4a,
Reference numeral 4b denotes a leg which is the highest at the time of stair transport as shown in FIGS. 15 and 17. Here, a fixed leg will be described as an example, but this may be constituted by an extendable leg. The other configuration is the same as that of the above-described first embodiment, and has all the functions of the first embodiment.

In the transportation device of the second embodiment, when the heavy object W is transported on a flat ground (floor), the second leg 5, the third leg 6A, and the fourth leg 7 are retracted, and Dolly frame 2
A The first leg 4 at the front, that is, fixed legs 4a and 4b having wheels 11a and 11b, and the newly provided rear wheel 91
This is performed by fixed legs 92a and 92b having a and 91b.

[0106] Further, transportation at a place where each leg except the first leg 4 such as a staircase portion needs to be expanded and contracted and the expansion and contraction stroke of the fourth leg 7 needs to be increased is as shown in FIGS. As described above, the third leg 6A is used, and a spacer member 46 having a height of two steps is attached to the lower surface of the fourth leg 7. In this case, the operation from the flat ground (floor) to the stairs is the same as the above-described operation in FIGS. 12B to 12M, and the operation from the stairs to the flat ground such as a landing is The operation is the same as the operation shown in FIGS. In addition, in the operation to the landing, from the stage where the leg length of the third leg 6A becomes the same as the fixed legs 4a and 4b as the first leg 4, that is, the operations of (f) to (i) with reference to FIG. The third leg 6A may be retracted or removed, and the fixed legs 92a and 92b may be used instead.

As described above, by using the third leg 6A without wheels, that is, the poles 6a and 6b, when transporting in a place where expansion and contraction of each leg except the first leg 4 is required, such as a staircase portion, The support stability during transportation is improved, and safety is easily ensured. For this reason, each fixed leg 4a, 4b, 92a, 92
The rotation restricting means for the wheels 11a, 11b, 91a, 91b of b can be eliminated.

Embodiment 3 FIG. 18 is a plan view showing the overall configuration of the transport device according to the third embodiment of the present invention, and FIG.
The figure shows the state before moving forward (ascending) on the stairs, (b)
The figure shows a state after the vehicle has advanced (raised). FIG. 19 is an explanatory view of a method of loading a heavy object and turning the landing on the ascending stairs by the device according to the third embodiment. In the drawings, the same parts as those in the first and second embodiments are denoted by the same reference numerals.

In the transport device of the third embodiment, the bogie frame having the first leg 4 having a fixed leg length at the front, that is, the upper bogie frame 2B is set narrower than the lower bogie frame 3B. Upper and lower bogie frames 2 other than the legs 4 of 1
Left and right ears 2a, 2B projecting outward from both side edges of the upper and lower bogie frames 2B, 3B, respectively.
b, 3a, 3b, 3c, 3d, and the second
The leg-length fixed legs 92a and 92b with wheels 91a and 91b described in the embodiment are composed of telescopic first telescopic legs 101a and 101b of a telescope type which can be extended by a certain amount, and the weight (transport) A second telescopic type which can be extended by a certain amount on the opposite side to the center of gravity G of W and closer to the center of gravity than the first leg 4.
The first and second telescopic legs 101a, 101b, 102 with wheels are provided.
The first leg 4 and the first leg 4 in the front-rear direction when the upper bogie frame 2B is covered with the lower bogie frame 3B by extending the a and 102b, that is, in the front-rear direction. 4 is configured to be able to support the carriage inside the leg 7B. The extension amounts of the first and second telescopic legs with wheels 101a, 101b, 102a, and 102b are set to a stroke that allows the first leg 4 to be raised by one stair by the telescopic legs with wheels.

More specifically, the lower bogie frame 3
B has ears 3a and 3b on both sides of its front end, and ears 3c and 3d on both sides of its rear end. The second leg 5B is located at a front position of the front end ears 3a and 3b. A pair of independently configured legs 5a, 5b are provided through the upper part thereof, and further, second telescopic legs 102a, 102b with wheels are provided on the lower surfaces of the front end ears 3a, 3b at the rear positions. . In addition, the rear ear portions 3c and 3d have the fourth
A pair of legs 7a and 7b, which serve as the legs 7B, are provided through the upper portions thereof, and the lower ends of the legs 7a and 7b are connected by a bottom plate 7c to be integrated. Note that the second leg 5B does not necessarily need to be configured separately, and the first and second legs 5B described above may be used.
A parallel movement mechanism including the parallel ruler described in the embodiment may be used. In this case, they are arranged inside the fixed legs 4a and 4b so as not to interfere with the first legs 4. 4th leg 7B
May also be constituted by a parallel movement mechanism comprising a parallel ruler. Further, second telescopic legs with wheels 102a, 102b
May be arranged inside the lower bogie frame 3B in the width direction. In the case of such a configuration, since there is no protrusion on the upper surface of the lower bogie frame, the front and rear ear portions 3a, 3b, 3
c and 3d can be made unnecessary. Also, notches 3e and 3f are formed on both sides of the front end edge of the lower bogie frame 3B so that the upper bogie frame 2B covers the lower bogie frame 3B as shown in FIG. At one time,
The leg length fixed leg 4 on the upper bogie frame 2B side which is the first leg 4
a, 4b fall within the notches 3e, 3f.

[0111] A pair of legs 6a, 3rd serving as third legs 6B are provided at the front portions of the ears 2a, 2b of the upper bogie frame 2B.
6b is provided through the upper part thereof, and these legs 6a, 6
The lower end of b is connected and integrated by the bottom plate 6c.
In addition, first telescopic legs 101a and 101b with wheels are provided on the lower surfaces of the ears 2a and 2b at rear positions.
Further, leg length fixed legs 4a and 4b, which are the first legs 4, are arranged at left and right positions corresponding to the notches 3e and 3f on the lower surface of the front end portion of the upper bogie frame 2B.

Here, the first and second telescopic legs 101a, 101b, 102a and 102b with wheels are used.
It is important that the bogie can be supported inside the first leg 4 and the fourth leg 7B when the upper bogie frame 2B covers the lower bogie frame 3B. The mechanism and arrangement can be changed, and the expansion and contraction mechanism and arrangement described in the first and second embodiments may be adopted. Other configurations are the same as those of the above-described first and second embodiments, and have all the functions of these embodiments.

In the transportation device according to the third embodiment, the turn of the climbing stairs at the landing is basically performed by the first and second telescopic legs with wheels as shown in FIGS. 101
a, 101b, 102a, and 102b. That is, as shown in (a) and (b), climb up to the landing Ha,
In a state where the upper bogie frame 2B covers the lower bogie frame 3B, the first and second telescopic legs 101 with wheels are provided.
a, 101b, 102a, 102b (and the leg length fixed legs 4a, 4b, which are the first legs 4) support the load, and the bogie is rotated counterclockwise at the landing Ha as shown in (c) to (g). Turn around. During this turning operation, that is, at any stage of the operation in which the carriage becomes parallel to the landing Ha from the state of (a) and (b) to (d), or during the operation, the vehicle moves to the second state as shown in (f). Telescopic legs 101 with first and second wheels
a, 101b, 102a, 102b are extended, and these first and second telescopic legs 101a, 101b, 10
The truck is supported by the inside of the first leg 4 and the fourth leg 7B by 2a and 102b, and in this state, the first leg 4 which is the highest position as shown in (e) to (g) turns the turning staircase. Turn the trolley until you enter the K area.

As described above, the first and second telescopic legs 101a and 101 with wheels are provided inside the first leg 4 and the fourth leg 7B.
By supporting the carriage by b, 102a, and 102b, the first leg 4, which is the highest, does not interfere with the first step surface of the turning staircase K, and the first leg 4 is located in the area of the first step. , And the turning operation in the narrow landing Ha can be performed easily and safely.

