JP2004209056A - Carriage - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a carriage for preventing, through the use of a simply structured mechanism, wheels from being lifted up in climbing a slope. <P>SOLUTION: A front half carriage part (20) having left and right front wheels (25) is connected to a rear half carriage part (30) having rear wheels (34) by a connection member (40). The connection member includes at least a pair of left and right axial parts (41) extending mutually in parallel in front and rear directions on the same horizontal plane. The front end parts of the left and right axial parts are supported by the front half carriage part, and the rear end parts of them by the rear half carriage part. The left and right axial parts of the connection member are twisted around the center axial line between the axial parts, so that the left and right front and rear wheels follow the change of the surface of a travelling road. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

【００１７】
上記式を解くと、不静定力Ｘ＝１１４．４ｋｇｆ、Ｙ＝５６９５ｋｇｆ・ｍｍとなる。
【００１８】
また、図１１の（ａ）に示される剪断力Ｘによるたわみδ１を求めると、
δ１＝（Ｘ−Ｐ）Ｌ２^３／３ＥＩ＝−２１．８ｍｍ
となる。
【００１９】
図１１の（ｂ）に示されるねじりモーメントＹによるたわみδ２を求めると、
δ２＝ＹＬ２^２／２ＥＩ＝１４．２ｍｍ
となる。よって、点Ａのたわみδ＝δ１＋δ２＝−７．６ｍｍとなる
【００２０】
よって、点Ａのたわみ＝２δ＝−１５．２ｍｍとなる。これを車輪の高低差Ｈに換算すると、Ｈ＝１５．２ｍｍ×４５０ｍｍ／１７０ｍｍ＝約４０ｍｍとなる。
【００２１】
図１２に示されるように、傾斜１０°の傾斜路に対して台車が斜め３０°の方向から登坂する場合を考えると、台車の右前輪は右後輪に対して約２０ｍｍ上、左前輪は左後輪に対して約２０ｍｍ下になり、上述の力学モデルから明らかなように、前輪が後輪に対して約４０ｍｍだけ捩じれると、車輪を浮き上がらせることなく登坂できることとなる。
【００２２】
また、パイプの強度を検討すると、パイプに作用する曲げモーメントＭ及びねじりモーメントＴは、
Ｍ＝（Ｘ−Ｐ）Ｌ２＋Ｙ＝−７４３６ｋｇｆ・ｍｍ
Ｔ＝ＸＬ１＝９７２１ｋｇｆ・ｍｍ
となることから、相当曲げモーメントＭｅ及び相当ねじりモーメントＴｅは
Ｍｅ＝Ｍ／２＋１／２・√（Ｍ^２＋Ｔ^２）＝９８３７ｋｇｆ・ｍｍ
Ｔｅ＝√（Ｍ^２＋Ｔ^２）＝１２２３９ｋｇｆ・ｍｍ
となり、パイプの断面係数Ｚ＝４６３．８ｍｍ^３、極断面係数Ｚｐ＝９２７．６ｍｍ^３から、最大曲げ応力σ＝Ｍｅ／Ｚ＝２１．２ｋｇｆ／ｍｍ^２、最大ねじり応力τ＝Ｔｅ／Ｚｐ＝１３．２ｋｇｆ／ｍｍ^２となる。したがって、強度的にも成立することとなる。
【００２３】
台車前半部及び台車後半部は左右の車輪を有するものであればどのような構造でもよいが、車椅子や荷物搬送車の用途に用いることを考慮すると、台車前半部及び台車後半部の上に車椅子用の椅子や荷物を搭載できるように上面が平坦になっているのがよい。
【００２４】
連結部材は相互に平行に前後方向に延びる左右一対の軸部を少なくとも有していればよく、例えばＵ字状の部材でもよく、二本のシャフト状の部材でもよい。連結部材の軸部は中実の部材でもよいが、軽量化という点からはパイプが好ましい。軸部の材質は特に限定されず、金属材料や合成樹脂材料等を用いることができる。
【００２５】
台車は手押し式としてもよく、自走式としてもよい。自走式とする場合には 台車後半部には後輪を回転駆動する駆動モータ、電源から駆動モータに通電する通電回路、及び駆動モータへの通電を制御する制御装置を搭載するのがよい。制御装置は例えばマイクロコンピュータによって構成することができる。また、制御装置は有線信号によって操作してもよく、無線信号によって遠隔操作をするようにしてもよい。
【００２６】
