JP2003190216A - Carrier capable of going up and down steps - Google Patents
Carrier capable of going up and down stepsInfo
- Publication number
- JP2003190216A JP2003190216A JP2002111773A JP2002111773A JP2003190216A JP 2003190216 A JP2003190216 A JP 2003190216A JP 2002111773 A JP2002111773 A JP 2002111773A JP 2002111773 A JP2002111773 A JP 2002111773A JP 2003190216 A JP2003190216 A JP 2003190216A
- Authority
- JP
- Japan
- Prior art keywords
- gear
- sun gear
- stairs
- planetary
- transmission mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
- A61G5/027—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person by using auxiliary detachable mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
- B62B5/028—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs with excentrically mounted wheels
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は一種の運搬装置に係
り、特に、歯車機構を応用し且つ階段を自動的に昇り下
りする運搬装置であり、並びに平地走行もできる運搬装
置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a kind of carrying device, and more particularly to a carrying device to which a gear mechanism is applied and which automatically climbs and descends stairs, as well as a carrying device capable of traveling on level ground.
【０００２】[0002]
【従来の技術】運搬装置は人力に代わり積載物をある場
所から別の場所に運搬する補助工具であり、一般によく
目にする運搬装置上の積載物は、車椅子、貨物等であ
り、運搬装置の運搬過程中、最もよく発生する問題は障
害物、例えば階段に出会った時に、運搬への影響を克服
できないことである。2. Description of the Related Art A carrier device is an auxiliary tool for carrying a load from one place to another place in place of human power. Generally, the load on the carrier device is a wheelchair, cargo, etc. The most common problem during the transportation process is that the obstacle to transportation cannot be overcome when encountering obstacles such as stairs.
【０００３】周知の車椅子を運搬する装置を例に挙げる
と、行動が不自由な人に対して、日常生活の行動を便利
とするため、車椅子を歩行代用工具とする必要があり、
一般の車椅子はただ平坦な地面上を順調に移動できる
が、非平坦な地面には適応不能である。このため、車椅
子が階段を上り下りするのを補助する運搬装置が、現在
業者が研究を待つ課題である。周知の車椅子の階段を上
り下り補助用の運搬装置は、一組の、車椅子に外付けさ
れた電動装置を採用し、階段に出会うと、チェーンで二
組の偏心車輪を駆動して階段の上り下りを達成し、別に
二組の車輪とチェーンセットで組成された一つの安全装
置が設けられて墜落の発生を防止している。その欠点
は、この装置は自分で障害物により該電動装置を駆動す
ることができず、操作者が電動装置を駆動制御しなけれ
ばならないことである。また、周知の運搬装置は特殊な
車輪設計を採用することで階段の上り下りを達成し、並
びに完全に人力に頼って該運搬装置を駆動しているが、
このため、過重の積載物を運搬することはできない。周
知の電力駆動の運搬装置は、いずれも階段を下りる時
に、電力供給装置の故障或いは電力欠乏時の応急措置を
考慮しておらず、ゆえに積載物の損害を形成しうる。Taking a well-known device for transporting a wheelchair as an example, it is necessary to use the wheelchair as a walking substitute tool in order to make daily activities convenient for people with limited mobility.
A general wheelchair can only smoothly move on flat ground, but cannot adapt to uneven ground. For this reason, the transportation device that assists the wheelchair up and down the stairs is currently a subject for the researcher to wait for research. A well-known transport device for climbing and descending the stairs of a wheelchair adopts a pair of electric devices external to the wheelchair, and when encountering the stairs, drives two sets of eccentric wheels with a chain to climb the stairs. Achieving the descent, a separate safety device composed of two wheels and a chainset is installed to prevent the fall. The drawback is that this device cannot drive the electric device by an obstacle by itself and the operator has to control the drive of the electric device. In addition, the known transportation device achieves the climbing and descending of stairs by adopting a special wheel design, and completely depends on human power to drive the transportation device.
Therefore, it is not possible to carry an overloaded load. None of the known power-driven haulage devices considers first aid in the event of power supply failure or power depletion when descending stairs and can therefore lead to load damage.
【０００４】以上から分かるように、周知の運搬装置は
自動で障害物があるか否かを判断して階段の上り下りを
行うことができず、動力に問題が発生した時の応急対策
及び比較的重い物品を積載できない問題を有していた。As can be seen from the above, the known transporting device cannot automatically judge whether there is an obstacle or not to go up and down the stairs, and when the power problem occurs, the emergency measures and comparison are made. There was a problem that heavy objects could not be loaded.
【０００５】[0005]
【発明が解決しようとする課題】本発明の主要な目的
は、階段の有無を自動判断して階段を上り下りできる運
搬装置を提供することにより、操作者が自分で障害物を
判断して階段の上り下りを実行する必要がある問題を解
決することにある。SUMMARY OF THE INVENTION The main object of the present invention is to provide a transporting device capable of automatically judging the presence / absence of stairs and going up and down the stairs so that the operator can judge the obstacles by himself / herself. It is to solve the problem that it is necessary to carry out the up and down.
【０００６】本発明のもう一つの目的は、電力装置に問
題が発生した時に、人力入力により該運搬装置を安全に
平地に下降させられるようにすることにある。[0006] Another object of the present invention is to allow the carrying device to be safely lowered to the level ground by manual input when a problem occurs in the power device.
【０００７】本発明のまた一つの目的は、構造が簡単で
且つ組立に便利で、各種物品を積載して階段の上り下
り、或いは平坦地面の走行が行える運搬装置を提供する
ことにある。Another object of the present invention is to provide a carrying device which has a simple structure and is easy to assemble and which can carry various articles and can go up and down stairs or run on flat ground.