The turning method at the landing Ha of the descending stairs is the reverse of the above-described turning operation, that is, (g) → (f) in FIG.
The processing is performed in the order of (e) → (d) → (c) → (b) → (a). That is, the first and second telescopic legs with wheels 101a, 101b, 102a and 102b are extended as shown in (f), and the first and second telescopic legs with wheels 101a and 101a, 1b.
The truck is supported inside the first leg 4 and the fourth leg 7B by 01b, 102a, and 102b, and the truck is turned clockwise at the landing Ha as shown in (g) to (c). In the course of this turning operation, that is, at any stage of the operation in which the bogie becomes parallel to the landing Ha from the state of (g) to (d) or during the operation, the first as shown in (b) And second telescopic legs 101a, 101b, 102 with wheels
The first and second telescopic legs with wheels 101a, 101b, 102a,
By 102b, the lowermost fourth leg 7B as shown in (c) to (a) is placed in the area of the turning destination stairs K while the bogie is supported inside the first leg 4 and the fourth leg 7B. Until you enter
Turn the cart.

As described above, the first and second telescopic legs 101a and 101 with wheels are provided inside the first leg 4 and the fourth leg 7B.
By supporting the bogie by b, 102a, and 102b, the leg located at the end, that is, the fourth leg 7B, which is the lowest, is not only at the time of ascent but also at the time of descent, in the first step area of the turning staircase K. , And the turning operation at the narrow landing Ha can be easily and safely performed.

Embodiment 4 FIG. FIG. 20 is an explanatory view of a method of carrying out a conveyed object from a conveyed object mounting surface of a conveyance device according to a fourth embodiment of the present invention to an upper floor, and FIG. 21 is a fourth embodiment from the upper floor. It is explanatory drawing of the method of carrying in a conveyed object to the conveyed object mounting surface of an apparatus, and in each figure, the same code | symbol is attached | subjected to the same part as the thing of 3rd Embodiment mentioned above.

The transport device according to the fourth embodiment has the uppermost leg-side bogie frame edge during stair transport, ie, the first bogie frame edge.
A flap 111 is provided on the front edge of the upper bogie frame 2B provided with the legs 4 so that the flap 111 bridges between the transported material mounting surface of the upper bogie frame 2B and the upper floor floor Hu so that there is substantially no step. However, the flap 111 may be pivotally integrated at one end to the front edge of the upper bogie frame 2B so as to be integrated therewith. In this case, the conveyed object, that is, the heavy object W
By raising the flap 111 at the time of transportation, the flap 111 can function as a wall for preventing the heavy object W from falling off at the front end side. The other configuration, that is, the configuration of the transport device itself is the same as the device of the above-described third embodiment.

In the transporter of the fourth embodiment, the transport of the transported article from the transported article mounting surface of the upper bogie frame 2B to the upper floor floor Hu is performed as shown in FIG. 20 (a) → (b) → (c). Is performed in the following procedure. (A) First, the transport device according to the present embodiment, in which the heavy object W is loaded and the stairs are lifted, is mounted on the upper floor H.
Stop at the position of the descending stairs that can match u. Here, in a state where the upper bogie frame 2B covers the lower bogie frame 3B, the first leg 4 and the second leg 5B are in a position where they touch the stairs two steps below the upper floor Hu. Stop the transport device. At this time, the load of the heavy object W or the like is supported by the first leg 4 and the third leg 6B of the upper bogie frame 2B.

(B) Next, the second leg 5B and the fourth leg 7B
And the second leg 5B and the fourth leg 7B support the load of the heavy object W and the like, and the transported product mounting surface of the upper bogie frame 2B is made to coincide with the upper floor floor Hu. Next, the flap 111 is attached to the front end edge of the upper bogie frame 2B, or the flap 111 raised at the front end edge of the upper bogie frame 2B is tilted forward, and the space between the transported article mounting surface and the upper floor floor Hu is substantially reduced. Cross the bridge so that there are no steps. (C) Thereafter, the heavy object W is carried out.

The transfer of the conveyed object from the upper floor Hu to the conveyed object mounting surface of the upper bogie frame 2B is performed as shown in FIG.
This is performed in the order of (b) → (c). (A) First, the transport device of the present embodiment, which has risen up the stairs without being loaded with the heavy load W, remains empty, and the position of the descending stairs that allows the transported product mounting surface to coincide with the upper floor floor Hu, that is, In a state in which the upper bogie frame 2B covers the lower bogie frame 3B, the first leg 4 and the second leg 5B are connected to the upper floor H
The transport device is stopped at a position where it comes into contact with the stair surface two steps below u. Next, the second leg 5B and the fourth leg 7B are extended, and the second leg 5B and the fourth leg 7B support the load of the heavy object W and the like, and load the transported object on the upper bogie frame 2B. The surface is matched with the upper floor Hu. Next, the flap 111 is attached to the front edge of the upper bogie frame 2B.
Alternatively, the flap 111 standing upright at the front edge of the upper bogie frame 2B is tilted forward, and a bridge is formed between the transported object mounting surface and the upper floor surface Hu such that there is substantially no step. (B) Then, the heavy object W is carried in.

(C) Thereafter, the second leg 5B and the fourth leg 7
B and the first leg 4 and the second leg 5
At B, the load such as the heavy object W is supported, and the mode shifts to the operation mode of going down the stairs. The operation of going down the stairs is the reverse of the operation of going up the stairs described with reference to FIGS. 10 (a) to 10 (e), that is, FIG. 10 (e) → (d) → (c) →
The processing is performed in the order of (b) → (a).

As described above, the flap 1 bridging the front end edge of the upper bogie frame 2B so that there is substantially no step between the transported material mounting surface of the upper bogie frame 2B and the upper floor floor Hu.
11 is provided so that the heavy goods W can be loaded or unloaded at a position several steps below the upper floor floor Hu, so that the work of loading the heavy goods W on the floor and to the floor are performed. The operation of unloading the heavy object W is simplified. Particularly, in the case of the heavy object W having wheels on the main body, a device for loading and unloading on the floor is not required, and the transportation time can be reduced.

Embodiment 5 FIG. FIG. 22 is an enlarged side view showing a main part of a transportation device according to a fifth embodiment of the present invention, and FIG.
FIG. 3 is an explanatory view of a transportation method when a heavy object is loaded by the device of the fifth embodiment and ascends the stairs. FIG. 3A shows a state before the upper bogie frame advances on the stairs, and FIG. 5 shows a state after the upper bogie frame has moved forward. In each figure, the same parts as those of the above-described second embodiment are denoted by the same reference numerals.

The transport device according to the fifth embodiment has a stepped surface of the front stairs at the time of ascending the stairs K on the front portion of the first leg 4 when the stairs K are moved forward. (Vertical plane) A means for measuring or defining the relative distance to Ka, that is, a tactile sensor 121 is provided. However, the type and location of this sensor are not limited thereto. To provide an ultrasonic sensor, or to install an optical sensor obliquely downward at the front end of the upper bogie frame 2A. In short, any device that can detect the step surface Ka of the front stairs and measure or define the relative distance between the first leg 4 and the step surface Ka can be adopted. The other basic configuration is the same as that of the above-described second embodiment. However, in that the third leg 6A is constituted by a parallel movement mechanism, and that the leg length fixed legs 92a and 92b with wheels 91a and 91b provided near the third leg 6A are arranged behind the third leg 6A. Although they are different from the devices of the second embodiment, their functions and installation purposes are the same.

When climbing the stairs K, since the depth of the stairs K is not constant, the feed amount of the bogie frame is appropriately adjusted every time the stairs K are climbed, and the frame feed is performed so that each leg can touch the proper position. You need to control the quantity. Further, even if the depth of the stairs K is constant, when the operation of the bogie frame is determined based on the depth data and the operation is performed, the error of the transport amount accumulates and becomes large. Can be large and dangerous.

In the transportation device of the fifth embodiment,
When the upper bogie frame 2A moves forward ascending the stairs K as shown in FIGS. 23A to 23B, the tactile sensor 121 detects the step surface Ka of the front stairs. As a result, the upper bogie frame feeding is stopped, and the first leg 4 and the lower third leg 6A are prevented from colliding with the opposing step surfaces Ka, or the bogie frame is moved every time the stairs K are climbed. Does not shift to the edge side of the stairs due to the accumulation of the error of the feed amount of the first leg, the first leg 4 and the third leg 6A define the ground position with respect to each step surface Ka. Further, feed amount data according to the actual depth of the stairs K when the following lower bogie frame 3 moves forward is obtained,
It becomes easy to manage the frame feed amount.

