JP2004203185A - Stair ascendable/descendable vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a maintenance-free stair ascendable/descendable vehicle of a simple mechanism. <P>SOLUTION: A stair ascendable/descendable vehicle 1 comprises a base frame 3 with front and rear wheel arrangement positions on one side being different from those on the other side by a predetermined length, front wheel fixing members 5R and 5L with one end thereof turnably fitted to both front wheel arrangement positions of the base frame 3 and front wheels 9R and 9L rotatably fixed to the other end thereof, rear wheel fixing members 7R and 7L with one end thereof fixed to each rear wheel arrangement position of the base frame 3 and rear wheels 11R and 11L fixed to the other end, and elastic members 13R and 13L disposed between the front wheel fixing members 5R and 5L and the base frame 3. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stair-climbing traveling vehicle capable of ascending and descending stairs by changing the mounting positions of front and rear wheels and making the front wheels vertically movable.
[0002]
[Prior art]
As this type of traveling vehicle capable of ascending and descending stairs, for example, a "4-wheel independently driven electric wheelchair capable of ascending and descending stairs" described in Japanese Patent Application Laid-Open No. 2002-212408 has been proposed.
This four-wheel independent drive electric wheelchair capable of ascending and descending stairs has a drive shaft link attached to a base frame, four front and rear drive wheels and four front and rear idle wheels are attached to individual links, and drive by drive wheels and idle wheels In combination with the link motion, it is possible to move up and down the stairs like a scale.
[Patent Document 1] Japanese Patent Application Laid-Open No. 2002-212408 (paragraph number [0007] and thereafter (FIGS. 1, 2 and 4)
According to such a four-wheel independent drive electric wheelchair capable of ascending and descending stairs, the stairs can be ascended and descended like a scale.
[0003]
[Problems to be solved by the invention]
However, according to the above-mentioned conventional four-wheel independent drive electric wheelchair capable of ascending and descending stairs (a traveling vehicle capable of ascending and descending stairs), a complicated link mechanism was required, and an unstable surface was not escaped when ascending and descending stairs. There is also a disadvantage that maintenance is required due to the complicated mechanism.
SUMMARY OF THE INVENTION An object of the present invention is to provide a traveling vehicle that can stably ascend and descend stably with a simple mechanism, and that can maintain stairs up and down stairs.
[0004]
[Means for Solving the Problems]
In order to achieve the above object, the invention according to claim 1 of the present application relates to a stair climbable traveling vehicle capable of climbing up and down stairs, in which the arrangement position of the front and rear wheels on one side and the arrangement position of the front and rear wheels on the other side are predetermined. A base frame configured to be parallel and different at intervals, and a front wheel having a predetermined shape in which one end is rotatably fixed to each front wheel arrangement position of the base frame and the axle of the front wheel is arranged at the other end. A fixing member, a rear wheel fixing member having one end fixed to a rear wheel arrangement position of each rear wheel of the base frame, and an axle of a rear wheel arranged at the other end, wherein the front wheel fixing member is While being rotatably fixed to the base frame in a state where it is located above the frame, the other end is arranged toward the front side, and an elastic member is arranged between the front wheel fixing member and the frame. Do it The one in which the features.
The invention according to claim 2 of the present application is the traveling vehicle capable of ascending and descending stairs according to claim 1 of the present application, wherein the front wheel fixing member is formed in a substantially L shape or a substantially half moon shape. is there.
[0005]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 to FIG. 6 schematically show the structure of a traveling vehicle capable of climbing stairs according to an embodiment of the present invention.
[0006]
Here, FIG. 1 is a perspective view showing a stair-climbable traveling vehicle according to an embodiment of the present invention. FIG. 2 is a front view showing a traveling vehicle capable of moving up and down stairs according to the embodiment of the present invention. FIG. 3 is a side view showing the stair-climbable traveling vehicle according to the embodiment of the present invention. FIG. 4 is a side view showing a relationship between a front wheel fixing member, a frame, and an elastic member of the traveling vehicle capable of climbing stairs according to the embodiment of the present invention. FIG. 5 is an exploded perspective view showing, on an enlarged scale, a front wheel fixing member, a frame, and the like of the traveling vehicle capable of ascending and descending stairs according to the embodiment of the present invention. FIG. 6 is an exploded perspective view showing a relationship between a frame, a rear wheel fixing member, a rear wheel, and the like of a traveling vehicle capable of climbing stairs according to the embodiment of the present invention.
[0007]
In these figures, the stair-climbing traveling vehicle 1 is roughly classified into a base frame 3, front wheel fixing members 5R and 5L having special shapes, rear wheel fixing members 7R and 7L, front wheels 9R and 9L, and rear wheels. It has wheels 11R, 11L and elastic members 13R, 13L, and is configured as follows.