部屋の出入口等、狭い所を通過する時には台車の操舵が難しいことが多い。そこで、所定の箇所の手前の所定距離になると、自動操縦に切り換わって予め定められた経路を走行させ、狭い箇所の幅方向の中央を通過できるようにするのがよい。
【００２７】
即ち、台車前半部には所定の箇所からの距離を検知する距離センサーを設け、制御装置は距離センサーの信号を受け、所定の箇所の所定距離の手前から予め設定された経路に沿って走行するように駆動モータへの通電を制御するように構成するのがよい。所定箇所には例えば傾斜路を挙げることができる。
【００２８】
【発明の実施の形態】
以下、本発明を具体例に基づいて詳細に説明する。図１ないし図６は本発明に係る台車の好ましい実施形態を示す。本例の台車１０は基本的には台車前半部２０、台車後半部３０及び連結部材４０から構成されている。
【００２９】
台車前半部２０には前部フレーム２１が設けられ、前部フレーム２１は平面四角形状のアルミ板又は木板を用いて製作され、前部フレーム２１の上には平面四角形状のバランスプレート２２が搭載され、前部フレーム２１とバランスプレート２２とはその幅方向の中央の前部及び後部において蝶番２３によって相互に連結されている。
【００３０】
また、前部フレーム２１には超音波受信機（距離センサー）７０Ａ、７０Ｂが取付けられ、又前部フレーム２１とバランスプレート２２との間には幅方向の両側においてスポンジゴム２４が介在されてバランスプレート２２の平衡が保たれ、又前部フレーム２１の下面両側には自在キャスター（前輪）２５が設けられている。なお、超音波受信機に代え、赤外線受信機、電波受信機等を採用することもできる。
【００３１】
他方、台車後半部３０には後部フレーム３１が設けられ、後部フレーム３１は平面四角形状のアルミ板又は木板を用いて製作され、後部フレーム３１の下面両側には取付けブラケット３２によって車軸３３が回転自在に取付けられ、車軸３３の外側端部にはゴム車輪（後輪）３４が固定され、車軸３３の内側端部にはプーリ３５が固定されている。
【００３２】
また、後部フレーム３１の下面両側には取付けブラケット３２の前方に駆動モータ３６が取付けられ、駆動モータ３６の回転軸にはプーリ３７が固定され、駆動モータ３６のプーリ３７と車軸３３のプーリ３５との間はタイミングベルト３８が掛けわたされている。
【００３３】
さらに、後部フレーム３１の上面にはほぼ逆Ｕ字状をなす手すり３９が起立して取付けられ、手すり３９には操作ボックス３１０が設けられ、該操作ボックス３１０には台車１０を操舵するためのボタン類（図示せず）が設けられている。なお、遠隔操作を行う場合には操作ボックス３１０内に無線信号を受信する受信機を内蔵するのがよい。
【００３４】
また、前部フレーム２１の下面にはバッテリ６１が搭載される一方、後部フレーム３１の下面にはバッテリ６１から駆動モータ３６に通電する通電回路６０、通電回路６０を制御する制御装置５０が搭載され、制御装置５０は操作ボックス３１０と電気的に接続されている。なお、電気的な接続方法は公知の方法であるので、その詳細な説明は省略する。
【００３５】
連結部材４０はパイプを用い、左右一対の軸部４１を有するようにほぼＵ字状に製作され、連結部材４０の左右の軸部４１の前端部分はパイプクランプ４２によって前部フレーム２１の下面に取付けられ、左右の軸部４１の後端部分はパイプホルダー４３によって後部フレーム３１の下面に取付けられている。
【００３６】
制御装置５０は基本的にはマイクロコンピュータによって実現され、機能的には図５に示されるように、距離演算手段５１Ａ、５１Ｂ、位置演算手段５２、走行経路記憶手段５３及び駆動制御手段５４から構成されてる。
【００３７】
距離演算手段５１Ａ、５１Ｂはマイクロコンピュータ内のＣＰＵによって実現される機能手段であって、超音波受信機７０Ａ、７０Ｂの信号を受け、超音波送信機７０Ｃ、７０Ｄとの間の距離を演算するようになっている。
【００３８】
位置演算手段５２はマイクロコンピュータ内のＣＰＵによって実現される機能手段であって、距離演算手段５１Ａ、５１Ｂの信号を受け、図６に示されるように超音波送信機７０Ｃ、７０Ｄを中心とする仮想円の２つの交点、つまり超音波受信機７０Ａ、７０Ｂの中間の実位置と実位置と対称に現れる虚位置Ｃを求め、台車１０の動きによる距離の変化によって、超音波送信機７０Ｃ、７０Ｄからの台車１０の実位置を求めるようになっている。
【００３９】
走行経路記憶手段５３はマイクロコンピュータ内のメモリやハードディスク、その他の公知の記憶装置によって実現される機能手段であって、台車１０の所定の走行経路を記憶している。この走行経路はパーソナルコンピュータ等で台車１０の最適な走行をシミュレートし、その走行経路を記憶させるようにしてもよく、又台車１０を手押しによって実際に走行させることによって最適な走行経路を学習させ、記憶させるようにしてもよい。
【００４０】
駆動制御手段５４はマイクロコンピュータ内のＣＰＵによって実現される機能手段であって、位置演算手段５２の信号と走行経路記憶手段５３の信号とによって超音波送信機７０Ａ、７０Ｂから所定の距離になった時に台車１０が所定の走行経路を走行するように左右の後輪３４の駆動モータ３６の通電回路５０を制御するようになっている。
【００４１】