When the transport device of the fifth embodiment is used without climbing the stairs K as in the above-described fourth embodiment, no problem occurs. When used on a floor or a place where transportation on a landing is also necessary, since the step surface Ka does not exist on the upper floor or the landing, the upper bogie frame 2 after the first leg 4 has finished climbing the stairs K.
When A moves forward, the tactile sensor 121 cannot detect the step surface Ka, and the frame feed amount increases. For this reason, the lower third leg 6 which has not yet entered the upper floor or the landing area.
A collides with the step surface Ka of the stairs. In order to avoid this, a tactile sensor may be provided also on the lower third leg 6A, or the frame feed amount may be limited. For example, the limit may be set as the average frame feed amount + α based on management data of the frame feed amount by the tactile sensor 121 when the stairs K ascends, or may be set in advance in advance in consideration of the center of gravity position G of the weight W to be loaded. This is set by inputting the frame feed amount or the like. Then, when the average frame feed amount + α or the maximum frame feed amount is reached, the frame feed is stopped, it is determined that the vehicle has reached the upper floor or the landing, and the operation mode is switched from the stairs to the upper floor or the landing.

Embodiment 6 FIG. FIG. 24 is an enlarged side view showing a main part of a transportation device according to a sixth embodiment of the present invention, and FIG.
FIG. 5 is an explanatory view of a transportation method when a heavy object is loaded by the device according to the sixth embodiment and descends the stairs. FIG. 5A shows a state before the lower bogie frame advances on the stairs, and FIG. 5 shows a state after the lower bogie frame has moved forward. In each figure, the same parts as those of the above-described second embodiment are denoted by the same reference numerals.

In the transportation device of the sixth embodiment, the stair edge Kb is attached to the lower rear end of the leg (here, the second leg 5) of the lower bogie frame 3 when the lower bogie frame advances when descending the stairs K. Although the detecting means, that is, the photoelectric sensor 131 is provided, the type of the sensor is not limited to this. For example, an ultrasonic sensor can be adopted. It may be installed on the lower surface. In short, any type can be adopted as long as it can detect that the stair edge Kb has been detected and has entered the area of the next lower step surface (horizontal plane). Other configurations are the same as those of the above-described fifth embodiment.

When descending the stairs K, since the depth of the stairs K is not constant, the feed amount of the bogie frame is appropriately adjusted every time the stairs K are descended, and the frame is moved so that each leg can contact the proper position. You need to control the quantity. Further, even if the depth of the stairs K is constant, when the operation of the bogie frame is determined based on the depth data and the operation is performed, the error of the transport amount accumulates and becomes large. Can be large and dangerous.

In the transporter of the sixth embodiment,
When the lower bogie frame 3 moves forward when descending the stairs K as shown in (a) → (b) of FIG. 25, the photoelectric sensor 131 detects the stair edge Kb and almost enters the area of the next lower surface. Is detected. As a result, the lower bogie frame feed is stopped, and the second leg 5 and the lower fourth leg 7 are prevented from deviating from the area of the lower surface facing each other, or the bogie is lowered every time the vehicle descends the stairs K. The contact position does not shift to the side deviating from the lower step area due to the accumulation of the error of the feed amount of the frame, and the contact position in each lower step area of the second leg 5 and the fourth leg 7 is reduced. Stipulated. Further, feed amount data corresponding to the actual depth of the stairs K when the following upper bogie frame 2A moves forward can be obtained, and the frame feed amount can be easily managed.

When the transportation device of the sixth embodiment is used only on the stairs, no problem occurs. However, the transportation on the lower floor H or the landing is required after going down the stairs K. When used, the fourth leg 7 on the lower side is the lower floor H
The second leg 5 is still on the stairs K
, The photoelectric sensor 131 of the second leg 5
Then, the lower floor H and the landing cannot be detected. Photoelectric sensor 13
The photoelectric sensor 131 may be provided on the fourth leg 7 side in order to provide the lower floor 1 with the function of detecting the lower floor H and the landing. In this case, since the stair edge Kb does not exist in the lower floor H or the landing, the photoelectric sensor 131 detects the stair edge Kb when the lower bogie frame 3 moves forward after the fourth leg 7 has moved down the stair K.
Cannot be detected, and the frame feed amount increases. In order to avoid this, the photoelectric sensor may be provided on both the second leg 5 and the fourth leg 7 or the frame feed amount may be limited. The limit is set, for example, based on management data of the frame feed amount by the photoelectric sensor 131 when the stairs K descends, and is set in advance as the average frame feed amount + β, or in advance, in consideration of the center of gravity position G of the weight W to be loaded. This is set by inputting the frame feed amount or the like. Then, when the average frame feed amount + β or the maximum frame feed amount is reached, the frame feed is stopped and the lower floor H
And the landing mode is switched to the driving mode from the stairs to the lower floor H or the landing.

Embodiment 7 FIG. FIG. 26 is an enlarged side view showing a main part of the transporting device according to the seventh embodiment of the present invention.
FIGS. 7 and 28 are explanatory diagrams of a method of loading heavy goods and transporting the same from a flat ground to an ascending stair by the seventh embodiment. In each figure, the same portions as those of the third embodiment described above are shown. Are given the same reference numerals.

In the transporter of the seventh embodiment, the first leg 4A, which is the uppermost leg during stair transport, is provided so as to be slightly movable (about several millimeters) in the vertical direction, and the front end of the upper bogie frame 2B. In the vicinity of the first leg 4A at the edge, expansion and contraction of the first leg 4A within the movement allowance is detected as shown in FIGS. A means for determining, for example, an optical sensor 141 is provided so that the step height can be specified. The other configuration is the same as the device of the third embodiment described above. It has all the functions of

The steps of the stairs are not constant. In particular, the steps of the first step may be different from those of the second and subsequent steps. When ascending such a stair, it is necessary to measure the step height data in advance and set it on the device side, but it is complicated and human errors (such as measurement errors and forgetting to set) can occur. And dangerous.

In the transporter of the seventh embodiment,
Each time the user climbs the stairs, the optical sensor 141 detects a stair surface (horizontal surface) or a floor surface from the grounding state of the first leg 4A, which is the highest leg, whereby the step height is automatically measured and specified. Is done. The means for detecting the stair surface (horizontal surface) or the floor surface is not limited to the optical sensor 141, and other devices such as an ultrasonic sensor can be used.

Transporting method from flat ground (floor) to stairs
(FIGS. 27 and 28) Again, the heavy object W occupying four stairs in plan view.
And the span between the first leg 4A and the third leg 6B as viewed in plan is two steps, and the span between the second leg 5B and the fourth leg 7B as viewed in plan is three steps. The case where the values are set to minutes and minutes will be described as an example. (A) First, on the floor H, the second leg 5B, the third leg 6B, and the fourth leg 7B are floated from the floor by α height, and the first and second telescopic legs 101a, 101b, 102
a, 102b or by adjusting the strokes of the first and second telescopic legs 101a, 101b, 102a, 102b with wheels so as to have the same protrusion amount as the first leg 4A. The first and second telescopic legs with wheels 101a, 101b, 102a, and 102b allow the vehicle to be pushed by hand. In this state, a heavy object W is loaded on the upper trolley frame 2B, and the heavy object W is placed on the upper edge of the upper trolley frame. Attach a plate to prevent falling off before transporting. At this time, the load of the heavy object W or the like is applied to the first leg 4A.
And first and second telescopic legs with wheels 101a, 101b,
It is supported by each wheel of 102a, 102b. Incidentally, the stroke amount set by α may be such that the floating leg does not separate from the floor surface or collide with the step surface of the stairs K at the time of forward movement, and is, for example, a small amount of about 20 mm or less.

(B) When the vehicle reaches just before the stairs K, the rotation restricting means is operated so that the wheels of the first leg 4A do not roll freely to ensure safety. Leg 7
B is extended by a length of α and grounded, and then simultaneously extended by a length corresponding to a preset maximum step height. As a result, the lower bogie frame 3B rises while maintaining the horizontal state of the heavy object W, and the first leg 4A and the third leg 6B
It rises further from the position by the maximum step height, and becomes higher than the first step of the stairs K. The lifting load of the heavy object W or the like at this time is supported by the second leg 5B and the fourth leg 7B via the lower bogie frame 3B. During the subsequent stair transfer, the first and second telescopic legs with wheels 101a, 101b, 102a, 1
The leg length of 02b is fixed to the same leg length as the first leg 4A.

