JP2002308159A - Staircase lifting vehicle for wheelchair - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lifting vehicle capable of putting a sickly person on as it is sit in a wheelchair, easily self-traveling even in a place having a difference in level such as staircase, very bumpy road surface, or the like, and easily changing the course. SOLUTION: This lifting vehicle comprises a wheelchair holding device 11 having a vehicle width narrower than the distance between both wheels of the wheelchair a to push up and support the inside between both the wheels of the wheelchair a and retain it at a prescribed inclination, which is vertically tiltably provided, and an attitude control sensor 12 for detecting the longitudinally vertical tilting of the wheelchair holding device 11. The wheelchair holding device 11 for supporting the wheelchair a is tilted on the basis of the information from the attitude control sensor 12 to hold it in a prescribed inclination state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an ascending / descending vehicle, such as a wheelchair staircase, which enables a disabled person, such as an elderly person or a sick person, who has difficulty walking on his or her own feet to go up and down stairs and hills while riding a wheelchair. It is.

[0002]

2. Description of the Related Art Conventionally, an endless orbit-type stair climbing vehicle is known as a device for a disabled person, such as an elderly person or a sick person, who has difficulty walking with his or her own feet and uses it for going up and down stairs.

[0003]

However, in the conventional endless orbit type stair climbing vehicle, a disabled person cannot get on a stair climbing vehicle while sitting in a wheelchair. Need, for this,
The caregiver had to remove the disabled from the wheelchair and place it on an endless track stair climbing vehicle, which placed a heavy burden on the caregiver. Moreover, in the conventional endless track type stair climbing vehicle, since it was an integrated frame, it was necessary for a person other than the occupant to tilt the vehicle body along the stairs by human power when starting to descend the stairs. . In a spiral staircase, an outdoor stone stair, and the like, the length of the stairs and the steps are not constant, and the inclination angle changes each time. When traveling on such stairs,
Insufficient ground contact with the frame has made it unstable.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has been made in order to solve the problems. The object of the present invention is to enable a disabled person to get in a wheelchair, Another object of the present invention is to provide an ascending and descending vehicle such as a staircase for a wheelchair, which can easily run on a stepped portion such as a stair or a road surface having a severe surface unevenness and can easily change its course.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the invention of claim 1 has a vehicle width smaller than that between both wheels of a wheelchair and pushes up the inside between both wheels of the wheelchair to support it. A wheelchair holding device that holds at a predetermined tilt angle is provided so as to be tiltable up and down, and a posture control sensor that detects tilting of the wheelchair holding device up and down in the length direction is provided,
It comprises means for tilting a wheelchair holding device that supports the wheelchair based on information from the attitude control sensor to hold the wheelchair in a predetermined tilt state.

Here, as a preferred embodiment of the first aspect,
The body frame on which the wheelchair is mounted is divided into two parts, a front body frame and a rear body frame, in the front-rear length direction, and the front body frame and the rear body frame are respectively connected in the left-right width direction and the front-rear length direction by connecting portions. A front endless rubber crawler and a rear endless rubber crawler, which are connected so as to be tiltable in the vertical direction and are circulated and driven in conjunction with each other, are mounted on the left and right sides of the front and rear body frames,
The front endless rubber crawler is stretched and attached in an elliptical shape,
The rear endless rubber crawler is stretched and mounted in an obtuse inverted triangular shape, and the rear wheel side is provided at a high position diagonally upward, and electrically drives the left and right front endless rubber crawler and rear endless rubber crawler separately. Motors are provided, and a buffering device is provided to alleviate vertical bending of the front body frame and the rear body frame in the front-rear length direction. Pitching for detecting the vertical inclination angle of the body frame in the front-rear length direction is provided. A wheelchair holding device is provided with a detection sensor and a rolling detection sensor that detects a vertical inclination angle in the left-right width direction of the body frame, and pushes up and supports the inside between both wheels of the wheelchair and holds the wheelchair at a predetermined inclination angle. A tilting girder that tilts up and down about the rear end side as a center of rotation, and a wheelchair provided at the front end of the tilting girder. A front receiving groove for supporting a horizontal frame provided at an inner lower portion between wheels, and a lateral frame side portion provided at an inner lower portion between both wheels of a wheelchair, provided to protrude outward from left and right ends of a tilting girder. It is preferable to include a side receiving groove that supports the frame, and an electric cylinder that operates based on information from the attitude control sensor to tilt the tilting girder vertically.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described more specifically based on embodiments of the invention shown in the drawings. Here, FIG. 1 is a side view of an ascending / descending vehicle such as a wheelchair staircase, FIG. 2 is a side view of the ascending / descending vehicle such as a wheelchair when traveling stairs, FIG. 3 is a plan view of the ascending / descending vehicle such as a wheelchair staircase, and FIG. 5 is a plan view of a body frame of a vehicle for climbing a stair such as a wheelchair, FIG. 6 is a side view of a body frame of a vehicle for climbing a stair such as a wheelchair, and FIG. FIG. 8 is a cross-sectional plan view of a driving portion of a climbing vehicle such as a wheelchair staircase, FIG. 9 is a side view of a driving portion of a climbing vehicle such as a wheelchair staircase, and FIG. FIG. 10B is a partial side cross-sectional view of a connecting portion of a climbing vehicle such as a wheelchair staircase, and FIG.
0 (C) is a side view of an external part of a connecting portion of a stair-lift vehicle such as a wheelchair, FIG. 11 is a plan view of a wheelchair holding device of a stair-lift vehicle such as a wheelchair, and FIG. 12 is a wheelchair holding device of a stair-lift vehicle such as a wheelchair. FIG. 13 is a partial cross-sectional view of a wheelchair holding device of an ascending and descending vehicle such as a wheelchair staircase.