図７は簡易スロープ８０の１例を示す。図において、簡易スロープ８０は上下のプレート８１、８２の一端縁を蝶番８３で枢支し、プレート８１、８２の他端側に厚さの異なるスペーサ８４〜８６の１つを選択して介在させて構成されている。また、上プレート８１の左右の両側には超音波送信機７０Ｃ、７０Ｄが取付けられている。台車１０に赤外線受信機や無線受信機を搭載する場合には超音波送信機に代え、赤外線送信機や無線送信機等を用いる。
【００４２】
例えば、本例の台車１０を荷物搬送車として利用する場合、走行経路の途中に段差がある箇所には図７に示される簡易スロープ８０を設置する。そして、台車１０のバランスプレート２２及び後部フレーム３１の上に荷物Ｗを載せ、手すり３９を手で持ち、操作ボックス３１０を手操作又は遠隔操作し、左右の後輪３４の駆動モータ３６への通電を制御し、台車１０を所望の経路で走行させる。
【００４３】
台車１０が簡易スロープ８０の近くまでくると、簡易スロープ８０の超音波送信機７０Ｃ、７０Ｄから超音波信号が発せられており、超音波信号が台車１０の超音波受信機７０Ａ、７０Ｂで受信され、制御装置５０で超音波送信機７０Ｃ、７０Ｄからの台車１０の位置が求められている。
【００４４】
台車１０が超音波送信機７０Ｃ、７０Ｄから所定の距離になると、制御装置５０は操作ボックス３１０による制御から自動制御に切り換わり、予め定められた走行経路Ｅに沿って台車１０を走行させ、簡易スロープ８０を登坂させ、段差を乗り越えさせる。
【００４５】
他方、図１１に示されるように台車１０が簡易スロープ８０を斜めに登坂する場合、台車１０の重量及び荷物Ｗの重量に起因し、連結部材４０の左右の軸部４１の幅方向中央を中心軸線とし、左右の軸部４１にその中心軸線の廻りにねじれが起こるので、左右の前輪２５及び左右の後輪３４が簡易スロープ８０の斜面の変化に追従して上下に変位し、前後左右の車輪２５、３４が浮き上がることなく台車１０は簡易スロープ８０を登坂する。
【００４６】
図８及び図９は荷物Ｗがゴムシート等、柔軟性をもつ場合の第２の実施形態を示し、図において図１ないし図６と同一符号は同一又は相当部分を示す。本例では連結部材４０は２本のパイプ（軸部）４１から構成され、パイプ４１の前端部分及び後端部分は各々２つのパイプホルダー４２、４３によって台車前半部２０の前部フレーム２１及び台車後半部３０の後部フレーム３１の下面に支持され、又前部フレーム２１及び後部フレーム３１の２つのパイプホルダー４２，４３のうちの各１つにはセットカラー４５が設けられてパイプ４１が抜け止めされている。
【００４７】
このように、連結部材４０を２本の軸部４１によって構成しても第１の実施形態と同様の作用効果を奏するばかりでなく、パランスプレート２２が省略できるので、低コスト化及び軽量化を図ることができる。
【００４８】
また、第１の実施形態では超音波受信機７０Ａ、７０Ｂを設け、自動制御を行うようにしたが、本例でも同様に超音波受信機７０Ａ、７０Ｂを取り付けて、自動制御を行うことも出来る。
【００４９】
なお、上記実施の形態では荷物搬送車を例に説明したが、荷物Ｗに代え、車椅子用の椅子を搭載するようにすると、車椅子として用いることもできる。また、操作ボックス３１０に無線信号の受信機能を設け、遠隔操作できるように構成してもよい。また、手すり３９は必ずしも設ける必要はない。
【図面の簡単な説明】
【図１】本発明に係る台車の好ましい実施形態を示す平面構成図である。
【図２】上記実施形態を示す側面構成図である。
【図３】上記実施形態を示す正面構成図である。
【図４】上記実施形態を示す背面構成図である。
【図５】上記実施形態における制御装置を示す機能ブロック図である。
【図６】上記実施形態における台車位置を求める方法を説明するための図である。
【図７】上記実施形態において用いる簡易スロープを示す図である。
【図８】第２の実施形態を示す平面構成図である。
【図９】上記実施形態を示す側面構成図である。
【図１０】課題を解決するための手段を説明するための力学モデルを示す図である。
【図１１】課題を解決するための手段を説明するための図である。
【図１２】課題を解決するための手段を説明するための図である。
【符号の説明】
１０ 台車
２０ 台車前半部
２５ 自在キャスター（前輪）
３０ 台車後半部
３４ ゴム車輪（後輪）
３６ 駆動モータ
４０ 連結部材
４１ 軸部
５０ 制御装置
６０ 通電回路
６１ 電源
７０Ａ、７０Ｂ 超音波受信機（距離センサー）
８０ 簡易スロープ[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a carriage, for example, a four-wheel self-propelled wheelchair, a luggage carrier, and the like, and relates to a carriage capable of smoothly and smoothly climbing an inclined road.
[0002]
[Prior art]
For example, in the case of an elderly person or a sick person who is difficult to walk on their own (hereinafter also referred to as a person who needs assistance), a wheelchair is often used for the movement not only outdoors but also indoors.