【０００８】[0008]
【課題を解決するための手段】請求項１の発明は、マシ
ンフレーム（１０）及び伝動機構（２０）を具えた階段
を上り下りできる運搬装置において、該マシンフレーム
（１０）が、その上方に一対のハンドル（１１Ａ、１１
Ｂ）を具え、該伝動機構（２０）が、該マシンフレーム
（１０）の下方の所定の位置に設けられ、且つ太陽歯車
セット（２１）、遊星歯車セット（２２）、駆動輪（２
３）、第２歯車セット（２４）及び遊星フレーム（２
５）を具え、該太陽歯車セット（２１）が太陽歯車軸
（２１１）とその外縁に設けられた太陽歯車（２１２）
と一対の第１歯車（２１３Ａ、２１３Ｂ）を具え、該太
陽歯車軸（２１１）がマシンフレーム（１０）の周りを
回転し、該遊星歯車セット（２２）が太陽歯車（２１
２）の外周に設置され、且つ該遊星歯車セット（２２）
の複数の遊星歯車（２２１Ａ、２２１Ｂ、２２１Ｃ）が
該太陽歯車（２１２）に噛み合い、該駆動輪（２３）が
内歯歯車とされ且つ太陽歯車軸（２１１）の周りを回転
し、並びに該遊星歯車（２２１Ａ、２２１Ｂ、２２１
Ｃ）と噛み合い、該第２歯車セット（２４）が各一つの
第１歯車（２１３Ａ）の外周において二つの第２歯車
（２４１Ａ、２４２Ａ）を有し、且つ該第２歯車（２４
１Ａ、２４２Ａ）がそれと対応する第１歯車（２１３
Ａ）と噛み合い、別に各一つの第２歯車（２４１Ａ）が
一つの車輪（２４３Ａ）を駆動して回転させ、遊星フレ
ーム（２５）が太陽歯車軸（２１１）に枢設され、並び
に該遊星歯車（２２１Ａ、２２１Ｂ、２２１Ｃ）、第２
歯車（２４１Ａ、２４２Ａ、２４１Ａ、２４２Ｂ）の軸
心を駆動して太陽歯車軸（２１１）を中心として回転さ
せ、一つの駆動機構（３０）により該駆動輪（２３）が
駆動され、該運搬装置が階段の上り下り及び平地走行を
行うことを特徴とする、階段を上り下りできる運搬装置
としている。請求項２の発明は、請求項１に記載の階段
を上り下りできる運搬装置において、伝動機構（２０）
が一組の二つの自由度の遊星歯車機構とされたことを特
徴とする、階段を上り下りできる運搬装置としている。According to a first aspect of the present invention, there is provided a transporting device having a machine frame (10) and a transmission mechanism (20) capable of going up and down stairs, wherein the machine frame (10) is located above the machine frame (10). A pair of handles (11A, 11
B), the transmission mechanism (20) is provided at a predetermined position below the machine frame (10), and the sun gear set (21), the planetary gear set (22), and the drive wheel (2).
3), the second gear set (24) and the planetary frame (2
5), wherein the sun gear set (21) comprises a sun gear shaft (211) and a sun gear (212) provided on the outer edge thereof.
And a pair of first gears (213A, 213B), the sun gear shaft (211) rotates around the machine frame (10), and the planetary gear set (22) rotates the sun gear (21).
The planetary gear set (22) installed on the outer periphery of 2)
Of the planetary gears (221A, 221B, 221C) mesh with the sun gear (212), the drive wheel (23) is an internal gear and rotates around the sun gear shaft (211), and the planetary gears Gears (221A, 221B, 221
C), the second gear set (24) has two second gears (241A, 242A) on the outer periphery of each one first gear (213A), and the second gear (24)
1A, 242A) corresponds to the first gear (213
A), each second gear (241A) drives and rotates one wheel (243A) separately, and the planet frame (25) is pivotally mounted on the sun gear shaft (211), and the planet gears. (221A, 221B, 221C), second
The shafts of the gears (241A, 242A, 241A, 242B) are driven to rotate about the sun gear shaft (211), and the drive wheels (23) are driven by one drive mechanism (30), and the transportation device is provided. Is a transport device that can go up and down stairs, which is characterized by going up and down stairs and traveling on level ground. A second aspect of the present invention is a transport device capable of going up and down stairs according to the first aspect, wherein the transmission mechanism (20)
Is a set of two-degree-of-freedom planetary gear mechanism, which is a carrying device that can go up and down stairs.