In the figure, a vehicle 1 such as a stair for a wheelchair has a width smaller than a distance between both wheels of a wheelchair a, and a wheelchair a.
The body frame is divided into two in the longitudinal direction, and is composed of a front body frame 2 and a rear body frame 3. I have. The front body frame 2 and the rear body frame 3 are connected.

That is, the rear center of the front body frame 2 and the front center of the rear body frame 3 are connected by the connecting portion 4 so as to be tiltable in the vertical direction with respect to the left-right width direction and the length direction, respectively. I have. The front body frame 2 and the rear body frame 3 can be tilted in the length direction and the left-right width direction by the connecting portion 4 so that the front body frame 2 and the rear body frame 3 can follow the left-right step and the length step of the ground contact surface. Become.

The front body frame 2 includes a front cross beam 2a arranged in the width direction with a space between front and rear, a middle cross beam 2b and a rear cross beam 2c arranged near the rear side when viewed from a plane. ,
It is composed of left and right side girders 2d arranged at intervals in the left and right width direction.

On the front side of the front cross beam 2a of the front body frame 2, a front bearing plate 2 protruding forward in a reverse U-shape is provided.
e is provided. On the left and right side surfaces of the front bearing plate 2e, oblong shaft holes 2f are formed in the front-rear direction.
A front driven axle 2g is inserted through f in the left-right width direction and both ends are supported.

At both ends of the front driven axle 2g, front driven front wheels 5a which are arranged inside the front side of the front endless rubber crawler 5 and supported so as to freely circulate are mounted. The front driven front wheel 5a cooperates with a front driving rear wheel 5b described below to support the front endless rubber crawler 5 in a state of being stretched in an oval shape so as to be able to circulate freely.

The front bearing plate 2e is provided with an adjuster 2h made of, for example, a bolt and a nut for moving and adjusting the left and right ends of the front driven axle 2g in the front-rear direction. The left and right ends of the front driven axle 2g are supported by the left and right front bearing plates 2e so as to be movable in the front-rear direction by the adjustment tool 2h (not shown).

On the lower side surfaces of the left and right side girders 2d of the front body frame 2, inverted groove-shaped shaft support plates 2i are provided so as to protrude outward. A plurality of front rollers 5c are attached to the inner surface of the shaft support plate 2i at predetermined intervals. The plurality of front rollers 5c are front endless rubber crawlers 5
Is pressed downward to support the inside of the lower side of the.

A bearing plate 2j is attached to the left and right of the inside of the front bearing plate 2e near the center toward the rear front cross beam 2a. The left and right bearing plates 2j
At the rear end side, a front horizontal shaft 10a is provided, which axially supports one end of each of the left and right shock absorbers 10 to be described later at both ends thereof.

The rear body frame 3 includes left and right side plates 3a and left and right side plates 3a which are arranged in the front-rear direction with a space left and right.
A front horizontal plate 3b disposed in the left-right width direction at a front end of the front horizontal plate, a front horizontal plate 3c disposed to be inclined immediately behind the front horizontal plate 3b,
It is composed of a plurality of connecting horizontal beams 3d for connecting the left and right side plates 3a, side beams 3e arranged in the front-rear direction below the left and right side plates 3a. The rear portions of the left and right side plates 3a are inclined obliquely upward.