(C) When the first leg 4A and the third leg 6B rise to the maximum step height from the α height position, the upper bogie frame 2B is pushed forward by the depth of the stairs (first step).

(D) Next, the second leg 5B and the fourth leg 7B
B is simultaneously retracted until the wheels of the first leg 4A touch the horizontal surface of the first step of the stairs K, and the lower bogie frame 3B is lowered while maintaining the horizontal state of the heavy object W. Then, the first step height H1 (hereinafter simply referred to as H1) of the step K is obtained from the descending amount at this time and the maximum step height and α, stored in a storage unit of a control device (not shown), and Used for stroke management.

(E) Next, the third leg 6B is extended by H1 and grounded.

(F) Next, the second leg 5B is retracted by the height of H1 + α, and the fourth leg 7B is retracted by the α height, so that the second leg 5B and the fourth leg 7B are lifted. The lifting load of the heavy object W or the like at this time is supported by the first leg 4A and the third leg 6B via the upper bogie frame 2B.

(G) Thereafter, the free lower bogie frame 3B is pushed forward by the depth of the stairs (first step). According to the above procedures (a) to (g), the heavy object W is conveyed forward by one stair.

(H) In the operation of the second step of the stairs K, first, from the state of (g), the second leg 5B and the fourth leg 7B are first simultaneously extended by the height α, and After the first leg 5B and the fourth leg 7B are brought into contact with the ground, they are simultaneously extended for the maximum step height. As a result, the lower bogie frame 3B is
While maintaining the horizontal state of the first leg 4A and the third leg 4A.
Is raised by the maximum step height from the state of (g), and the first leg 4A becomes higher than the second step of the stairs K. The lifting load of the heavy object W or the like at this time is supported by the second leg 5B and the fourth leg 7B via the lower bogie frame 3B.

(I) When the first leg 4A and the third leg 6B rise from the state of (g) by the maximum step height, the upper bogie frame 2B is pushed forward by the depth of the stairs (second step). .

(J) Next, the second leg 5B and the fourth leg 7
B is simultaneously retracted until the wheels of the first leg 4A touch the second horizontal surface of the stairs K, and the lower bogie frame 3B is lowered while maintaining the horizontal state of the heavy object W. Then, based on the descending amount at this time and the maximum step height, step 2
The step height H2 is obtained and stored in the storage unit of the control device (not shown), and thereafter, the step height of the third and subsequent steps of the stairs K is constant (= second step height H2; hereinafter, this constant step height is simply referred to as the step height H2). H2) and used for stroke management of each telescopic leg. At this time, the third leg 6B is at a position floating by H2.

(K) Next, the third leg 6B is extended by H2 and grounded.

(L) Next, the second leg 5B is retracted by the height of H2 + α, and the fourth leg 7B is retracted by the height of α, so that the second leg 5B and the fourth leg 7B are lifted. The lifting load of the heavy object W or the like at this time is supported by the first leg 4A and the third leg 6B via the upper bogie frame 2B.

(M) After that, the free lower bogie frame 3B is pushed forward by the depth of the stairs (second step). By the above-described procedures (a) to (m), the heavy object W is transported forward by two steps.

(N) The operation of the third step of the staircase K is as follows. First, from the state of (m), the second leg 5B and the fourth leg 7B are simultaneously extended by the length of α first. After the second leg 5B and the fourth leg 7B are brought into contact with the horizontal surface and the floor of the second step, they are simultaneously extended by the height of H2 + α. As a result, the lower bogie frame 3B rises while maintaining the horizontal state of the heavy object W, the first leg 4A and the third leg 6B rise from the state (m) by H2 + α, and the first leg 4A. Is higher than the third step of the stairs K by α, and H2 is higher than the first step of the third leg 6B stairs K.
−H1 + α higher. The lifting load of the heavy object W or the like at this time is supported by the second leg 5B and the fourth leg 7B via the lower bogie frame 3B.

(O) When the first leg 4A and the third leg 6B rise from the state (m) by the height of H2 + α, the upper bogie frame 2B is pushed forward by the depth of the stairs (third step). .

(P) Next, the third leg 6B is connected to H2-H1
After adjusting the second leg 5B and the fourth leg 7B by adjusting the floating height from the opposing step surface (first step) to be the same α as that of the first leg 4A. The first leg 4A and the third leg 6B are respectively brought into contact with the horizontal planes of the third and first steps of the stairs K, and the second leg 5B is further moved by H2 + α for the second step. The fourth leg 7B is retracted by α, and the first leg 4A and the third leg 6B support the heavy object W via the upper bogie frame 2B.

(Q) After that, the free lower bogie frame 3B is pushed forward by the depth of the stairs (third step). By the above procedures (a) to (q), the heavy object W is conveyed forward by three steps.

(R) The operation of the fourth step of the staircase K is as follows. First, from the state of (q), the second leg 5B and the fourth leg 7B are simultaneously extended by the length of α at the same time. After the second leg 5B and the fourth leg 7B are brought into contact with the third horizontal surface and the floor, they are simultaneously extended by the height of H2 + α. As a result, the lower bogie frame 3B rises while maintaining the horizontal state of the heavy object W, and the first leg 4A and the third leg 6B rise by the height of H2 + α from the state (q), and the first The leg 4A is higher than the fourth step of the stairs K by α, and the third leg 6B is higher than the second step of the stairs K by α. The lifting load of the heavy object W or the like at this time is supported by the second leg 5B and the fourth leg 7B via the lower bogie frame 3B.

(S) When the first leg 4A and the third leg 6B rise by the height of H2 + α from the state (q), the upper bogie frame 2B is pushed forward by the depth of the stairs (fourth step). .

(T) Next, the second leg 5B and the fourth leg 7
B is degenerated by α, the first leg 4A and the third leg 6B are respectively brought into contact with the horizontal planes of the fourth and second steps of the stairs K, and further, the second leg 5B is further divided by H2 + α. The fourth leg 7B is retracted by the first step height H1 + α, and the heavy object W is supported by the first leg 4A and the third leg 6B via the upper bogie frame 2B.

(U) Thereafter, the free lower bogie frame 3B is pushed forward by the depth of the stairs (fourth step). According to the above procedures (a) to (u), the heavy object W is transported forward by four steps. Thereafter, the strokes of the second to fourth legs 5B, 6B, 7B at the time of ascent are fixed to H2 + α, and the above steps (q) to (u) are repeated, whereby the stairs are sequentially raised.

Here, the step height up to the second step of the stairs K is detected, and after the third step, the operation mode is switched to a constant step height to minimize the stroke at the time of ascent.
A description has been given of an example in which the transport time can be shortened. However, the step height may be detected every time after the third step. In this case, the step height also changes after the third step. Use on such special stairs is also possible.

Embodiment 8 FIG. FIG. 29 is an explanatory view of a method of loading heavy objects and transporting them from a stair to a flat surface such as a floor surface by the transport device according to the eighth embodiment of the present invention. The same parts as those of the embodiment are denoted by the same reference numerals.

In the transportation device of the eighth embodiment, the lowermost leg at the time of descending the stairs K when descending the stairs K is moved to the lowermost leg during the stair transport, that is, the side surface of the contact portion of the fourth leg 7B. Sometimes, a means for detecting a ground contact state with a stair surface or a floor surface, for example, an ultrasonic sensor 151 is installed, and when the ultrasonic sensor 151 detects a stair surface or a floor surface, the extension operation of the fourth leg 7B is stopped. This automatically changes the stairs K to the floor H
The other configuration is the same as that of the above-described device of the third embodiment, and has all the functions of the device of the third embodiment.

When descending the stairs K, it is necessary to switch the operation pattern by detecting the landing or the floor H. This switching operation may be set by the operator. However, if the setting timing is incorrect, a very dangerous state may occur.