【０００９】[0009]
【発明の実施の形態】上述の目的を達成するため、本発
明の階段を上り下りできる運搬装置は、その上方に積載
物を載せて階段を上り下りでき及び平地を走行できる効
果を達成し、それは、マシンフレーム、マシンフレーム
下方の所定位置に設けられた伝動機構及び駆動機構を具
え、該伝動機構は太陽歯車セット、遊星歯車セット、駆
動輪、第２歯車セット及び一つの遊星フレームを具え、
別に一つの駆動機構が設けられている。運搬装置が階段
を上る時、駆動機構が該駆動輪を駆動し、この時車輪が
階段の抵抗を受け、固定棒と見なされ、力量が伝動機構
を経由して遊星フレームの連接板より出力されて、階段
を跨越する動作を発生し、並びに階段を上る動作を完成
する。運搬装置が階段を下りる時、駆動機構が該駆動輪
を駆動し、この時伝動機構が自分で比較的省力の桿材を
選択して出力し、力量を伝動機構を経由し車輪と遊星フ
レームのうち比較的省力の一方或いは両者より同時に出
力し、こうして階段を下りる動作を完成する。階段を下
りる過程で、駆動機構に故障が発生する時、ハンドルを
利用し押す力を与えることにより、運搬装置がその自身
の重力を利用し安全に平地に下り、運搬装置が平地を走
行する時、駆動機構が該駆動輪を駆動し、この時遊星フ
レームは不動で、力量を伝動機構を経由して車輪より出
力し、平地走行を完成する。BEST MODE FOR CARRYING OUT THE INVENTION In order to achieve the above-mentioned object, a carrying device of the present invention capable of going up and down stairs achieves an effect that a load can be placed on the stairs to go up and down the stairs and run on a level ground. It comprises a machine frame, a transmission mechanism and a drive mechanism provided at a predetermined position below the machine frame, the transmission mechanism comprising a sun gear set, a planetary gear set, a drive wheel, a second gear set and one planetary frame,
Another drive mechanism is provided separately. When the carrier goes up the stairs, the drive mechanism drives the drive wheels, at which time the wheels receive the resistance of the stairs and are regarded as fixed rods, and the force is output from the connecting plate of the planetary frame via the transmission mechanism. Then, the operation of crossing the stairs is generated, and the operation of climbing the stairs is completed. When the transport device goes down the stairs, the drive mechanism drives the drive wheels, and at this time, the transmission mechanism selects and outputs a relatively labor-saving rod material by itself, and outputs the amount of force to the wheels and the planetary frame via the transmission mechanism. One or both of them, which are relatively labor-saving, are output at the same time, thus completing the operation of descending the stairs. When a failure occurs in the drive mechanism in the process of going down the stairs, by applying a pushing force using the handle, the carrier uses its own gravity to safely descend to the level ground, and the carrier travels on the level ground. The drive mechanism drives the drive wheels, and the planetary frame is immobile at this time, and the amount of force is output from the wheels via the transmission mechanism to complete flatland traveling.
【００１０】[0010]
【実施例】図１、図２に示されるのは本発明の運搬装置
の組合せ図及び本発明の運搬装置の分解図である。その
うち、該階段を上り下りできる運搬装置は、マシンフレ
ーム（１０）を具え、該マシンフレーム（１０）の下方
の所定位置に伝動機構（２０）と駆動機構（３０）が設
けられている。該マシンフレーム（１０）の上方には一
対のハンドル（１１Ａ、１１Ｂ）が設けられて人力の入
力に供される。1 and 2 are a combined view of the carrying device of the present invention and an exploded view of the carrying device of the present invention. Among them, the carrying device that can go up and down the stairs includes a machine frame (10), and a transmission mechanism (20) and a drive mechanism (30) are provided at predetermined positions below the machine frame (10). A pair of handles (11A, 11B) are provided above the machine frame (10) and used for input of human power.
【００１１】該伝動機構（２０）は図３の本発明の運搬
装置の伝動機構表示図に示されるように、太陽歯車セッ
ト（２１）、遊星歯車セット（２２）、駆動輪（２
３）、第２歯車セット（２４）及び遊星フレーム（２
５）を具え、該太陽歯車セット（２１）が太陽歯車軸
（２１１）とその外縁に設けられた太陽歯車（２１２）
と一対の第１歯車（２１３Ａ、２１３Ｂ）を具え、該太
陽歯車軸（２１１）がマシンフレーム（１０）の周りを
回転する。該遊星歯車セット（２２）は太陽歯車（２１
２）の外周に設置され、且つ該遊星歯車セット（２２）
の複数の遊星歯車が該太陽歯車（２１２）に噛み合い、
本実施例では三つの遊星歯車（２２１Ａ、２２１Ｂ、２
２１Ｃ）が採用されている。該駆動輪（２３）は内歯歯
車とされ且つ太陽歯車軸（２１１）の周りを回転し、並
びに該遊星歯車（２２１Ａ、２２１Ｂ、２２１Ｃ）と噛
み合っている。該第２歯車セット（２４）は各一つの第
１歯車（２１３Ａ、２１３Ｂ）の外周において二つの第
２歯車（２４１Ａ、２４２Ａ、２４１Ｂ、２４２Ｂ）を
有し、本実施例では該第１歯車（２１３Ａ）の外周に二
つの第２歯車（２４１Ａ、２４２Ａ）及び該第１歯車
（２１３Ｂ）の外周に二つの第２歯車（２４１Ｂ、２４
２Ｂ）が設けられ、且つ各一つの第２歯車（２４１Ａ、
２４２Ａ、２４１Ｂ、２４２Ｂ）がそれと対応する第１
歯車（２１３Ａ、２１３Ｂ）と噛み合い、本実施例で
は、一つの第２歯車（２４１Ａ、２４２Ａ）とその対応
する一つの第１歯車（２１３Ａ）が噛み合い、一つの第
２歯車（２４１Ｂ、２４２Ｂ）とその対応する第１歯車
（２１３Ｂ）が噛み合う。このほか、各一つの第２歯車
（２４１Ａ、２４２Ａ、２４１Ｂ、２４２Ｂ）が一つの
車輪（２４３Ａ、２４４Ａ、２４３Ｂ、２４４Ｂ）を駆
動して回転させ、本実施例では、第２歯車（２４１Ａ）
が車輪（２４３Ａ）を駆動し、第２歯車（２４２Ａ）が
車輪（２４４Ａ）を駆動し、第２歯車（２４１Ｂ）が車
輪（２４３Ｂ）を駆動し、第２歯車（２４２Ｂ）が車輪
（２４４Ｂ）を駆動し回転させる。該遊星フレーム（２
５）は該太陽歯車軸（２１１）に枢設され並びに該遊星
歯車（２２１Ａ、２２１Ｂ、２２１Ｃ）、第２歯車（２
４１Ａ、２４２Ａ、２４１Ａ、２４２Ｂ）の軸心を駆動
して太陽歯車軸（２１１）を中心として回転させる。上
述の組成並びに一つの駆動機構（３０）により該駆動輪
（２３）が駆動され、これにより運搬装置が階段の上り
下り及び平地走行を行う。該駆動機構（３０）はマシン
フレーム（１０）に固定されたモータ（３１）、チェー
ン（３２）及び第１スプロケット（３３）、及び該駆動
輪（２３）の外縁に固定された第２スプロケット（３
４）を具え、該モータ（３１）が第１スプロケット（３
３）を駆動し、これにより第１スプロケット（３３）が
チェーン（３２）を駆動し、チェーン（３２）が第２ス
プロケット（３４）を駆動し、これにより駆動輪（２
３）を回転させる。The transmission mechanism (20) includes a sun gear set (21), a planetary gear set (22), and drive wheels (2) as shown in the transmission mechanism display view of the carrying device of the present invention in FIG.