As shown in FIGS. 1 and 3, the axles of the front wheel 9R on one side and the front wheel 9L on the other side are different from each other by a predetermined length D, and the base frame 3 The axles of the wheel 11R and the rear wheel 11L on the other side are arranged so as to be different from each other by a predetermined length d. The front wheel side length D and the rear wheel side length d may be the same or different.
[0008]
As shown in FIGS. 1, 3, 4, and 5, the front wheel fixing members 5R, 5L are formed in an inverted L-shape with a predetermined length. These front wheel fixing members 5R, 5L are fixed to the mounting portion of the base frame 3 by fixing members 17 so that the inverted L-shaped one ends 5La, 5Ra are rotatable. In addition, these front wheel fixing members 5R, 5L have one side of the other end 5Lb, 5Rb of the inverted L shape positioned above the base frame 3 and one side of the other end 5Lb, 5Rb of the inverted L shape. Are arranged with the front end facing forward (left side in the figure). Front wheels 9R, 9L are rotatably fixed to the other ends 5Lb, 5Rb of the front wheel fixing members 5R, 5L, respectively, and the front wheel fixing members 5R, 5L are arranged to be rotatable about the fixing member 17 as center. ing. Therefore, when the vehicle comes into contact with an obstacle during traveling, the entire front wheels 9R and 9L are configured to rotate upward including the axle.
[0009]
As shown in FIGS. 1, 3, and 6, the rear wheel fixing members 7R and 7L are formed in a substantially inverted L-shape. As shown in FIG. 6, the rear wheel fixing members 7R and 7L are fixed to the base frame 3 by fixing members 19 and 19, respectively, on one side of the substantially inverted L-shaped one end 7Ra and 7La. Further, rear wheels 11R and 11L are fixed to the other ends 5Rb and 5Lb of the rear wheel fixing members 7R and 7L, respectively, so as to be rotatable around an axle.
[0010]
Further, the elastic members 13R, 13L are interposed between predetermined mounting portions 21R, 21L on the other end 5Rb, 5Lb side of the front wheel fixing members 5R, 5L and mounting portions 23R, 23L of the base frame 3. I have.
The structure in which the front wheels 9R and 9L are fixed to the front wheel fixing members 5R and 5L and the structure in which the rear wheels 11R and 11L are fixed to the rear wheel fixing members 7R and 7L are not limited to those shown in the drawings. Any structure may be used as long as the wheel is securely fixed and the rotational movement of the wheel can be freely performed. For example, as a modified embodiment structure, as shown in FIG. 7, a structure similar to that shown in FIGS. 1 to 5, that is, the rear wheel fixing members 7R and 7L are configured to be rotatable about a fixing member 19. In addition, the same rear elastic members 13R and 13L as those indicated by the front wheel portion may be interposed, so that the entire rear wheel including the axle is largely ascended and rotated.
[0011]
The elastic members 13L and 13R may have any structure as long as they have a predetermined restoring force.
Such a stair-climbing operation of the stair-climbing traveling vehicle 1 will be described with reference to FIGS. 1 to 7 and FIG. Here, FIG. 8 is a diagram for explaining the operation when the stairs can be moved up and down by the stairs-movable vehicle according to the embodiment of the present invention.
When traveling on a horizontal plane, the vehicle travels by front wheels 9R and 9L and rear wheels 11R and 11L.
[0012]
Next, as shown in FIG. 8 (a), when the front wheel 9R of the stair-climbing traveling vehicle 1 of the present invention comes into contact with the vertical surface of the stairs and further moves forward to go straight, the front wheel fixing member 5R becomes the base frame 3 , The front wheel 9R is retracted equivalently, and as a result, the front wheel 9R rises along the vertical plane of the stairs. . At this time, the posture of the base frame 3 can be kept horizontal between the front wheel 9L and the rear wheels 11R and 11L. This is because the positions of the rotation centers of the front wheels 9R and 9L are shifted by a predetermined length D, and the rotation centers of the rear wheels 11R and 11L are shifted by a predetermined length d.
[0013]
Further, when the base frame 3 is moved forward as it is, the front wheel fixing member 5R further rotates around the rotation shaft (fixing member) 17 of the base frame 3, and the front wheel 9R further retreats, and as a result, FIG. As shown in FIG. 8 (b), the shape becomes equivalently higher and higher along the vertical plane of the stairs.
When the front wheel 9R moves up the vertical plane of the stairs, as shown in FIG. 8C, the front wheel 9R is positioned on the horizontal plane one step above the stairs, and the restoring force of the elastic member 13R causes the base frame 3 Is kept horizontal by the front wheel 9R and the rear wheels 11R and 11L. At this time, since the vehicle further advances, the front wheel 9L comes into contact with the vertical surface of the stairs as shown in FIG. 8C.
[0014]
Then, when the front wheel 9L comes into contact with the vertical surface of the stairs and further advances straight ahead, the front wheel fixing member 5L rotates around the rotation axis of the front mounting position 3Lf of the base frame 3, The front wheel 9L moves rearward, and as a result, the front wheel 9R rises equivalently along the vertical plane of the stairs. At this time, the posture of the base frame 3 is kept horizontal between the front wheel 9R and the rear wheels 11R and 11L for the above-described reason.