Holes through which the electric motors 7 and 8 penetrate are formed on the left and right sides of the front end horizontal plate 3b and the front horizontal plate 3c, respectively. ing.

At the left and right of the front end horizontal plate 3b of the rear body frame 3 near the center, a projecting bearing plate 3f is attached toward the rear side of the front body frame 2 at the front. A rear drive axle 3h is inserted into and supported by the left and right overhanging bearing plates 3f in the left-right width direction.

A front drive rear wheel 5b of the front endless rubber track 5 and a rear drive front wheel 6a of the rear endless rubber track 6 are rotatably mounted on both ends of the rear drive axle 3h. The front drive rear wheel 5b is mounted on the inside, and the rear drive front wheel 6a is mounted on the outside. In this embodiment, an integrated front drive rear wheel 5b and rear drive front wheel 6a are used.

The front drive rear wheel 5b and the rear drive front wheel 6a mounted on the left end side of the rear drive axle 3h.
Are linked to the same electric motor 7. That is, the left front drive front wheel 5b and the rear drive front wheel 6a
Is a bevel gear 3i integrally attached to both, and a bevel gear 7 integrally attached to the rotating shaft of the electric motor 7.
It is linked to the electric motor 7 via a.

Similarly, the front drive rear wheel 5b and the rear drive front wheel 6a attached to the right end of the rear drive axle 3h
They are linked to the same electric motor 7. In other words, the front drive rear wheel 5b and the rear drive front wheel 6a on the right end side are electrically driven via the bevel gear 3i integrally attached to the both and the bevel gear 8a integrally attached to the rotating shaft of the electric motor 8. It is linked to the motor 8.

As described above, the front drive rear wheel 5b and the rear drive front wheel 6a rotatably attached to the left end of the rear drive axle 3h, and the front drive rotatably attached to the right end of the rear drive axle 3h. Drive rear wheel 5b and rear drive front wheel 6a
Are independently driven by separate electric motors 7 and 8, respectively.

The front driven rear wheel 5b is connected to the front driven front wheel 5 described above.
The front endless rubber crawler 5 is supported in such a manner that the front endless rubber crawler 5 is circulated freely in cooperation with the a. Further, the rear driving front wheel 6a includes a rear driven intermediate wheel 6b and a rear driven rear wheel 6c described later.
In cooperation therewith, the rear endless rubber crawler 6 is supported so as to be able to circulate freely while being stretched in an obtuse inverted triangular shape.

The left and right side plates 3 of the rear body frame 3
A rear bearing is provided in the left and right width direction on the inside of the rear upper side of the rear side, and a rear driven axle 3 is provided on the rear bearing.
j is inserted in the left-right width direction, and both ends are supported.

As described above, at both ends of the rear drive axle 3h, the rear drive front wheels 6a which are arranged inside the front side of the rear endless rubber crawler 6 and supported to circulate freely are attached. At both ends of the rear driven axle 3j, rear driven rear wheels 6c which are arranged inside the rear side of the rear endless rubber crawler 6 and supported to circulate freely are attached. The rear driven rear wheel 6c and the rear driven front wheel 6a cooperate with a rear driven intermediate wheel 6b described later to support the rear endless rubber crawler 6 in a state of being stretched in an obtuse inverted triangle shape so as to be freely circulated.

On the lower side surfaces of the left and right side plates 3a of the rear body frame 3, inverted groove-shaped shaft support plates 3k are respectively provided to protrude outward. A plurality of rear rollers 6d are mounted on the inner surface of the shaft support plate 3k at predetermined intervals. The plurality of rear rollers 6d are rear endless rubber crawlers 6.
Is pressed downward to support the inside of the lower side of the.

A horizontal mounting plate 3m is attached to the upper part of the rear part of the rear body frame 3 in the width direction, and a battery 9 described later is mounted on the horizontal mounting plate 3m. Rear body frame 3
An intermediate axle 3n is provided on the lower side surface on the rear side of the left and right side plates 3a so as to protrude toward both outer sides.

The left and right intermediate axles 3n are rotatably rotatably supported by rear driven intermediate wheels 6b which are arranged inside the rear endless rubber crawler 6 on the intermediate side and circulate freely. The rear driven intermediate wheel 6b is the rear driving front wheel 6a described above.
In cooperation with the rear driven rear wheel 6c, the rear endless rubber crawler 6 is supported so as to be freely circulated while being stretched in an obtuse inverted triangle shape.

On the outer side surfaces of the left and right side plates 3a of the rear body frame 3 on the rear inclined side, there are provided inclined guide plates 3p projecting obliquely upward and rearward. The inclined guide plate 3p presses and supports the inside of the rear endless rubber crawler 6 on the inclined portion side diagonally downward.