3), the second gear set (24) and the planetary frame (2
5), wherein the sun gear set (21) comprises a sun gear shaft (211) and a sun gear (212) provided on the outer edge thereof.
And a pair of first gears (213A, 213B), the sun gear shaft (211) rotating about the machine frame (10). The planetary gear set (22) includes a sun gear (21).
The planetary gear set (22) installed on the outer periphery of 2)
A plurality of planetary gears meshing with the sun gear (212),
In this embodiment, three planetary gears (221A, 221B, 2)
21C) has been adopted. The drive wheel (23) is an internal gear and rotates around the sun gear shaft (211) and meshes with the planet gears (221A, 221B, 221C). The second gear set (24) has two second gears (241A, 242A, 241B, 242B) on the outer circumference of each one first gear (213A, 213B), and in the present embodiment, the first gear (24). 213A) has two second gears (241A, 242A) on the outer circumference and two second gears (241B, 24) on the outer circumference of the first gear (213B).
2B), and each one second gear (241A,
242A, 241B, 242B) corresponds to the first
It meshes with the gears (213A, 213B), and in the present embodiment, one second gear (241A, 242A) meshes with one corresponding first gear (213A) and one second gear (241B, 242B). The corresponding first gear (213B) meshes. Besides, each second gear (241A, 242A, 241B, 242B) drives and rotates one wheel (243A, 244A, 243B, 244B), and in the present embodiment, the second gear (241A).
Drives the wheel (243A), the second gear (242A) drives the wheel (244A), the second gear (241B) drives the wheel (243B), and the second gear (242B) drives the wheel (244B). Drive and rotate. The planet frame (2
5) is pivotally mounted on the sun gear shaft (211), and the planetary gears (221A, 221B, 221C) and the second gear (2).
41A, 242A, 241A, 242B) are driven to rotate about the sun gear shaft (211). The drive wheels (23) are driven by the above composition and one drive mechanism (30), which causes the transport device to go up and down stairs and run on level ground. The drive mechanism (30) includes a motor (31) fixed to a machine frame (10), a chain (32) and a first sprocket (33), and a second sprocket (a) fixed to an outer edge of the drive wheel (23). Three
4), wherein the motor (31) has a first sprocket (3)
3), whereby the first sprocket (33) drives the chain (32) and the chain (32) drives the second sprocket (34), which in turn drives the drive wheel (2).
3) Rotate.
【００１２】図２に示されるのは本発明の製造と組立過
程であり、この運搬装置の遊星フレーム（２５）がケー
ス（２５１）と二対の連接板（２５２）を具え、該ケー
ス（２５１）の外縁に遊星歯車（２２１Ａ、２２１Ｂ、
２２１Ｃ）の数に依り窓（２５３）が開設され、該窓
（２５３）が遊星歯車（２２１Ａ、２２１Ｂ、２２１
Ｃ）の置き入れに供され並びに太陽歯車（２１２）と噛
み合い、該第２歯車（２４１Ａ、２４２Ａ、２４１Ｂ、
２４２Ｂ）が単方向軸受（２４５）により該車輪（２４
３Ａ、２４４Ａ、２４３Ｂ、２４４Ｂ）の軸に固定さ
れ、これにより第２歯車（２４１Ａ、２４２Ａ、２４１
Ｂ、２４２Ｂ）が該車輪（２４３Ａ、２４４Ａ、２４３
Ｂ、２４４Ｂ）を駆動でき、単方向軸受（２４５）の採
用により第２歯車（２４１Ａ、２４２Ａ、２４１Ｂ、２
４２Ｂ）が僅かに単一方向で該車輪（２４３Ａ、２４４
Ａ、２４３Ｂ、２４４Ｂ）と噛み合い、運搬装置の方向
転換が比較的容易であり、また運搬装置の逆転により発
生する危険を防止できる。マシンフレーム（１０）の底
部に孔径が遊星フレーム（２５）のケース（２５１）外
径より大きい、二つの位置決め孔（１２）が設けられ、
図３に示されるように、該遊星フレーム（２５）のケー
ス（２５１）が該位置決め孔（１２）に挿入され、並び
に一つの軸受（２５４）が該ケース（２５１）と位置決
め孔（１２）の間に設けられ、これにより遊星フレーム
（２５）のケース（２５１）が位置決め孔（１２）内で
回転できるようにしている。FIG. 2 shows the manufacturing and assembling process of the present invention. The planetary frame (25) of the carrier comprises a case (251) and two pairs of connecting plates (252). ) Planetary gears (221A, 221B,
Depending on the number of 221C), windows (253) are opened, and the windows (253) are connected to the planetary gears (221A, 221B, 221).