[0003]
Recently, in consideration of the convenience of wheelchair users, the so-called barrier-free concept of providing slopes on steps such as roads and stairs so that wheelchairs can pass smoothly is becoming increasingly popular. Steps such as sidewalks still remain a problem, and wheelchairs often cannot pass smoothly.
[0004]
On the other hand, work is being done to eliminate steps such as doors when it is difficult for elderly people or sick people to walk on their own, but a simple slope should be installed in places with steps such as doors. Has also been done.
[0005]
However, when a simple slope is installed, the wheelchair may not be able to turn freely because of space in the room, and the wheelchair cannot be moved straight over the inclination direction of the simple slope. The wheelchair's wheels may be lifted off the floor.
[0006]
By the way, in consideration of the case where a person requiring assistance cannot operate the wheel by himself or the case where assistance from a third party cannot be expected, various four-wheel self-propelled wheelchairs have been developed and put into practical use. In such a self-propelled wheelchair, if one of the driving wheels is lifted off the floor, it cannot move.
[0007]
On the other hand, a front and rear wheels are connected by a link mechanism so that the front and rear wheels can be displaced up and down (refer to Patent Document 1), a front half of a truck having left and right front wheels, and a rear half of a truck having left and right rear wheels. Have been proposed so that the front and rear wheels can be displaced up and down, and so on (see Patent Document 2, for example).
[0008]
[Patent Document 1] Japanese Patent Application Laid-Open No. 04-356271 [Patent Document 2] Japanese Patent Application Laid-Open No. 62-152983
[Problems to be solved by the invention]
However, any of the carts described in the above-mentioned conventional publications is a mechanism that is employed for industrial applications and the like, and is very complicated, resulting in high costs, simple structure, light weight, and appropriate cost. It is hard to adopt to the required wheelchair.