In the transportation device of the eighth embodiment,
29 (a) → (b) → (c), the fourth leg 7B is already in the area of the floor H, and the fourth leg 7B and the second leg 5B, the lower bogie frame 3B is floated from the grounded surface by α height.
When the fourth leg 7B and the second leg 5B are extended after the vehicle has moved forward, the fourth leg 7B is brought into contact with the floor surface H only by extending α. In this state, the ultrasonic sensor 151
, The extension operation on the fourth leg 7B side is immediately stopped, whereby it is detected that the fourth leg 7B has entered the floor area. In the case of a stair having a constant step height, the second leg 5B sets the stroke amount to H2 + α, and
Descend. Then, when it is detected that the fourth leg 7B has entered the floor area, the second leg 5B of the present embodiment device is detected.
If the span in plan view between the and the fourth leg 7B is set to three steps as shown in FIG. 29, it is known in advance that it will enter the floor area in two more steps. Then, the operation mode is switched from the stairs K to the floor H. Since the third leg 6B also knows in advance the relative positional relationship with the fourth leg 7B, the operation mode automatically switches from the stairs K to the floor surface H.

Embodiment 9 FIG. 30 to 33 show a transport device according to a ninth embodiment of the present invention. FIG. 30 is a front view thereof, FIG. 31 is a side view thereof, FIG. 32 is a rear view thereof, and FIG. It is a principal part enlarged view containing a cross section display. The transport device according to the ninth embodiment is a specific example of a telescopic leg suitable for use in the third, fourth, seventh, and eighth embodiments described above. Corresponding parts are denoted by the same reference numerals in accordance with the embodiment and will be described.

That is, in the transportation device of the ninth embodiment, the second leg 5B, the third leg 6B, and the fourth leg 7B
Each of the linear mechanisms has a different stroke amount, and has three basic structures. The movable mechanism 160, the fixed section 170, and the drive mechanism 18 are provided as shown in FIG.
0.

The movable portion 160 is composed of two front and rear linear motion rods 1.
61 and 162, and an upper connecting member 163 and a lower connecting member 164 for fixing and connecting the upper and lower ends thereof, respectively, which are assembled in a substantially rectangular shape.

The fixing portion 170 is a cylindrical frame 172 attached and fixed to the bogie frame side by a bracket 171, and is disposed vertically above and below the cylindrical frame 172 to guide the respective linearly moving rods 161 and 162 slidably. And a pair of guides 173 and 174.

The drive mechanism 180 has a vertically arranged screw shaft 182 rotatably fixed in the cylindrical frame 172 of the fixing portion 170 and having an upper end screwed through the upper connecting member 163 via a nut 181. Gear mechanism 18 having drive transmission bevel gear 183 fixed to the lower end of screw shaft 182
4 and a drive source such as a motor (not shown).

The legs configured as described above are independently provided on the left and right sides of the bogie frame, respectively.
Alternatively, the lower connecting members 164 and 164 are arranged on the left and right sides of the bogie frame and connected by a bottom plate 190 so as to be integrally formed and installed. Other configurations are the same as those of the above-described third embodiment.

In the transportation device of the ninth embodiment, the driving force from the motor is supplied to the screw shaft 18 via the gear mechanism 184.
It is conveyed to 2. When the screw shaft 182 rotates, the nut 1
The linear motion rods 161 and 162 integrated with 81 are guided by the guides 173 and 174 to move in the vertical direction, and the legs expand and contract.

The screw shaft 182, which is the drive shaft, is
1 and the linear motion rod 161,
Since the driving force is transmitted by screwing through the upper end of the screw shaft 162, a tensile load always acts on the screw shaft 182. Therefore, there is no fear of buckling of the screw shaft 182, the shaft diameter can be reduced, the weight can be reduced, the power transmission efficiency is excellent, the drive can be driven by a small power device (for example, a motor), and the cost can be reduced. .

Further, since the linear motion rods 161 and 162 are disposed in the front and rear directions, the rigidity in the front and rear direction can be increased. Further, there is an advantage that a large expansion / contraction stroke can be taken.

Further, if the lower connecting members 164 and 164 are of an integral type connected by a bottom plate 190, a box-shaped structure having one side of the bogie frame as shown in FIG. In addition, the rigidity in the lateral direction can be increased.

In the third to ninth embodiments, the attachment of the spacer member 46 (see FIGS. 23 and 25) to the lower surface of the fourth leg, which is the lowest during stair transport, is not particularly mentioned. However, in each of these embodiments, it is needless to say that by attaching the spacer member 46, the expansion and contraction stroke required for the expansion and contraction mechanism of the fourth leg itself that requires a large stroke can be reduced.

Further, the sensors for detecting the depth of the stairs, the sensors for detecting the edges of the stairs, the sensors for detecting the grounding of the legs, the sensors for detecting the stair height of the stairs, and the like described in each of the embodiments are provided. Needless to say, the present invention can be applied to the embodiment as it is.

In each of the above-described embodiments, the upper and lower bogie frames are not displaced back and forth, that is, the upper bogie frame covers the lower bogie frame. An example in which the positions of the legs are set to be the same position in the transport direction has been described. However, the positions of the first leg and the second leg are set back and forth by the depth of one stair in the above-described state. You may arrange so that it may shift. In short, it is only necessary to maintain the stability of the conveyed object during the relative movement of the upper and lower bogie frames, and the arrangement of the legs can be set to some extent.

In each of the above-described embodiments, the description has been made by exemplifying the case where the number of the trolley frames to be superimposed is two. However, the number of the trolley frames to be superimposed is not limited to this, and may be three or more. The above number may be used. In any case, means for restraining each bogie frame from free movement when transporting on a flat ground (floor), and preventing each bogie frame from tilting back and forth due to the movement of the center of gravity of the conveyed object during relative movement of each bogie frame. It is desirable to provide a means for limiting the relative movement amount of each bogie frame.

Further, in each of the above-described embodiments, the example in which the wheels are fixedly installed at the lower ends of the legs has been described as an example. However, the present invention is not limited to this. It may be installed in a formula so that it can be used when wheel running is required, such as transport on the floor.

In the case where the transportation is limited to the stairs only, the first legs can be omitted in addition to the wheels. In other words, the lower surface of the uppermost edge of the bogie frame that advances first during stair transport is directly grounded on the horizontal plane of the stairs, and the loading load is received by the lower leg of the stairs. In this case, the leg lengths of all the legs can be reduced by at least one step, so that the position of the center of gravity is lowered, and more stable transportation is possible.

[0180]

As described above, according to the transport device of the first aspect, the plurality of bogie frames superposed so as to be relatively movable in the horizontal direction via the guide, and at least the front and rear of each of the bogie frames. Rails are unnecessary, and heavy objects are directly loaded on the trolley because there are at least one set of extendable legs and a plurality of driving devices that independently extend and retract each leg of at least one trolley frame. In addition, the load can always be received on the flat surface even in the stair portion, and the stair edge is not damaged, and the adjustment or control of the posture can be easily performed. Furthermore, no additional equipment was required, and it was possible to easily respond to changes in staircase specifications.

According to the second aspect of the present invention, of the legs of each bogie frame, the leg length of the uppermost leg during the stair transport is fixed, so that the posture can be easily adjusted or controlled. Was.

Further, according to the third aspect of the present invention, at least one of the plurality of bogie frames is provided with a wheel provided with a rotation restraining means on each leg of the bogie frame. It can also have a function as a truck, and no separate transport means is required.

According to the transport device of the fourth aspect, the leg length of the leg-length fixed leg is located near the telescopic leg located on the side opposite to the leg with the fixed leg length with respect to the center of gravity of the load. New legs fixed to the same leg length are installed, and wheels are provided for each of these fixed leg lengths, so transport in places where expansion and contraction of each leg is necessary except for the topmost fixed leg length such as stairs At times, a leg that does not have wheels on legs other than the leg length fixed leg that is the uppermost leg can be used. For this reason, the support stability at the time of conveyance improved, and it became easy to ensure safety. Further, the means for restraining the rotation of the wheels of each leg-length fixed leg becomes unnecessary.

According to the transportation device of the fifth aspect, the new leg of the fourth aspect is constituted by the first telescopic leg with wheels that can be extended by a predetermined amount, and is opposite to the center of gravity of the transported object. A second telescopic leg with wheels is provided on the side and closer to the position of the center of gravity of the conveyed object than the leg length fixed leg, and the upper bogie frame is covered on the lower bogie frame by the first and second telescopic legs with wheels. The bogie can be supported inside the foremost leg and the rearmost leg when in the state of being in the state, so when turning on the landing of the ascending stairs or descending stairs, the foremost leg or the rearmost leg is moved to one of the destination stairs. You can enter into the step area,
A device that can easily and safely perform a turning operation in a narrow landing can be easily obtained.