C) and meshes with the sun gear (212), and the second gear (241A, 242A, 241B,
242B) by means of a unidirectional bearing (245) on the wheel (24B).
3A, 244A, 243B, 244B) is fixed to the shaft of the second gear (241A, 242A, 241).
B, 242B) are the wheels (243A, 244A, 243).
B, 244B) and the unidirectional bearing (245) is used to drive the second gear (241A, 242A, 241B, 2).
42B) is in a slightly unidirectional manner on the wheels (243A, 244).
A, 243B, 244B), it is relatively easy to change the direction of the carrying device, and it is possible to prevent the danger caused by the reverse rotation of the carrying device. Two positioning holes (12) having a hole diameter larger than the outer diameter of the case (251) of the planet frame (25) are provided at the bottom of the machine frame (10),
As shown in FIG. 3, the case (251) of the planet frame (25) is inserted into the positioning hole (12), and one bearing (254) is formed between the case (251) and the positioning hole (12). It is provided in between to allow the case (251) of the planet frame (25) to rotate within the positioning hole (12).
【００１３】本発明の伝動機構（２０）は、一組の二つ
の自由度の遊星歯車機構とされ、それは三組の歯車対
（駆動輪（２３）と遊星歯車セット（２２）、遊星歯車
セット（２２）と太陽歯車（２１２）、第１歯車（２１
３Ａ）と第２歯車（２４１Ａ））及び６個の桿材（マシ
ンフレーム（１０）、太陽歯車セット（２１）、遊星フ
レーム（２５）、駆動輪（２３）、遊星歯車セット（２
２）、第２歯車セット（２４））で組成される。該伝動
機構（２０）は二つの自由度の遊星歯車機構とされ、こ
れにより二つの制限を外加することにより該伝動機構
（２０）が完全に該伝動機構（２０）の運動を制御でき
る。本実施例では、駆動機構（３０）が該駆動輪（２
３）を駆動することを第１の外加制限となし、もう一つ
の外加制限は伝動機構（２０）の実際の地面上を走行す
る状況により自動的に一つの外加制限を増加し、該伝動
機構（２０）の運動の完全制御を達成する。The transmission mechanism (20) of the present invention is a set of two-degree-of-freedom planetary gear mechanism, which has three sets of gear pairs (drive wheel (23) and planetary gear set (22), planetary gear set). (22), sun gear (212), first gear (21
3A) and the second gear (241A)) and six rods (machine frame (10), sun gear set (21), planet frame (25), drive wheel (23), planet gear set (2)
2), the second gear set (24)). The transmission mechanism (20) is a two-degree-of-freedom planetary gear mechanism, which allows the transmission mechanism (20) to completely control the movement of the transmission mechanism (20) by applying two restrictions. In the present embodiment, the drive mechanism (30) causes the drive wheels (2
The driving of 3) is referred to as a first external addition limit, and the other external addition limit is automatically increased by one external addition limit depending on the actual traveling condition of the transmission mechanism (20) on the ground. Achieve full control of movement in (20).
【００１４】以下に図を組み合わせて本発明の運動状態
を説明する。運搬装置が階段を上る時、図４乃至図８に
示されるように、駆動機構（３０）を起動し該駆動輪
（２３）を駆動することが第１の外加制限とされ、この
時、車輪（２４３Ａ、２４３Ｂ）が階段の抵抗を受けて
固定桿と見なされ、これが第２の外加制限とされ、力量
が駆動輪（２３）より遊星歯車（２２１Ａ、２２１Ｂ、
２２１Ｃ）、太陽歯車（２１２）及び太陽歯車軸（２１
１）を経由し、最後に遊星フレーム（２５）より出力さ
れ、階段を跨越する動作を発生し、並びに階段を上る動
作を完成する。運搬装置が階段を下りる時は、図９乃至
図１３に示されるように、駆動機構（３０）を起動し該
駆動輪（２３）を駆動するのが第１の外加制限とされ、
この時、車輪（２４３Ａ、２４４Ａ、２４３Ｂ、２４４
Ｂ）と遊星フレーム（２５）がいずれも階段の抵抗を未
だ受けず、ゆえに伝動機構（２０）が自分で第２の外加
制限を選択して比較的省力できる桿材で出力を達成し、
力量は駆動輪（２３）より遊星歯車（２２１Ａ、２２１
Ｂ、２２１Ｃ）、太陽歯車（２１２）及び太陽歯車軸
（２１１）を経由し、最後に車輪（２４３Ａ、２４４
Ａ、２４３Ｂ、２４４Ｂ）と遊星フレーム（２５）のそ
のうち比較的省力の一方或いは両者より同時に出力さ
れ、こうして階段を下りる動作を達成する。階段を下り
る過程で、駆動機構（３０）に故障が発生した時、ハン
ドル（１１Ａ、１１Ｂ）で押す力を加えることにより、
該運搬装置をそれ自身の重力を利用して安全に平地に下
ろすことができる。The motion state of the present invention will be described below with reference to the drawings. When the carrier goes up the stairs, as shown in FIGS. 4 to 8, activating the drive mechanism (30) to drive the drive wheels (23) is a first external load limitation, and at this time, the wheels are (243A, 243B) is regarded as a fixed rod due to the resistance of the stairs, this is the second external addition limit, and the amount of force is increased from the drive wheel (23) to the planetary gears (221A, 221B,
221C), the sun gear (212) and the sun gear shaft (21
The signal is finally output from the planetary frame (25) via 1), and an operation to cross the stairs is generated, and an operation to climb the stairs is completed. When the transport device descends the stairs, as shown in FIGS. 9 to 13, the first external addition restriction is to activate the drive mechanism (30) to drive the drive wheels (23).