Further, a bearing 3q is provided on the rear upper portion of the left and right side plates 3a. A rotating shaft 11e of a tilting girder 11a of a wheelchair holding device 11 described later is rotatably supported by the bearing 3q.

The connecting portion 4 connects the front body frame 2 and the rear body frame 3 so as to be tiltable in the left-right width direction and the front-rear length direction, respectively, and is provided inside the left and right overhanging bearing plates 3f. ing. The connecting portion 4 includes a front-side connecting plate 4a, a connecting rotary shaft 4b, a bearing board 4c, and the like.

The front connecting plate 4a is connected to the front body frame 2
The rear cross beam 2c is connected to the rear center of the rear cross beam 2c, and is provided so as to project in a U-shape toward the rear bearing board 4c. One end of a connecting rotary shaft 4b is pivotally supported at a central portion of a U-shaped rear side parallel to the rear cross beam 2c of the front side connecting plate 4a.

An intermediate portion of the connecting rotary shaft 4b, one end of which is pivotally supported by the front connecting plate 4a, is attached to the bearing disk 4c in a longitudinal direction, and is rotatable with respect to the bearing disk 4c. Attached to.

The rear drive axle 3h is rotatably penetrated in a direction orthogonal to the connecting rotary shaft 4b on a bearing plate 4c to which the connecting rotary shaft 4b is rotatably mounted. The rear drive axle 3h is connected to the connecting portion 4
Through the left and right overhanging bearing plates 3f provided on both sides.

The front connecting plate 4a connected to the rear cross beam 2c of the front body frame 2 and the bearing plate 4c connected to the overhanging bearing plate 3f via the rear driving axle 3h are connected to the connecting rotary shaft 4b. Are linked by

Front body frame 2 and rear body frame 3
Means that it is tiltable in the left-right width direction about the connecting rotary shaft 4b, and is tiltable in the front-rear direction about the rear drive axle 3h.

As described above, the front endless rubber crawlers 5 are extended between the front and rear portions of the front body frame 2 at the left and right ends thereof so as to freely circulate in an oval shape. A rear endless rubber crawler 6 is extended between the rear portions of the left and right ends of the front body frame 2 and the left and right ends of the rear body frame 3 so as to freely circulate in an obtuse inverted triangle shape. ing. Of these, the rear driven rear wheels 6c attached to the left and right sides of the rear of the rear body frame 3
Is mounted at a slightly higher position, in order to make it easier to climb up a stepped place such as a staircase.

As described above, the left and right front endless rubber crawlers 5 and the rear endless rubber crawlers 6 are linked to the left and right separate electric motors 7 and 8, respectively, and are driven independently.

The electric motors 7 and 8 are respectively installed on the left and right sides inside the left and right side plates 3a of the rear body frame 3. The distal ends of the electric motors 7 and 8 are mounted so as to penetrate the front end horizontal plate 3b and the front horizontal plate 3c of the rear body frame 3. These electric motors 7 and 8 are driven by electric power of a battery 9 mounted on the rear body frame 3.

Front body frame 2 and rear body frame 3
The cushioning device 10 is provided so that the connecting portion 4 slowly tilts upward in the connecting portion 4. For example, an air cylinder filled with air is used as the shock absorber 10, and the air sealed in the air cylinder performs a function of a spring and performs a shock absorbing function by using a gradual expansion and contraction of a piston.

The shock absorbing device 10 is disposed on the left and right near the center of the front body frame 2 in the front-rear direction. The shock absorber 10 is mounted so as to be parallel to the upper surface of the front body frame 2 in a contracted state, that is, the front body frame 2 and the rear body frame 3 are parallel.

Further, the shock absorber 10 has one end on both ends of a front horizontal shaft 10a provided laterally on the rear ends of the left and right bearing plates 2j disposed on the front side of the front body frame 2. Both ends of a rear horizontal shaft 10b which is rotatably connected, and whose other end is laterally provided on the front side of left and right overhanging bearing plates 3f which are mounted so as to project forward from the front end horizontal plate 3b of the rear body frame 3. It is rotatably connected to the side.

The wheelchair holding device 11 supports the horizontal frame b and the left and right side frames c between the two wheels of the wheelchair a so as to be tiltable, so that the wheelchair a is kept in a fixed state with respect to the front and rear inclination of the rear body frame 3. Is to be held.
The wheelchair holding device 11 includes a tilting girder 11a, left and right front receiving grooves 11b, left and right side receiving grooves 11c, and an electric cylinder 11.
d.