According to the transportation device of the sixth aspect, the edge of the bogie frame on the leg side, which is the highest position during the stair transport, is designed so that there is substantially no step between the upper floor and the transported object mounting surface. A swingable flap for bridging is provided so that goods can be loaded or unloaded at a position several steps down from the upper floor, and work to load goods on the floor and go up to the floor The work of unloading the conveyed product is simplified, and particularly in the case of a conveyed product having wheels on the main body, a device for loading and unloading on the floor is not required, and the transport time is shortened.

According to the transport device of the present invention, the means for measuring or defining the relative distance to the step surface of the front stairs is provided at or near the uppermost leg at the time of stair transport, so that the vehicle moves forward. It was possible to prevent the legs from colliding with the opposing step surface.

According to the transportation device of the eighth aspect, the means for detecting the stair edge when the bogie frame is moved is provided, so that the leg which advances by detecting the stair edge almost enters the area of the next lower step surface. It was possible to detect that the advancing leg departed from the area of the opposing lower step surface, and to define the ground contact position in the lower step area of the advancing leg.

Further, according to the ninth aspect of the present invention, the means for detecting the state of contact with the stairs or the floor is provided on the uppermost leg at the time of stair transport, so that the step height is automatically measured. It can also be used on stairs where the step height changes.

According to the transportation device of the tenth aspect, since the lowest leg at the time of stair transport is provided with a means for detecting a contact state with the stair surface or the floor surface, the lowest leg at the time of stair transport. It was possible to detect that the leg had entered the floor area.

According to the eleventh aspect, the telescopic mechanism of each leg is constituted by one of a link mechanism, a fluid pressure mechanism, and a linear motion mechanism, or a combination thereof.
The degree of freedom in design has expanded.

According to the transport device of the twelfth aspect, the linear motion mechanism is a substantially rectangular shape comprising the two front and rear linear motion rods and the upper and lower connecting members for fixing and connecting the upper and lower ends thereof, respectively. A movable portion, a fixed portion having a pair of upper and lower guides for slidably guiding each linear motion rod, and fixed to the bogie frame, and rotatably fixed to the fixed portion and threadably penetrated into the upper connecting member. A screw shaft and a drive mechanism for driving the screw shaft are provided, which are independently provided on the left and right sides of the bogie frame, or arranged on the left and right sides of the bogie frame to connect the respective lower connecting members with a bottom plate. Since it is provided as an integral type, it can be configured so that a tensile load always acts on the screw shaft, which is the drive shaft, so that there is no fear of buckling of the screw shaft, the shaft diameter can be reduced, and the weight can be reduced. Further, the power transmission efficiency was improved, the device could be driven by a small power device, and the cost could be kept low. Also,
Since the linear motion rods are arranged in the front and back, the rigidity in the front and rear direction can be increased. Furthermore, a large expansion / contraction stroke could be taken. In addition, by connecting the lower connecting members with the bottom plate to form an integral type, it is possible to configure a box-shaped structure having one side of the bogie frame. The stiffness of the was able to be taken large.

According to the transportation device of the thirteenth aspect, of the legs of each bogie frame, the lowermost leg at the time of stair transport is configured so that the spacer member can be attached to and detached from the lower surface thereof, so that it is the lowest. The telescopic stroke required for the telescopic mechanism of the leg itself could be reduced. For this reason,
The structure was simplified, the weight support structure was stabilized, the rigidity was increased, and the manufacturing cost was reduced.

According to the transportation method of the fourteenth aspect, the upper bogie frame and the lower bogie frame are superimposed on each other so as to be relatively movable in the horizontal direction, and the respective bogie frames are provided with telescopic front and rear legs. When ascending the stairs while loading the goods and keeping the posture of the goods substantially horizontal,
(A) a lower bogie frame supporting step in which the front and rear legs of the lower bogie frame support the load; and (b) a lower vertical bogie frame by a predetermined vertical distance while the upper bogie frame covers the lower bogie frame. A lower bogie frame raising process for raising the upper bogie frame, (c) an upper bogie frame advancing process in which the upper bogie frame moves on the lower bogie frame and advances by a predetermined horizontal distance, and (d) the front and rear legs of the upper bogie frame are loaded. And (e) a lower bogie frame advancing step in which the lower bogie frame moves below the upper bogie frame and advances by a predetermined horizontal distance.
Steps (e) to (e) are repeated to ascend the stairs, so rails are not required, and when the stairs are lifted, the load can always be received on a flat surface without damaging the stair edges. Adjustment or control of the posture was easily performed. Furthermore, no additional equipment is required,
It could easily respond to changes in staircase specifications.

According to the transportation method of the fifteenth aspect, the upper bogie frame and the lower bogie frame are superposed so as to be relatively movable in the horizontal direction, and each of the bogie frames is provided with the extensible front and rear legs. When loading a transported object and descending the stairs while maintaining the attitude of the transported product substantially horizontal,
(B) an upper bogie frame supporting step in which the front and rear legs of the upper bogie frame support the load; and (b) a lower bogie frame advancing step in which the lower bogie frame moves below the upper bogie frame and advances by a predetermined horizontal distance. (C) a lower bogie frame supporting step in which the lower bogie frame supports the load; and (d) an upper bogie frame advancing step in which the front and rear legs of the upper bogie frame move on the lower bogie frame and advance by a predetermined horizontal distance. When,
(E) a lower bogie frame lowering step of lowering the lower bogie frame by a predetermined vertical distance in a state where the upper bogie frame covers the lower bogie frame. By repeating the process and descending the stairs, rails are not required, and the loading load can always be received on a flat surface when the stairs are raised, so that the stair edges are not damaged, and the posture adjustment or Control could be performed easily. Furthermore, no additional equipment was required, and it was possible to easily respond to changes in staircase specifications.

According to the transportation method of claim 16, when the upper bogie frame or the lower bogie frame moves forward, one of the front and rear legs of the advancing upper bogie frame or lower bogie frame assists the loading load. Since the other of the front and rear legs is extended and contracted while supporting, the load imposed on the lower bogie frame can be reduced, and as a result, the load applied to the slide mechanism and the like can be reduced. Therefore, the life of the slide mechanism and the like can be extended.

According to the transportation method of claim 17, when the upper bogie frame or the lower bogie frame advances, the front and rear legs of the advancing upper bogie frame or lower bogie frame support the loaded load. So, 2
It is possible to advance two bogie frames at the same time,
The transportation time was shortened.

According to the transportation method of the eighteenth aspect, when the upper bogie frame or the lower bogie frame advances, the leg length of the front and rear legs of the advancing upper bogie frame or the lower bogie frame is fixed, and the lower bogie frame that does not advance. Since the front and rear legs of the trolley frame or the upper trolley frame are made to expand and contract, the number of steps of the ascending and descending operations per stair is simplified, and the transport time on the stairs is reduced. Further, when used in combination with the carrying method of claim 17, the effect becomes remarkable.

According to the transportation method of the nineteenth aspect, when the upper bogie frame covers the lower bogie frame, the center of gravity of the conveyed object is located inside the frontmost leg and the rearmost leg. (A) The load is supported by the telescopic legs with wheels when loading the goods and turning around the landing on the ascending stairs by using a transport device with telescopic legs with wheels that can be extended by a certain amount before and after sandwiching (B) extending the telescopic leg with wheels; and (c) rotating the bogie until the uppermost leg enters the area of the turn-destination stairs. At the time of turning on the landing, the foremost leg could enter the first step area of the turning stairs, and the turning operation on the narrow landing could be performed easily and safely.

According to the transportation method of the twentieth aspect, when the upper bogie frame is covered with the lower bogie frame, the center of gravity of the conveyed object is located inside the foremost leg and the rearmost leg. (A) The step of supporting the load by the telescopic legs with wheels when loading the conveyed goods and turning around the landing on the descending stairs by using a transport device equipped with telescopic legs with wheels that can be extended by a certain amount before and after sandwiching And (b) the step of turning the bogie until the lowest leg enters the area of the turning stairs, so that when turning at the landing of the descending stairs, it becomes the leading leg when descending. The last leg was able to enter the first step area of the turning stairs, and the turning operation in a narrow landing was easily and safely performed.