At this time, the wheels (243A, 244A, 243B, 244
B) and the planetary frame (25) have not yet received the resistance of the stairs, and therefore the transmission mechanism (20) selects the second external addition limit by itself and achieves the output with the rod material which can relatively save labor,
The amount of force is from the drive wheel (23) to the planetary gears (221A, 221).
B, 221C), the sun gear (212) and the sun gear shaft (211), and finally the wheels (243A, 244).
A, 243B, 244B) and one or both of the planetary frames (25), which are relatively labor-saving, are output at the same time, thus achieving the operation of descending stairs. When a failure occurs in the drive mechanism (30) in the process of going down the stairs, by applying pushing force with the handles (11A, 11B),
The carrier can be safely lowered to the ground using its own gravity.
【００１５】運搬装置が平地を走行する時、駆動機構
（３０）を起動し該駆動輪（２３）を駆動するのが第１
の外加制限とされ、この時、遊星フレーム（２５）は不
動で、固定桿と見なされ、第２の外加制限のため、力量
が駆動輪（２３）より遊星歯車（２２１Ａ、２２１Ｂ、
２２１Ｃ）、太陽歯車（２１２）、第１歯車（２１３
Ａ、２１３Ｂ）及び第２歯車（２４１Ａ、２４２Ａ、２
４１Ｂ、２４２Ｂ）を経由し、最後に車輪（２４３Ａ、
２４４Ａ、２４３Ｂ、２４４Ｂ）より出力され、こうし
て平地走行を完成する。When the transport device travels on a level ground, the first is to activate the drive mechanism (30) to drive the drive wheels (23).
The planetary frame (25) is immovable and is regarded as a fixed rod at this time, and due to the second external force limitation, the force is applied from the drive wheels (23) to the planetary gears (221A, 221B,
221C), the sun gear (212), the first gear (213
A, 213B) and the second gear (241A, 242A, 2)
41B, 242B) and finally the wheels (243A,
244A, 243B, 244B), and completes flatland travel.
【００１６】該運搬装置はマシンフレーム（１０）上に
運搬物を積載でき、並びに運搬物の形状により運搬物固
定用の位置決め構造（４０）が設けられ、車椅子（５
０）が運搬物の場合は、図１４及び図１５の、本発明の
運搬装置と車椅子を位置決め構造を用いて組合せた後の
表示図と本発明の運搬装置と車椅子組合せ後の表示図に
示されるように、該位置決め構造（４０）は、二組のサ
ポートフレーム（４１Ａ、４１Ｂ）で組成され、運搬装
置が車椅子（５０）の後方より押し込まれ、該二組のサ
ポートフレーム（４１Ａ、４１Ｂ）がそれぞれ車椅子
（５０）の車輪（５１）及び上サポートフレーム（５
２）に係止され、運搬装置上に積載し、運搬装置が平地
走行時、階段を上る或いは下る時、車椅子（５０）と共
に平地走行、階段の上り下り動作を完成する。以上によ
り車椅子（５０）が平地走行、階段の上り下りを行える
ようにする効果を達成する。The carrying device can carry a load on a machine frame (10), and a positioning structure (40) for fixing the load depending on the shape of the load is provided to the wheelchair (5).
In the case where 0) is a transported object, it is shown in the display diagram after combining the transporting device of the present invention and the wheelchair using the positioning structure and the display diagram after combining the transporting device of the present invention and the wheelchair in FIGS. 14 and 15. As described above, the positioning structure (40) is composed of two sets of support frames (41A, 41B), and the carrying device is pushed in from the rear of the wheelchair (50), so that the two sets of support frames (41A, 41B). Are the wheel (51) and the upper support frame (5) of the wheelchair (50), respectively.
It is locked in 2) and loaded on the carrying device, and when the carrying device runs on a level ground or goes up or down the stairs, runs on a level ground with the wheelchair (50) and completes the ascending / descending operation of the stairs. By the above, the effect that the wheelchair (50) can run on a flat ground and go up and down stairs is achieved.
【００１７】[0017]
【発明の効果】本発明は、階段の有無を自動判断して階
段を上り下りできる運搬装置を提供することにより、操
作者が自分で障害物を判断して階段の上り下りを実行す
る必要がある問題を解決している。According to the present invention, it is necessary for an operator to judge an obstacle by himself / herself to carry out climbing / descent of stairs by providing a carrying device capable of automatically judging the presence / absence of stairs and going up / down the stairs. Solving a problem.
【００１８】本発明はまた、電力装置に問題が発生した
時に、人力入力により該運搬装置を安全に平地に下降さ
せられるようにしている。The present invention also makes it possible to safely lower the carrying device to the level ground by manual input when a problem occurs in the power device.