[0010]
This invention makes it a subject to provide the trolley | bogie which made it possible to prevent the lift of a wheel with a simple structure mechanism in view of this problem.
[0011]
[Means for Solving the Problems]
Therefore, the carriage according to the present invention is a carriage that has front, rear, left, and right wheels, and that can be climbed obliquely on the ramp without raising the wheels, and the carriage first half having left and right front wheels, and the carriage The rear half of the carriage having left and right rear wheels provided at a distance from the front half and at least a pair of left and right shafts extending in parallel in the front-rear direction in the same horizontal plane, The front end of the shaft is supported by the front half of the carriage, the rear end is supported by the rear half of the carriage, and the left and right shafts are twisted around the central axis between them, thereby moving the left and right front wheels and rear wheels together. And a connecting member capable of following the road surface change of the traveling road.
[0012]
One of the features of the present invention is that the front half of the carriage and the rear half of the carriage are connected by a pair of left and right shaft portions of the connecting member, and the twist of the left and right shaft portions is utilized around the central axis between the pair of left and right shaft portions. This is because the front and rear wheels are made to follow changes in the travel path.
[0013]
As a result, the wheel does not lift even when climbing the slope at an angle, and the carriage can climb smoothly. The central axis line between the left and right shaft portions is an axis that exists in the same horizontal plane as the shaft portions and extends parallel to the shaft portions at the center in the width direction of the left and right shaft portions.
[0014]
Here, the behavior of the connecting member in the cart according to the present invention will be described using a mechanical model as an example. As for the connecting member, the mechanical model shown in FIG. 10A can be assumed, but when examining the behavior of the shaft portion, a model cut at the midpoint C of AB as shown in FIG. 10B. Need to think about. In FIG. 10B, X and Y are the shearing force and the torsional moment as the statically indefinite force.
[0015]
Assuming that the shaft portion has an outer diameter of 22 mm, an inner diameter of 19 mm, a length AB = 2 × L1 = 170 mm, and a length AD = L2 = 730 mm, the sectional secondary moment I = 5102 mm ⁴ and the sectional secondary pole moment J = 10204 mm. ⁴ Assuming that a load of 200 kg of luggage is applied evenly to the four wheels, and assuming that the distance in the width direction of the wheels is 450 mm, the load applied to the point A is P = 50 kgf × 450 mm / 170 mm = 132.4 kgf. The longitudinal elastic modulus E = 21000 kgf / mm ² and the lateral elastic modulus G = 8000 kgf / mm ² .
[0016]
[Formula 1]

[0017]
When the above equation is solved, the static instability force X = 114.4 kgf and Y = 5695 kgf · mm.
[0018]
Further, when the deflection δ1 due to the shearing force X shown in FIG.
δ1 = (X−P) L2 ³ /3EI=−21.8 mm
It becomes.
[0019]
When the deflection δ2 due to the torsional moment Y shown in FIG.
δ2 = YL2 ² /2EI=14.2 mm
It becomes. Therefore, the deflection at point A is δ = δ1 + δ2 = −7.6 mm.
Therefore, the deflection at the point A = 2δ = −15.2 mm. When this is converted into a wheel height difference H, H = 15.2 mm × 450 mm / 170 mm = about 40 mm.
[0021]
As shown in FIG. 12, when considering a case where the carriage climbs from an oblique direction of 30 ° with respect to an inclined road having an inclination of 10 °, the right front wheel of the carriage is about 20 mm above the right rear wheel, and the left front wheel is If the front wheel is twisted by about 40 mm with respect to the rear wheel, as will be clear from the left rear wheel and about 20 mm below the above-mentioned dynamic model, the vehicle can climb up without raising the wheel.
[0022]
Also, when considering the strength of the pipe, the bending moment M and torsion moment T acting on the pipe are:
M = (X−P) L2 + Y = −7436 kgf · mm
T = XL1 = 9721 kgf · mm
Therefore, the equivalent bending moment Me and the equivalent torsional moment Te are Me = M / 2 + 1/2 · √ (M ² + T ² ) = 9837 kgf · mm.