According to the transportation method of the twenty-first aspect, when a conveyed object is loaded from the upper floor to the conveyed object mounting surface, or when a conveyed object is transferred from the conveyed object mounting surface to the upper floor floor, The transport device is stopped at the position of the descending stairs where the transported object mounting surface can be matched with the upper floor, and the flap is placed in the gap between the transported product mounting surface and the upper floor, so that the transported object can be loaded or Since the products are carried out, the work of loading the goods on the floor and the work of unloading the goods on the floor are simplified, especially for the goods with wheels on the main body, loading on the floor. This eliminates the need for a device for loading and unloading, and shortens the transport time.

According to the transportation method of the twenty-second aspect, the relative distance to the step surface of the front stair is measured when the upper bogie frame moves forward when climbing the stairs, and the frame feed amount is managed. It is possible to prevent the advancing leg from colliding with the opposing step surface, or to prevent the landing position from being shifted to the edge side of the stairs due to the accumulation of the error of the feed amount of the bogie frame every time ascending the stairs. The contact position of the advancing leg with respect to the step surface could be defined. Further, feed amount data according to the actual depth of the stairs when the following bogie frame moves forward can be obtained, which facilitates management of the frame feed amount.

According to the transportation method of the twenty-third aspect, when the lower bogie frame advances when descending the stairs, the stair edge is detected and the frame feed amount is managed, so that the stair edge is detected. It can detect that the advancing leg has almost entered the area of the next lower step, and can prevent the advancing leg from deviating from the area of the opposing lower step, or every time you go down the stairs The contact position does not shift to the side deviating from the lower step area due to the accumulation of the error of the feed amount of the frame, and the contact position in the lower step area of the advancing leg can be defined. Further, feed amount data according to the actual depth of the stairs when the following bogie frame moves forward can be obtained, which facilitates management of the frame feed amount.

Further, according to the transportation method of the twenty-fourth aspect, when the stairs are ascended and descended after the upper bogie frame is advanced, the ground contact state between the uppermost leg and the stairs or floor is detected, and Since the stroke amount when expanding and contracting the legs is managed,
The step height can be automatically measured and specified, the management of the amount of expansion and contraction stroke of the rear leg is facilitated, and the use on stairs where the step height changes becomes possible.

According to the transportation method of the twenty-fifth aspect, at the time of descending after descending the stairs frame when descending the stairs, the contact state between the lowest leg and the stair surface or the floor surface is detected and driving is performed. The mode is switched from the stairs to the floor operation mode, so it is possible to detect that the lowest leg has entered the floor area during stair transport, and to automatically drive from the stairs to the floor. Mode.

According to the transportation method of the twenty-sixth aspect, a spacer member is attached to the lower surface of the lowermost leg which requires a large stroke during stair transport, and the expansion and contraction mechanism of the lowermost leg itself is required. Since the expansion / contraction stroke was reduced, a heavy object could be stably supported.

[Brief description of the drawings]

FIG. 1 is a plan view showing an overall configuration of a transport device according to a first embodiment of the present invention.

FIG. 2 is a side view showing the entire configuration of the transport device according to the first embodiment.

FIG. 3 is a front view showing a first leg portion that is the highest when carrying the stairs of the transport device according to the first embodiment.

FIG. 4 is a front view showing a second leg of the transport device according to the first embodiment.

FIG. 5 is a front view showing a third leg of the transport device according to the first embodiment.

FIG. 6 is a front view showing a fourth leg, which is the lowest at the time of stair transport of the transport device according to the first embodiment.

FIG. 7 is a front view showing a modified example of the fourth leg when the spacer member of the transport device according to the first embodiment is not used.

FIG. 8 is a front view showing another modified example of the fourth leg when the spacer member of the transport device according to the first embodiment is not used.

FIG. 9 is an explanatory diagram of a method of loading heavy objects and transporting the objects from a flat ground to stairs by the first embodiment.

FIG. 10 is an explanatory diagram of a transportation method when a heavy object is loaded by the apparatus of the first embodiment and the user goes up the stairs.

FIG. 11 is an explanatory diagram of a method of loading heavy objects and transporting the objects from a stair to a flat ground such as a landing by the apparatus according to the first embodiment.

FIG. 12 is an explanatory diagram of a method of attaching a spacer member to a lower surface of a fourth leg of the apparatus of the first embodiment, loading a heavy object, and transporting the object from a flat ground to a stair.

FIG. 13 is an explanatory diagram of a method in which a spacer member is attached to a lower surface of a fourth leg of the first embodiment device, and a heavy object is loaded and transported from a stair to a flat ground such as a landing.

FIG. 14 is a plan view showing the overall configuration of a transport device according to a second embodiment of the present invention.

FIG. 15 is a side view showing the entire configuration of the transport device according to the second embodiment.

FIG. 16 is a front view showing a third leg which is a main part of the transport device according to the second embodiment.

FIG. 17 is an explanatory diagram of an operation of the transport device according to the second embodiment.

FIG. 18 is a plan view showing the overall configuration of a transport device according to a third embodiment of the present invention.

FIG. 19 is an explanatory diagram of a method of loading heavy objects and turning a landing on an ascending stair by the device according to the third embodiment.

FIG. 20 is an explanatory diagram of a method of carrying out a conveyed product from a conveyed product mounting surface of a transport device according to a fourth embodiment of the present invention to an upper floor.

FIG. 21 is an explanatory diagram of a method for carrying a conveyed object from an upper floor to a conveyance device according to a fourth embodiment.

FIG. 22 is an enlarged side view showing a main part of a transport device according to a fifth embodiment of the present invention.

FIG. 23 is an explanatory diagram of a transportation method when a heavy object is loaded by the device of the fifth embodiment and the ascending stairs are carried out.

FIG. 24 is an enlarged side view showing a main part of a transport device according to a sixth embodiment of the present invention.

FIG. 25 is an explanatory diagram of a transportation method when a heavy object is loaded and descends a stair by the sixth embodiment.

FIG. 26 is an enlarged side view showing a main part of a transport device according to a seventh embodiment of the present invention.

FIG. 27 is an explanatory diagram of a method of loading heavy goods and transporting the same from a flat ground to an ascending stair by the seventh embodiment.

FIG. 28 is an explanatory diagram of a method of loading heavy objects and transporting the same from a flat ground to an ascending stair using the apparatus according to the seventh embodiment.

FIG. 29 is an explanatory diagram of a method of loading heavy objects and transporting the objects from a stair to a flat surface such as a floor surface by the transport device according to the eighth embodiment of the present invention.

FIG. 30 is a front view showing the entire configuration of a transport device according to a ninth embodiment of the present invention.

FIG. 31 is a side view showing the overall configuration of a transport device according to a ninth embodiment.

FIG. 32 is a rear view showing the entire configuration of the transport device according to the ninth embodiment.

FIG. 33 is an enlarged view of a main part including a partial cross-sectional view of the transporter according to the ninth embodiment.