【００１９】本発明はさらに、構造が簡単で且つ組立に
便利で、各種物品を積載して階段の上り下り、或いは平
坦地面の走行が行える運搬装置を提供している。The present invention further provides a carrying device having a simple structure and convenient for assembling, capable of carrying various articles and going up and down stairs or traveling on flat ground.
【図１】本発明の運搬装置の組合せ図である。FIG. 1 is a combination view of a carrying device of the present invention.
【図２】本発明の運搬装置の分解図である。FIG. 2 is an exploded view of the carrying device of the present invention.
【図３】本発明の運搬装置の伝動機構表示図である。FIG. 3 is a diagram showing a transmission mechanism of the carrying device of the present invention.
【図４】本発明の運搬装置が階段を上る状態の表示図で
ある。FIG. 4 is a view showing a state in which the carrying device of the present invention is climbing stairs.
【図５】本発明の運搬装置が階段を上る状態の表示図で
ある。FIG. 5 is a view showing a state in which the carrying device of the present invention is climbing stairs.
【図６】本発明の運搬装置が階段を上る状態の表示図で
ある。FIG. 6 is a view showing a state in which the carrying device of the present invention is climbing stairs.
【図７】本発明の運搬装置が階段を上る状態の表示図で
ある。FIG. 7 is a view showing a state where the carrying device of the present invention is climbing stairs.
【図８】本発明の運搬装置が階段を上る状態の表示図で
ある。FIG. 8 is a view showing a state where the carrying device of the present invention is climbing stairs.
【図９】本発明の運搬装置が階段を下りる状態の表示図
である。FIG. 9 is a view showing a state in which the carrying device of the present invention descends stairs.
【図１０】本発明の運搬装置が階段を下りる状態の表示
図である。FIG. 10 is a view showing a state in which the carrying device of the present invention descends stairs.
【図１１】本発明の運搬装置が階段を下りる状態の表示
図である。FIG. 11 is a view showing a state in which the carrying device of the present invention descends stairs.
【図１２】本発明の運搬装置が階段を下りる状態の表示
図である。FIG. 12 is a view showing a state in which the carrying device of the present invention descends stairs.
【図１３】本発明の運搬装置が階段を下りる状態の表示
図である。FIG. 13 is a view showing a state in which the carrying device of the present invention descends stairs.
【図１４】本発明の運搬装置と車椅子を位置決め構造を
用いて組合せた後の表示図である。FIG. 14 is a display diagram after the carrying device of the present invention and a wheelchair are combined using a positioning structure.
【図１５】本発明の運搬装置と車椅子の組合せ後の表示
図である。FIG. 15 is a view showing a state where the carrying device of the present invention and the wheelchair are combined.
（１０）マシンフレーム （１１Ａ、１１Ｂ）ハンドル （１２）位置決め孔 （２０）伝動機構 （２１）太陽歯車セット （２１１）太陽歯車軸 （２１３Ａ、２１３Ｂ）第１歯車 （２２）遊星歯車セット （２２１Ａ、２２１Ｂ、２２１Ｃ）遊星歯車 （２３）駆動輪 （２４）第２歯車セット （２４１Ａ、２４２Ａ、２４１Ｂ、２４２Ｂ）第２歯車 （２４３Ａ、２４４Ａ、２４３Ｂ、２４４Ｂ）車輪 （２４５）単方向軸受 （２５）遊星フレーム （２５１）ケース （２５２）連接板 （２５３）窓 （２５４）軸受 （３０）駆動機構 （３１）モータ （３２）チェーン （３３）第１スプロケット （３４）第２スプロケット （４０）位置決め構造 （４１Ａ、４１Ｂ）サポートフレーム （５０）車椅子 （５１）車輪 （５２）上サポートフレーム (10) Machine frame (11A, 11B) Handle (12) Positioning hole (20) Transmission mechanism (21) Sun gear set (211) sun gear shaft (213A, 213B) First gear (22) Planetary gear set (221A, 221B, 221C) Planetary gear (23) Drive wheel (24) Second gear set (241A, 242A, 241B, 242B) Second gear (243A, 244A, 243B, 244B) Wheels (245) Unidirectional bearing (25) Planetary frame (251) Case (252) Connecting plate (253) window (254) Bearing (30) Drive mechanism (31) Motor (32) Chain (33) First sprocket (34) Second sprocket (40) Positioning structure (41A, 41B) Support frame (50) Wheelchair (51) Wheel (52) Upper support frame
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Claims (2)
（２０）を具えた階段を上り下りできる運搬装置におい
て、 該マシンフレーム（１０）が、その上方に一対のハンド
ル（１１Ａ、１１Ｂ）を具え、該伝動機構（２０）が、
該マシンフレーム（１０）の下方の所定の位置に設けら
れ、且つ太陽歯車セット（２１）、遊星歯車セット（２
２）、駆動輪（２３）、第２歯車セット（２４）及び遊
星フレーム（２５）を具え、該太陽歯車セット（２１）
が太陽歯車軸（２１１）とその外縁に設けられた太陽歯
車（２１２）と一対の第１歯車（２１３Ａ、２１３Ｂ）
を具え、該太陽歯車軸（２１１）がマシンフレーム（１
０）の周りを回転し、該遊星歯車セット（２２）が太陽
歯車（２１２）の外周に設置され、且つ該遊星歯車セッ
ト（２２）の複数の遊星歯車（２２１Ａ、２２１Ｂ、２
２１Ｃ）が該太陽歯車（２１２）に噛み合い、該駆動輪
（２３）が内歯歯車とされ且つ太陽歯車軸（２１１）の
周りを回転し、並びに該遊星歯車（２２１Ａ、２２１
Ｂ、２２１Ｃ）と噛み合い、該第２歯車セット（２４）
が各一つの第１歯車（２１３Ａ）の外周において二つの
第２歯車（２４１Ａ、２４２Ａ）を有し、且つ該第２歯
車（２４１Ａ、２４２Ａ）がそれと対応する第１歯車
（２１３Ａ）と噛み合い、別に各一つの第２歯車（２４
１Ａ）が一つの車輪（２４３Ａ）を駆動して回転させ、
遊星フレーム（２５）が太陽歯車軸（２１１）に枢設さ
れ、並びに該遊星歯車（２２１Ａ、２２１Ｂ、２２１
Ｃ）、第２歯車（２４１Ａ、２４２Ａ、２４１Ａ、２４
２Ｂ）の軸心を駆動して太陽歯車軸（２１１）を中心と
して回転させ、 一つの駆動機構（３０）により該駆動輪（２３）が駆動
され、該運搬装置が階段の上り下り及び平地走行を行う
ことを特徴とする、階段を上り下りできる運搬装置。1. A carrying device comprising a machine frame (10) and a transmission mechanism (20) capable of climbing and descending stairs, wherein the machine frame (10) comprises a pair of handles (11A, 11B) above the machine frame (10). The transmission mechanism (20)
The sun gear set (21) and the planetary gear set (2) are provided at predetermined positions below the machine frame (10).