[0015]
Further, when the base frame 3 is moved forward as it is, the front wheel 9L further rises along the vertical plane of the stairs.
When the front wheel 9L moves up the vertical plane of the stairs, the front wheel 9L is positioned on the horizontal plane one step higher than the stairs, and the restoring force of the elastic member 13R changes the posture of the base frame 3 to the front wheel 9L and the rear wheels 11R, 11R. It will be kept horizontal with 11L. Further, at this time, since the vehicle further advances, the front wheel 9R again comes into contact with the second vertical surface of the stairs.
By repeating such an operation, the stair-climbable traveling vehicle 1 according to the embodiment of the present invention can climb the stairs.
[0016]
As described above, according to the stair-climbable traveling vehicle 1 according to the embodiment of the present invention, the stairs can be reliably climbed with a simple mechanism, and one wheel, for example, at the time of climbing the stairs. Even if one of the front wheels is climbing up against the vertical surface of the stairs, the other three wheels are always instructed on another horizontal plane, and can always run stably. Due to its structure, it is maintenance-free and can be reduced in weight.
In the above embodiment, the front wheel fixing members 5R and 5L are described as having an inverted L shape, but the present invention is not limited to this. For example, the front wheel fixing members 5R and 5L may be formed in a substantially half-moon shape or on a straight line. In this case, in the case of linear front wheel fixing members 5R and 5L, it is necessary to devise a state of attachment to base frame 3.
[0017]
In the above embodiment, the rear wheel fixing members 7R and 7L are described as being fixed to the base frame 3. However, the present invention is not limited to this. For example, the rear wheel fixing members 7R and 7L In the state where it is located on the lower side, one end thereof is rotatably fixed to the base frame 3 and the other end is disposed toward the rear side, and the rear wheel fixing members 7R, 7L and the base A configuration in which an elastic buffer member is arranged between the frame and the frame 3 may be adopted. In this case, the riding comfort is improved by the action of the elastic cushioning member.
[0018]
【The invention's effect】
As described above, according to the traveling vehicle capable of ascending and descending stairs according to the embodiment of the present invention, the stairs can be reliably ascended with a simple mechanism, and one wheel, for example, the front wheel is also used during ascending and descending stairs Even if one is in contact with the vertical surface of the stairs and is climbing, the other three wheels are always instructed on the other horizontal plane, and can always run stably. Due to its structure, it is maintenance-free and can be reduced in weight.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a stair-climbing traveling vehicle according to an embodiment of the present invention.
FIG. 2 is a front view showing a stair-climbable traveling vehicle according to the embodiment of the present invention.
FIG. 3 is a side view showing a traveling vehicle capable of ascending and descending stairs according to the embodiment of the present invention.
FIG. 4 is a side view showing a relationship between a front wheel fixing member, a frame, and an elastic member of the traveling vehicle capable of moving up and down stairs according to the embodiment of the present invention.
FIG. 5 is an exploded perspective view showing a front wheel fixing member, a frame, and the like of the traveling vehicle capable of moving up and down stairs according to the embodiment of the present invention.
FIG. 6 is a side view showing a relationship between a rear wheel fixing member, a frame, and an elastic cushioning member of the traveling vehicle capable of moving up and down stairs according to the embodiment of the present invention.
FIG. 7 is a side view showing a modified example of the rear wheel fixing member, the frame, and the elastic cushioning member according to the embodiment of the present invention;
FIG. 8 is a diagram for explaining an operation when the stairs can be moved up and down by the stairs-movable vehicle according to the embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF REFERENCE NUMERALS 1 stair climbable traveling vehicle 3 base frame 5R, 5L front wheel fixing member 7R, 7L rear wheel fixing member 9R, 9L front wheel 11R, 11L rear wheel 13L, 13R elastic member 15L, 15R elastic buffer member 17, 18 fixing member

Claims (2)

In a stair climbable traveling vehicle that can climb stairs,
A base frame configured by disposing the arrangement position of the front and rear wheels on one side and the arrangement position of the front and rear wheels on the other side in parallel at predetermined intervals,
A front wheel fixing member having a predetermined shape in which one end is rotatably fixed to each front wheel arrangement position of the base frame, and an axle of the front wheel is arranged at the other end;
A rear wheel fixing member having one end fixed to a rear wheel arrangement position of each rear wheel of the base frame, and an axle of the rear wheel arranged at the other end;
The front wheel fixing member is rotatably fixed to the base frame in a state where the front wheel fixing member is positioned above the base frame, and the other end is disposed toward the front side, and the front wheel fixing member and the frame A stair-climbing traveling vehicle comprising an elastic member disposed between the vehicle and the vehicle. The stair climbable traveling vehicle according to claim 1, wherein the front wheel fixing member is formed in a substantially L shape or a substantially half moon shape.

Images