The tilting girder 11a has a rotating shaft 11e provided laterally in the left-right width direction via a connecting plate at a rear end thereof. The left and right ends of the rotating shaft 11e are located on the rear upper portions of the left and right side plates 3a. Is rotatably supported by a bearing 3q provided on the shaft, and the tilting girder 11a is structured to tilt in the vertical direction about the rotation shaft 11e.

The center of the front end of the tilting girder 11a is depressed in the shape of a right-angle groove. The left and right ends are formed at right angles to the front end and parallel to each other, and the rear end is parallel to the front end and parallel to the side ends. It is composed of a frame formed at right angles.

Front receiving grooves 11b are provided on the left and right of the front end of the tilting girder 11a so as to be adjustable in height. The left and right front receiving grooves 11b are portions for supporting the horizontal frame b of the wheelchair a, and have a semicircular groove shape so that the horizontal frame b does not come off from the front receiving groove 11b when the horizontal frame b is supported. Has become.

Side receiving grooves 11c are provided at central portions of the left and right ends of the tilting girder 11a so as to protrude outward. The left and right side receiving grooves 11c are portions for supporting the side frames c of the wheelchair a, and have a semicircular cross-section so that the side frames c do not come off from the side receiving grooves 11c when the side frames c are supported. It has a groove shape.

The electric cylinder 11d is a drive mechanism for tilting the tilting girder 11a in the vertical direction about the rotation axis 11e. It is rotatably supported between the left and right connecting plates 11f provided forward at the location where it is bent. In addition, the electric cylinder 11
The base end of d is rotatably supported inside the front side of the left and right overhanging bearing plates 3f.

The posture detecting sensor 12 is a device for detecting a tilt of the wheelchair holding device 11 for supporting and holding the wheelchair a, such as a staircase for a wheelchair, in a vertical direction in the longitudinal direction of the vehicle 1. The tilting is detected when the held pendulum comes into contact with proximity switches provided on the front and rear sides thereof.

The posture detection sensor 12 is a wheelchair holding device 1
It is attached to the lower part on the front side of one tilt girder 11a.
The tilt information of the tilt girder 11a detected by the attitude detection sensor 12 is sent to a control panel 15b described later. The control panel 15b is a mechanism for operating the electric cylinder 11d based on the tilt information.

The electric cylinder 11d operates according to the tilt information of the tilting girder 11a detected by the posture detection sensor 12, and the tilting of the tilting girder 11a is used to move the vehicle 1 such as a wheelchair staircase.
Irrespective of the angle of the ground contact surface on which the vehicle travels, a structure is employed in which a constant inclination angle, for example, an inclination angle close to horizontal is always maintained.

The pitching detection sensor 13 is a sensor for detecting the inclination of the ascending and descending vehicle 1 such as a stair for a wheelchair in the longitudinal direction, and is provided at a lower side of the rear body frame 3. The tilt information of the rear body frame 3 detected by the pitching detection sensor 13 is sent to a control panel 15b described later. The control panel 15b stops the electric motors 7, 8 when the inclination of the rear body frame 3 in the front-rear length direction becomes equal to or greater than a predetermined inclination angle.

The rolling detection sensor 14 is a sensor for detecting the inclination of the ascending and descending vehicle 1 such as a stair for a wheelchair in the left-right width direction, and is provided below the rear body frame 3. The tilt information of the rear body frame 3 detected by the rolling detection sensor 14 is sent to a control panel 15b described later. The control panel 15b stops the electric motors 7, 8 when the inclination of the rear body frame 3 in the left-right width direction becomes equal to or greater than a predetermined inclination angle.

The operation panel 15 is used when a caregiver operates the ascending and descending vehicle 1 such as a wheelchair staircase, and has a tubular support extending obliquely upward and rearward from the right and left rear ends of the rear body frame 3. The upper end of the frame 15a is provided at the rear where it is bent inward and connected.

A control panel 15b is attached to the rear of the support frame 15a. This control panel 15b
The control of the electric motors 7, 8 and the like based on the operation from the operation panel 15 and the information from the sensors 13, 14 and the operation panel 1
5 and control of the electric cylinder 11d based on information from the posture detection sensor 12.

Next, the operation based on the configuration of the above embodiment of the present invention will be described below. Wheelchair a with passenger
Is placed on the vehicle 1 such as a wheelchair staircase,
The wheelchair a is adjusted so that the wheelchair a faces backward and the inside of both wheels enters the front body frame 2 of the ascending and descending vehicle 1 such as a wheelchair staircase.