2), a drive wheel (23), a second gear set (24) and a planet frame (25), the sun gear set (21)
Is a sun gear shaft (211), a sun gear (212) provided on its outer edge, and a pair of first gears (213A, 213B)
And the sun gear shaft (211) has a machine frame (1
0), the planetary gear set (22) is installed on the outer periphery of the sun gear (212), and the plurality of planetary gears (221A, 221B, 2) of the planetary gear set (22) are rotated.
21C) meshes with the sun gear (212), the drive wheel (23) is an internal gear and rotates around the sun gear shaft (211), and the planetary gears (221A, 221).
B, 221C) and the second gear set (24)
Has two second gears (241A, 242A) on the outer circumference of each one first gear (213A), and the second gear (241A, 242A) meshes with the corresponding first gear (213A), Separately, each one second gear (24
1A) drives and rotates one wheel (243A),
A planet frame (25) is pivotally mounted on the sun gear shaft (211) as well as the planet gears (221A, 221B, 221).
C), the second gear (241A, 242A, 241A, 24
2B) is driven to rotate about the sun gear shaft (211), and the drive wheel (23) is driven by one drive mechanism (30), and the transport device travels up and down stairs and runs on level ground. A carrying device that can go up and down stairs, characterized by performing.
運搬装置において、伝動機構（２０）が一組の二つの自
由度の遊星歯車機構とされたことを特徴とする、階段を
上り下りできる運搬装置。2. The transport device for climbing and descending stairs according to claim 1, wherein the transmission mechanism (20) is a set of two-degree-of-freedom planetary gear mechanism. A transport device that can.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW090130848 | 2001-12-13 | ||
| TW90130848A TW522137B (en) | 2001-12-13 | 2001-12-13 | Transporting device capable of climbing and descending steps |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2003190216A true JP2003190216A (en) | 2003-07-08 |
Family
ID=21679933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2002111773A Ceased JP2003190216A (en) | 2001-12-13 | 2002-04-15 | Carrier capable of going up and down steps |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2003190216A (en) |
| DE (1) | DE10219617A1 (en) |
| TW (1) | TW522137B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103230322A (en) * | 2013-05-08 | 2013-08-07 | 河北工业大学 | Front leg mechanism of composite wheel leg type wheelchair |
| CN103767841A (en) * | 2014-01-27 | 2014-05-07 | 河北工业大学 | Wheel and crawler type dual-purpose wheelchair for both roads and stairs |
| CN108420611A (en) * | 2018-03-30 | 2018-08-21 | 王吉云 | A kind of caesarean birth postoperative metastasis cart |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7988157B2 (en) | 2006-09-19 | 2011-08-02 | Steven Rembos | Wheelchair stair assist apparatus |
| TW200844406A (en) | 2007-05-02 | 2008-11-16 | Univ Nat Chiao Tung | Sensing apparatus |
| TW200843992A (en) | 2007-05-02 | 2008-11-16 | Univ Nat Chiao Tung | Carrier with barrier-overpassing |
-
2001
- 2001-12-13 TW TW90130848A patent/TW522137B/en not_active IP Right Cessation
-
2002
- 2002-04-15 JP JP2002111773A patent/JP2003190216A/en not_active Ceased
- 2002-05-02 DE DE2002119617 patent/DE10219617A1/en not_active Ceased
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103230322A (en) * | 2013-05-08 | 2013-08-07 | 河北工业大学 | Front leg mechanism of composite wheel leg type wheelchair |
| CN103230322B (en) * | 2013-05-08 | 2015-07-15 | 河北工业大学 | Front leg mechanism of composite wheel leg type wheelchair |
| CN103767841A (en) * | 2014-01-27 | 2014-05-07 | 河北工业大学 | Wheel and crawler type dual-purpose wheelchair for both roads and stairs |
| CN108420611A (en) * | 2018-03-30 | 2018-08-21 | 王吉云 | A kind of caesarean birth postoperative metastasis cart |
Also Published As
| Publication number | Publication date |
|---|---|
| TW522137B (en) | 2003-03-01 |
| DE10219617A1 (en) | 2003-07-03 |
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