Te = √ (M ² + T ² ) = 12239 kgf · mm
From the section modulus of the pipe Z = 463.8 mm ³ and the pole section coefficient Zp = 927.6 mm ³ , the maximum bending stress σ = Me / Z = 21.2 kgf / mm ² and the maximum torsional stress τ = Te / Zp = 13 ² kgf / mm ² . Therefore, the strength is also established.
[0023]
The front half of the carriage and the rear half of the carriage may have any structure as long as it has left and right wheels, but considering use in a wheelchair or a load carrier vehicle, the wheelchair is placed on the front half of the carriage and the latter half of the carriage. The upper surface should be flat so that chairs and luggage can be loaded.
[0024]
The connecting member only needs to have at least a pair of left and right shaft portions extending in the front-rear direction in parallel to each other, and may be, for example, a U-shaped member or two shaft-shaped members. The shaft portion of the connecting member may be a solid member, but a pipe is preferable in terms of weight reduction. The material of the shaft portion is not particularly limited, and a metal material, a synthetic resin material, or the like can be used.
[0025]
The trolley may be hand-held or self-propelled. In the case of the self-propelled type, it is preferable to mount a drive motor that rotates the rear wheels, an energization circuit that energizes the drive motor from the power source, and a control device that controls energization of the drive motor in the rear half of the carriage. The control device can be configured by a microcomputer, for example. Further, the control device may be operated by a wired signal or may be remotely operated by a wireless signal.
[0026]
It is often difficult to steer a cart when passing through a narrow space such as a room entrance. Therefore, when it becomes a predetermined distance before a predetermined location, it is preferable to switch to automatic steering and travel along a predetermined route so that it can pass through the center in the width direction of a narrow location.
[0027]
That is, a distance sensor for detecting a distance from a predetermined location is provided in the first half of the carriage, and the control device receives a signal from the distance sensor and travels along a predetermined route from a predetermined distance before the predetermined location. In this way, it is preferable to control the energization of the drive motor. An example of the predetermined location is a ramp.
[0028]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described in detail based on specific examples. 1 to 6 show a preferred embodiment of a carriage according to the present invention. The cart 10 of this example is basically composed of a cart first half 20, a cart second half 30 and a connecting member 40.
[0029]
A front frame 21 is provided in the front half 20 of the carriage, and the front frame 21 is manufactured using a flat rectangular aluminum plate or a wooden board, and a flat rectangular balance plate 22 is mounted on the front frame 21. The front frame 21 and the balance plate 22 are connected to each other by a hinge 23 at the front portion and the rear portion in the center in the width direction.
[0030]
In addition, ultrasonic receivers (distance sensors) 70A and 70B are attached to the front frame 21, and sponge rubber 24 is interposed between the front frame 21 and the balance plate 22 on both sides in the width direction for balancing. The plate 22 is kept in balance, and free casters (front wheels) 25 are provided on both sides of the lower surface of the front frame 21. In place of the ultrasonic receiver, an infrared receiver, a radio wave receiver, or the like may be employed.
[0031]
On the other hand, a rear frame 31 is provided in the rear half 30 of the carriage, and the rear frame 31 is manufactured by using a flat quadrangular aluminum plate or wood board, and an axle 33 is freely rotatable by mounting brackets 32 on both sides of the lower surface of the rear frame 31. A rubber wheel (rear wheel) 34 is fixed to the outer end of the axle 33, and a pulley 35 is fixed to the inner end of the axle 33.
[0032]
In addition, a drive motor 36 is attached to the front side of the mounting bracket 32 on both sides of the lower surface of the rear frame 31, and a pulley 37 is fixed to the rotating shaft of the drive motor 36, and the pulley 37 of the drive motor 36 and the pulley 35 of the axle 33. Between them, a timing belt 38 is hung.
[0033]
Further, a handrail 39 having a substantially inverted U shape is erected and attached to the upper surface of the rear frame 31, and an operation box 310 is provided on the handrail 39, and a button for steering the carriage 10 is provided on the operation box 310. A class (not shown) is provided. In the case of performing a remote operation, it is preferable to incorporate a receiver for receiving a radio signal in the operation box 310.