Then, the inside of both wheels of the wheelchair a facing backward passes through the front body frame 2 of the ascending / descending vehicle 1 such as a wheelchair stair, and enters the rear body frame 3. The wheelchair a, which has entered the rear body frame 3 backward, hits the front ends of the left and right side receiving grooves 11c provided so that the axles d of both wheels protrude outward from the left and right ends of the tilt girder 11a.
Stop.

Thereafter, the assistant controls the operation panel 15 to operate the electric cylinder 11d of the wheelchair holding device 11 to tilt the tilt girder 11a upward. Tilt girder 11a
Is tilted upward, the front receiving grooves 11b provided on the left and right of the front end of the tilt girder 11a move upward to support and push up the horizontal frame b of the wheelchair a from below.
left and right side receiving grooves 1 protruding from the left and right side ends
1c also supports and pushes up the side frame c of the wheelchair a from below.

Wheelchair a pushed up by being supported by the front receiving groove 11b and the side receiving groove 11c of the tilting girder 11a.
The two wheels are lifted off the ground and are completely supported by the vehicle 1 such as a wheelchair staircase.

When the tilting angle of the tilting girder 11a supporting and pushing up the wheelchair a reaches a predetermined angle with respect to the horizontal line, the attitude detecting sensor 12 attached to the tilting girder 11a detects this and detects that. Information is on the control panel 15b
Sent to The control panel 15b stops the operating electric cylinder 11d based on the sent information.

At this time, the occupant of the wheelchair a is tilted upward at the front side to be in a predetermined inclined state, so that fear of jumping forward from the wheelchair a is alleviated and a sense of security is generated.

After the wheelchair a is held by the wheelchair holding device 11 of the ascending and descending vehicle 1 such as a stair for a wheelchair, the operation panel 15 is operated to move the ascending and descending vehicle 1 such as a stair for a wheelchair carrying the wheelchair a. And the place where there is a step.

In this case, when the stairs start to descend or when the stairs angle changes halfway, the front body frame 2 of the ascending / descending vehicle 1 such as a wheelchair stairs tilts downward around the connecting portion 4 and bends. Thus, following the angle change, the grounding of the front body frame 2 to the stairs is ensured, and the stabilization is achieved.

At this time, when the front body frame 2 tilts downward and bends, the shock of the shock absorber 10 prevents the front endless rubber crawler 5 of the front body frame 2 from hitting the stairs or the like. .

In this case, even if the front body frame 2 and the rear body frame 3 are slightly twisted in the left-right width direction, the front body frame 2 and the rear body frame 3 are connected by the connecting portion 4 in the left-right width direction. The torsion can be absorbed by tilting the connecting portion 4 in the left-right width direction.

After the front body frame 2 is tilted downward around the connecting portion 4 and bent, the front body frame 2 and the rear body frame 3 are moved forward by the endless rubber crawlers 5 and 6 which are driven to circulate. , Rear body frame 3
Rides on the slope of the stairs, the rear body frame 3 tilts upward relative to the front body frame 2 around the connecting portion 4, and the front body frame 2 and the rear body frame 3 Being parallel again above. At that time, the operation becomes slow and stable due to the contraction movement of the shock absorber 10 due to the compression of air.

In this case, the wheelchair holding device 11 holding the wheelchair a in the process of the rear body frame 3 tilting downward and bending forward around the connecting portion 4.
The attitude detection sensor 12 attached to the vehicle detects a downward tilt of the wheelchair holding device 11, and the information is transmitted to the control panel 15.
b.

The control panel 15b extends the electric cylinder 11d based on this information. Electric cylinder 11d
Wheelchair holding device 11 holding wheelchair a by extension of
Rotates slowly upward about the rotation shaft 11e on the rear end side.

The front part of the wheelchair a is tilted upward about the rotation shaft 11e on the rear end side of the wheelchair holding device 11, so that the advancing rear body frame 3 is directed downward similarly to the front body frame 2. When tilted, the wheelchair a held by the wheelchair holding device 11 whose front side is tilted upward relative to the rear body frame 3 tilted downward is maintained in a predetermined tilt state.

When the vehicle 1 such as a stair for a wheelchair descends on a stair or a slope, the stairs or the slope and the front endless rubber track 5
And, by the contact friction with the rear endless rubber crawler 6, it can be lowered without slipping.