[Explanation of symbols]

1a, 1b Linear motion guides (guides) 2, 2A, 2B Upper bogie frame 3, 3B Lower bogie frame K Stairs Ka Stair surface of stairs Kb Stair edge W Heavy load (conveyance) G Center of gravity H Floor Ha Land Hu Upper floor Floor surface H1, H2 Step height of stairs 4, 4A leg (topmost leg during stair transport) 5, 5B, 6, 6A, 6B, 81, 82 leg 7, 7B leg (lowest leg during stair transport) 11a, 11b, 14a, 14b, 91a, 91b Wheel 8, 9 Driving device 46 Spacer member 92a, 92b New fixed leg length fixed leg 101a, 101b First telescopic leg with wheel 102a, 102b Second telescopic leg with wheel 111 Flap 121 Tactile sensor (measurement means for relative distance from step surface) 131 Photoelectric sensor (stair edge detection means) 141 Optical sensor (top-leg detection means) 51 ultrasonic sensor (lowermost leg ground detecting means) 160 movable part 161 and 162 direct acting rod 163 upper connecting member 164 the lower connecting member 170 fixed portions 173 and 174 guide 180 drive mechanism 182 threaded shaft 190 bottom plate

Claims (26)

[Claims] 1. A plurality of bogie frames superposed so as to be relatively movable in a horizontal direction via a guide, at least one pair of telescopic legs provided on each of the bogie frames, and at least one pair of telescopic legs. And a driving device for causing the driving device. 2. The transport device according to claim 1, wherein the leg length of the uppermost leg of the legs of each bogie frame during stair transport is fixed. 3. The transport device according to claim 1, wherein wheels are provided on legs of at least one of the plurality of bogie frames. 4. A new leg fixed to the same leg length as the leg length fixed leg near a stretchable leg located on the opposite side of the leg having a fixed leg length with respect to the center of gravity of the conveyed object. The transportation device according to claim 2, wherein a wheel is provided for each of the fixed leg length legs. 5. The new leg is formed of a first telescopic leg with wheels that can be extended by a predetermined amount, and is opposite to the center of gravity of the conveyed object and closer to the position of the center of gravity than the fixed leg length leg. Is provided with a second telescopic leg with wheels, and the first and second telescopic legs with wheels cover the frontmost leg and the rearmost leg when the upper bogie frame covers the lower bogie frame. The transportation device according to claim 4, wherein the carriage is configured to be supported inside. 6. A swingable flap is provided at an edge of a bogie frame on a leg side, which is the highest position during stair transport, so as to bridge between an upper floor and a transported article mounting surface so that there is substantially no step. The transport device according to any one of claims 1 to 5, wherein: 7. The method according to claim 1, further comprising means for measuring or defining a relative distance from a step surface of a forward stair at or near the uppermost leg during stair transport. A transport device according to any one of the above. 8. The transport device according to claim 1, further comprising means for detecting a stair edge when the bogie frame moves. 9. The transport according to claim 1, wherein a means for detecting a ground contact state with a stair surface or a floor surface is provided on the uppermost leg during the stair transport. apparatus. 10. The transportation according to claim 1, wherein a means for detecting a contact state with a stair surface or a floor surface is provided on the lowest leg during the stair transportation. apparatus. 11. The method according to claim 1, wherein the extension mechanism of each leg comprises one of a link mechanism, a fluid pressure mechanism, and a linear motion mechanism, or a combination thereof. Transport equipment. 12. A linear motion mechanism comprising: a substantially rectangular movable portion comprising two front and rear linear motion rods, and an upper connecting member and a lower connecting member for fixing and connecting the upper and lower ends thereof, respectively; A fixing portion having a pair of upper and lower guides for slidably guiding and fixed to the bogie frame; a screw shaft rotatably fixed to the fixing portion and screwing through the upper connecting member; and the screw shaft These are independently provided on the left and right sides of the bogie frame, or are arranged on the left and right sides of the bogie frame, and are configured as an integral type in which respective lower connecting members are connected by a bottom plate. The transport device according to claim 11, wherein the transport device is provided. 13. The leg of each bogie frame, which is the lowest leg during stair transport, and a spacer member can be attached to and detached from its lower surface.
3. The transport device according to any one of 2. 14. An upper trolley frame and a lower trolley frame are superimposed on each other in a horizontal direction so as to be relatively movable, and each of the trolley frames is provided with a retractable front and rear leg to load the conveyed articles and to carry the conveyed articles. A transport method for ascending stairs while maintaining a substantially horizontal posture, comprising: (a) a lower bogie frame supporting step in which front and rear legs of a lower bogie frame support a load; and (b) an upper bogie on a lower bogie frame. A lower bogie frame raising step of raising the lower bogie frame by a predetermined vertical distance while the frame is covered; (c) moving the upper bogie frame on the lower bogie frame and moving forward by a predetermined horizontal distance (D) upper bogie frame supporting step in which the front and rear legs of the upper bogie frame support the load; and (e) lower bogie frame moving under the upper bogie frame and Has a lower carriage frame forward step of advancing a horizontal distance, the said (i) to repeat the steps (e), conveying method characterized by increasing the stairs. 15. An upper trolley frame and a lower trolley frame are superimposed on each other in a horizontal direction so as to be relatively movable, and a transport device having telescopic front and rear legs mounted on each of the trolley frames is used to load the transported articles and to carry the transported articles. A transportation method of descending stairs while maintaining a substantially horizontal posture, wherein (a) an upper bogie frame supporting step in which the front and rear legs of the upper bogie frame support the load, and (b) a lower bogie frame is an upper bogie frame. (C) lower bogie frame supporting step in which the front and rear legs of the lower bogie frame support the load; and (d) lower bogie frame in which the upper bogie frame is lower bogie. (E) moving the lower bogie frame over the lower bogie frame with the upper bogie frame covering the lower bogie frame while moving the upper bogie frame over the lower bogie frame by a predetermined horizontal distance; Has a lower carriage frame lowering step of lowering only the straight distance, the said (i) to repeat the steps (e), conveying method characterized by descending the stairs. 16. In the upper bogie frame advancing step or the lower bogie frame advancing step, one of the front and rear legs of the advancing upper bogie frame or the lower bogie frame advances while supporting the loading load in an auxiliary manner. The transport method according to claim 14 or 15, wherein the other expands and contracts. 17. The front bogie frame or the lower bogie frame advancing step, wherein the front and rear legs of the advancing upper bogie frame or the lower bogie frame advance while supporting the loaded load. Claim 1
5. The transportation method according to 5. 18. In the upper bogie frame advancing step or the lower bogie frame advancing step, the leg lengths of the front and rear legs of the upper bogie frame or the lower bogie frame to be advanced are fixed, and the front and rear legs of the lower bogie frame or the upper bogie frame that do not advance. 16. The transport method according to claim 14, wherein the transport method is performed. 19. When the upper bogie frame is covered with the lower bogie frame, it can be extended by a predetermined amount each before and after sandwiching the center of gravity of the conveyed material inside the frontmost leg and the rearmost leg. A transport method of loading a transported object and rolling around a landing on an ascending stair by a transport device provided with telescopic legs with wheels, comprising: (a) a step of supporting a load by the telescopic legs with wheels; And (c) turning the bogie until the uppermost leg enters the area of the turn-destination stairs. 18. The transportation method according to 18. 20. Wheels that can be extended by a certain amount before and after the frontmost leg and the rearmost leg when the upper bogie frame is covered on the lower bogie frame and before and after sandwiching the center of gravity of the conveyed object. A transport method in which a load is loaded by a transport device having telescopic legs with wheels, and the landing is turned on a descending staircase, wherein: (a) a step of supporting the load by the telescopic legs with wheels; The method according to any one of claims 15 to 18, further comprising the step of: turning the bogie until the leg to be turned enters the area of the turning staircase. 21. When carrying a conveyed object from the upper floor to the conveyed object mounting surface, or when carrying a conveyed object from the conveyed object mounting surface to the upper floor, the conveyed object mounting surface is moved to the upper floor. A transport device is stopped at a position of a descending stair that can be matched, a flap is arranged in a gap between the transported product mounting surface and the upper floor surface, and the transported product is loaded or unloaded. The transport method according to any one of claims 14 to 18. 22. The system according to claim 14, wherein, when the upper bogie frame moves forward when climbing the stairs, a relative distance from a step surface of the front stairs is measured to manage a frame feed amount.
The transportation method according to 6, 17, or 18. 23. The transport method according to claim 15, wherein a stair edge is detected and a frame feed amount is managed when the lower bogie frame is advanced when descending the stairs. 24. At the time of descending after advancing the upper bogie frame when ascending the stairs, a contact state between the uppermost leg and the stair surface or the floor surface is detected, and a stroke amount when the rear leg expands and contracts is managed. 23. The transportation method according to claim 22, wherein: 25. An operation mode in which the lowermost leg is contacted with a stair surface or a floor when the lower bogie frame is advanced after descending the stairs, and the operation mode is an operation mode in which the stairs are moved from the stairs to the floor. The transportation method according to claim 23, wherein the method is switched to (1). 26. A spacer member is attached to the lower surface of the lowermost leg which requires a large stroke during stair transport,
26. The transporting method according to claim 14, wherein a telescopic stroke required for the telescopic mechanism of the lowermost leg itself is reduced.