[0034]
A battery 61 is mounted on the lower surface of the front frame 21, while an energization circuit 60 for energizing the drive motor 36 from the battery 61 and a control device 50 for controlling the energization circuit 60 are mounted on the lower surface of the rear frame 31. The control device 50 is electrically connected to the operation box 310. In addition, since the electrical connection method is a well-known method, the detailed description is abbreviate | omitted.
[0035]
The connecting member 40 uses a pipe and is manufactured in a substantially U shape so as to have a pair of left and right shaft portions 41, and the front end portions of the left and right shaft portions 41 of the connecting member 40 are attached to the lower surface of the front frame 21 by a pipe clamp 42. The rear end portions of the left and right shaft portions 41 are attached to the lower surface of the rear frame 31 by the pipe holder 43.
[0036]
The control device 50 is basically realized by a microcomputer and functionally comprises distance calculating means 51A, 51B, position calculating means 52, travel route storage means 53, and drive control means 54 as shown in FIG. It has been done.
[0037]
The distance calculation means 51A and 51B are functional means realized by the CPU in the microcomputer, and receive signals from the ultrasonic receivers 70A and 70B and calculate the distances between the ultrasonic transmitters 70C and 70D. It has become.
[0038]
The position calculation means 52 is a functional means realized by a CPU in the microcomputer. The position calculation means 52 receives signals from the distance calculation means 51A and 51B, and as shown in FIG. 6, a virtual operation centered on the ultrasonic transmitters 70C and 70D. Two intersections of the circles, that is, an intermediate real position between the ultrasonic receivers 70A and 70B and an imaginary position C appearing symmetrically with the real position are obtained, and the ultrasonic transmitters 70C and 70D The actual position of the cart 10 is obtained.
[0039]
The travel route storage means 53 is a functional means realized by a memory, a hard disk, or other known storage device in the microcomputer, and stores a predetermined travel route of the carriage 10. This travel route may simulate the optimum travel of the carriage 10 with a personal computer or the like, and the travel route may be stored, or the optimum travel route is learned by actually running the carriage 10 by hand. You may make it memorize.
[0040]
The drive control means 54 is a functional means realized by a CPU in the microcomputer, and has become a predetermined distance from the ultrasonic transmitters 70A and 70B by the signal of the position calculation means 52 and the signal of the travel route storage means 53. Sometimes, the energization circuit 50 of the drive motor 36 of the left and right rear wheels 34 is controlled so that the carriage 10 travels along a predetermined travel route.
[0041]
FIG. 7 shows an example of the simple slope 80. In the figure, a simple slope 80 pivotally supports one end edge of the upper and lower plates 81 and 82 with a hinge 83, and selects and interposes one of spacers 84 to 86 having different thicknesses on the other end side of the plates 81 and 82. Configured. In addition, ultrasonic transmitters 70 </ b> C and 70 </ b> D are attached to the left and right sides of the upper plate 81. When an infrared receiver or a wireless receiver is mounted on the carriage 10, an infrared transmitter or a wireless transmitter is used instead of the ultrasonic transmitter.
[0042]
For example, when the cart 10 of this example is used as a load transport vehicle, a simple slope 80 shown in FIG. Then, the load W is placed on the balance plate 22 and the rear frame 31 of the carriage 10, the handrail 39 is held by hand, the operation box 310 is operated manually or remotely, and the drive motor 36 for the left and right rear wheels 34 is energized. To control the carriage 10 to travel along a desired route.
[0043]
When the carriage 10 comes close to the simple slope 80, ultrasonic signals are emitted from the ultrasonic transmitters 70C and 70D of the simple slope 80, and the ultrasonic signals are received by the ultrasonic receivers 70A and 70B of the carriage 10. The position of the carriage 10 from the ultrasonic transmitters 70C and 70D is determined by the control device 50.
[0044]
When the cart 10 reaches a predetermined distance from the ultrasonic transmitters 70C and 70D, the control device 50 switches from the control by the operation box 310 to the automatic control, runs the cart 10 along a predetermined travel route E, and is simplified. Climb slope 80 and get over the step.