Conversely, when climbing the stairs, the rear body frame 3 is set in the forward direction, and the operation of retreating is performed. In this case, too, when the climbing of the stairs is started or when the angle of the stairs changes on the way, the rear body frame 3 is not moved. 3 is tilted upward or downward around the connecting portion 4 to bend, thereby following the change in the angle, securing the changed stairs and securing the ground on the flat ground that has completely climbed the stairs, thereby achieving stabilization.

The movements of the rear body frame 3 and the front body frame 2 thereafter are the same as when the stairs are going down. Further, the tilting of the wheelchair holding device 11 holding the wheelchair a is the same as when the stairs descend.

The slight correction of the traveling direction on the stairs or on flat ground can be performed by adjusting the left and right endless rubber crawlers 5 and 6 by adjusting the left and right electric motors 7 and 8 or by changing the speed of one of the left and right endless rubber crawlers 5 and 6. Stop the motor 7 or 8, the other electric motor 8
Alternatively, it can be carried out by driving 7. Further, the right and left electric motors 7, 8 can be rotated on the spot by reversing them.

The present invention is not limited to the above embodiment of the present invention, and it is needless to say that various modifications can be made without departing from the spirit of the present invention.

[0075]

As is apparent from the above description, according to the wheelchair stair climbing vehicle according to the present invention, it is possible to get on while riding on a wheelchair, and to tilt up and down in the length direction of the wheelchair. Even if the body frame tilts up and down with respect to the length direction, it holds the wheelchair on which the occupant is riding by the posture detection sensor that detects the vehicle and the wheelchair holding device that operates based on information from this posture detection sensor By tilting the wheelchair holding device, it is possible to hold the wheelchair in a predetermined tilt state.

In the case of the second aspect, the body frame on which the wheelchair is mounted is divided into two in the length direction, and further provided at the connecting portion so as to be tiltable up and down with respect to the left and right width direction and the length direction. Endless rubber crawlers are mounted on the left and right sides of each of the divided body frames, and the rear end of the rear endless rubber crawlers that are mounted on the left and right sides of the rear body frame are located diagonally upward and at a high position. Even on a stepped portion such as a road surface with severe unevenness, the vehicle can easily follow the step and travel without slipping.

Furthermore, in the case of the second aspect, the endless rubber crawlers mounted on the left and right sides of each of the divided body frames are driven by separate left and right electric motors, so that the left and right electric motors are adjusted. By making the speed difference between the left and right endless rubber crawlers, or by stopping one of them,
The course can be easily changed, and the vehicle can be rotated on the spot by reversing the left and right sides.

Further, in the case of the second aspect, a shock absorber is provided for slowly moving the connecting portion of the divided body frame in the vertical direction in the longitudinal direction, so that the divided body frame is connected. Can prevent the vehicle from tilting sharply and straightening, preventing the impact of the wheelchair occupant from suddenly tilting, avoiding danger and reducing ride comfort. Can be prevented.

[Brief description of the drawings]

FIG. 1 is a side view of an ascending and descending vehicle such as a wheelchair staircase showing an embodiment of the present invention.

FIG. 2 is a side view of an ascending / descending vehicle, such as a wheelchair staircase, illustrating an embodiment of the present invention when the vehicle is traveling on stairs.

FIG. 3 is a plan view of an ascending and descending vehicle such as a wheelchair staircase showing the embodiment of the present invention.

FIG. 4 is a front view of an ascending / descending vehicle such as a wheelchair staircase showing an embodiment of the present invention.

FIG. 5 is a plan view of a vehicle body frame of a vehicle for ascending or descending a stair for a wheelchair, showing an embodiment of the present invention.

FIG. 6 is a side view of a vehicle body frame of a vehicle for ascending or descending a stair for a wheelchair, showing an embodiment of the present invention.

FIG. 7 is a rear view of a rear body frame of a vehicle for ascending or descending a stair for a wheelchair, showing an embodiment of the present invention.

FIG. 8 is a plan cross-sectional view of a driving portion of a climbing vehicle such as a wheelchair staircase showing an embodiment of the present invention.

FIG. 9 is a side view of a driving portion of a vehicle for ascending or descending such as a stair for a wheelchair, showing an embodiment of the present invention.

FIG. 10 (A) is a partial plan view of a connecting portion of a climbing vehicle such as a wheelchair staircase showing an embodiment of the present invention. (B)
FIG. 1 is a partial side sectional view of a connecting portion of a climbing vehicle such as a wheelchair staircase showing an embodiment of the present invention. (C) is an exterior partial side view of a connecting portion of the ascending and descending vehicle such as a wheelchair staircase showing the embodiment of the present invention.