[0045]
On the other hand, as shown in FIG. 11, when the carriage 10 climbs the simple slope 80 obliquely, the center of the left and right shaft portions 41 of the connecting member 40 is centered in the width direction due to the weight of the carriage 10 and the weight of the load W. Since the left and right shaft portions 41 are twisted around the central axis, the left and right front wheels 25 and the left and right rear wheels 34 are displaced up and down following the change in the slope of the simple slope 80, and The carriage 10 climbs the simple slope 80 without the wheels 25 and 34 being lifted.
[0046]
8 and 9 show a second embodiment in the case where the load W is flexible, such as a rubber sheet, in which the same reference numerals as those in FIGS. 1 to 6 denote the same or corresponding parts. In this example, the connecting member 40 is composed of two pipes (shaft portions) 41, and the front end portion and the rear end portion of the pipe 41 are respectively connected to the front frame 21 and the carriage of the carriage front half 20 by two pipe holders 42 and 43. The rear frame 30 is supported on the lower surface of the rear frame 31, and one of the two pipe holders 42, 43 of the front frame 21 and the rear frame 31 is provided with a set collar 45 to prevent the pipe 41 from coming off. Has been.
[0047]
Thus, even if it comprises the connection member 40 by the two axial parts 41, not only the same effect as 1st Embodiment is produced, but the balance plate 22 can be abbreviate | omitted, Therefore A cost reduction and weight reduction are achieved. Can be planned.
[0048]
In the first embodiment, the ultrasonic receivers 70A and 70B are provided to perform automatic control. However, in this example as well, the ultrasonic receivers 70A and 70B can be similarly attached to perform automatic control. .
[0049]
In the above embodiment, the baggage transport vehicle has been described as an example. However, if a chair for a wheelchair is mounted instead of the baggage W, it can be used as a wheelchair. The operation box 310 may be provided with a wireless signal reception function so that it can be operated remotely. Further, the handrail 39 is not necessarily provided.
[Brief description of the drawings]
FIG. 1 is a plan view showing a preferred embodiment of a carriage according to the present invention.
FIG. 2 is a side configuration diagram showing the embodiment.
FIG. 3 is a front configuration diagram showing the embodiment.
FIG. 4 is a rear configuration diagram showing the embodiment.
FIG. 5 is a functional block diagram showing a control device in the embodiment.
FIG. 6 is a diagram for explaining a method for obtaining a carriage position in the embodiment.
FIG. 7 is a diagram showing a simple slope used in the embodiment.
FIG. 8 is a plan configuration diagram showing a second embodiment;
FIG. 9 is a side configuration diagram showing the embodiment.
FIG. 10 is a diagram showing a dynamic model for explaining means for solving the problem.
FIG. 11 is a diagram for explaining means for solving the problem.
FIG. 12 is a diagram for explaining means for solving the problem.
[Explanation of symbols]
10 trolley 20 trolley front half 25 free caster (front wheel)
30 Second half of carriage 34 Rubber wheel (rear wheel)
36 Drive motor 40 Connecting member 41 Shaft 50 Control device 60 Energizing circuit 61 Power supply 70A, 70B Ultrasonic receiver (distance sensor)
80 Simple slope

Claims (5)

A carriage that has front, rear, left and right wheels, and can climb up an inclined slope without raising the wheels,
A front half of the carriage having left and right front wheels;
A rear half of the carriage having left and right rear wheels, spaced from the front half of the carriage;
It has at least a pair of left and right shafts extending in parallel in the front-rear direction in the same horizontal plane, the front ends of the left and right shafts are supported by the front half of the carriage, and the rear ends are supported by the rear half of the carriage A connecting member capable of causing the left and right front wheels and the rear wheels to follow a change in the road surface by twisting the left and right shaft portions around a central axis therebetween,
A cart characterized by comprising 2. The carriage according to claim 1, wherein a driving motor for rotationally driving the rear wheel, an energizing circuit for energizing the driving motor from a power source, and a control device for controlling energization to the driving motor are mounted in the rear half of the carriage. The first half of the carriage is provided with a distance sensor that detects a distance from a predetermined location, and the control device receives a signal from the distance sensor and follows a predetermined route from a predetermined distance before the predetermined location. The cart according to claim 2, wherein energization of the drive motor is controlled so as to run. 4. The carriage according to claim 3, wherein the distance sensor is adapted to detect a distance from the ramp. The cart according to claim 1, wherein the left and right shaft portions of the connecting member are pipes.

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