FIG. 11 is a plan view of a wheelchair holding device of a vehicle for ascending or descending a stair for a wheelchair, showing an embodiment of the present invention.

FIG. 12 is a side view of a wheelchair holding device of a vehicle for ascending or descending a stair for a wheelchair, showing an embodiment of the present invention.

FIG. 13 is a partial cross-sectional view of a wheelchair holding device of a vehicle for ascending or descending a stair for a wheelchair, showing an embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Wheelchair stair climbing vehicle 2 Front body frame 2a Front cross beam 2b Intermediate cross beam 2c Rear cross beam 2d Side girder 2e Front bearing plate 2f Shaft hole 2g Front driven axle 2h Adjuster 2i Shaft support plate 2j Bearing Plate 3 Rear body frame 3a Side plate 3b Front end horizontal plate 3c Front horizontal plate 3d Connecting horizontal girder 3e Side girder 3f Projection bearing plate 3h Rear drive axle 3i Bevel gear 3j Rear driven axle 3k Axle support plate 3m Intermediate axle plate 3p inclined guide plate 3q bearing 4 connecting portion 4a front side connecting plate 4b connecting rotating shaft 4c bearing plate 5 front endless rubber crawler 5a front driven front wheel 5b front driven rear wheel 5c front roller 6 rear endless rubber crawler 6a rear Drive front wheel 6b Rear driven intermediate wheel 6c Rear driven rear wheel 6d Rear roller 7 Electric motor 7a Bevel gear 8 Electric motor 8a Bevel gear 9 Battery 10 Shock absorber 10a Front horizontal axis 10b Rear horizontal axis 11 Wheelchair holding device 11a Tilting girder 11b Front receiving groove 11c Side receiving groove 11d Electric cylinder 11e Rotating shaft 11f Connecting plate 12 Attitude detection sensor 13 Pitching detection sensor 14 Rolling detection Sensor 15 Operation panel 15a Support frame 15b Control panel a Wheelchair b Side frame c Side frame d Axle

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI theme coat ゛ (Reference) // B66B 9/08 B66B 9/08 B (72) Inventor Yoshiaki Miyoshi 10-2 Kawaguchicho, Nagasaki City, Nagasaki Prefecture No. F-term in Kyowa Electric Works, Ltd. (reference) 3D050 AA04 BB22 BB29 DD06 HH07 KK04 KK06 3F301 DB11

Claims (2)

[Claims] 1. A wheelchair holding device which has a vehicle width narrower than that between both wheels of a wheelchair, and which pushes up and supports the inside between both wheels of the wheelchair and holds the wheelchair at a predetermined inclination angle, is provided to be vertically tiltable. Providing a posture control sensor for detecting a vertical tilt in the longitudinal direction of the wheelchair holding device, and tilting the wheelchair holding device supporting the wheelchair based on information from the posture control sensor to hold the wheelchair in a predetermined tilt state. A wheelchair-equipped stair climbing vehicle. 2. A body frame on which a wheelchair is mounted is divided into a front body frame and a rear body frame in a front-rear length direction, and the front body frame and the rear body frame are connected to each other by a connecting portion in the left-right width direction and the front-rear length. Front endless rubber crawlers and rear endless rubber crawlers, which are connected to each other so as to be tiltable up and down with respect to the direction and are circulated and driven in conjunction with each other, are mounted on the left and right sides of the front body frame and the rear body frame, respectively. The endless rubber crawler is stretched and attached in an elliptical shape, the rear endless crawler is stretched and mounted in an obtuse inverted triangular shape, and the rear wheel side is provided at an obliquely upward high position. An electric motor for separately driving the front endless rubber crawler and the rear endless rubber crawler is provided. A cushioning device is provided to alleviate bending in the vertical direction in the vertical direction, a pitching detection sensor that detects the vertical inclination angle in the front-rear length direction of the vehicle body frame, and detects the vertical inclination angle in the horizontal width direction of the vehicle frame. A wheelchair holding device is provided with a rolling detection sensor, and pushes up and supports the inside between both wheels of the wheelchair and holds the wheelchair at a predetermined inclination angle.
A tilting girder that tilts up and down with the rear end side as a rotation center,
A front receiving groove provided at the front end of the tilting girder and supporting a horizontal frame provided at the inner lower portion between the wheels of the wheelchair, and protruding outward from the left and right ends of the tilting girder between the two wheels of the wheelchair; 2. The electric vehicle according to claim 1, further comprising: a side receiving groove provided at an inner lower portion for supporting the lateral frame side frame; Elevating vehicles such as wheelchair stairs.