JP2007089926A - Wheel-driven moving apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a wheel-driven moving apparatus automatically moving on a step without any trouble even if there is the step such as stairs. <P>SOLUTION: A user pushes an advance button to move a bag body 2 in the advancing direction F, when the user reaches a place of an ascending stairs 50 (A), he/she pushes a stair button, and then cooperation tires 12 and tire arms 10 are turned to take a lowering position D (B to C). The cooperation tires 12 continue to rotate in the advancing direction F for a preset 3 seconds, so that this wheel-driven moving apparatus reaches a next plane 51 in the ascending stairs 5o with the driving tires 9 raised (D). After a lapse of 3 seconds, the cooperation tires 12 and the tire arms 10 are turned to take a regular position U (E). The tire arms 10 are upward turned and the cooperation tires 12 reach the regular position U. The driving tires 9 continue to rotate in the advancing direction F for the preset three seconds to reach a next surface 51 with the cooperation tires 12 raised (F). <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a wheel-driven moving device in which wheels arranged at the lower part of a moving device main body are driven by a motor.

A conventional wheel-driven bag includes a bag body capable of storing luggage, a wheel disposed at the lower part of the bag body and driven by a motor, a handle provided at the upper part of the bag body, and a force disposed at the handle. It has a sensor. When the user pulls the handle by grounding the wheel to convey the wheel-driven bag, the force applied to the handle is detected by the force sensor, and the motor is driven according to the detected force value. Is controlled. Therefore, the wheel rotates at a speed corresponding to the tensile force applied to the handle by the user, thereby giving an assist force. (For example, refer to Patent Document 1).
JP 2001-87024 A

  By the way, when the user walks while pulling the wheel-driven bag, the route is not only flat, and inevitably there are steps such as stairs. However, the conventional wheel-driven bag simply detects the force applied to the handle and controls the driving of the motor in accordance with the detected force value so that the assist force is applied only in the forward direction. give. Therefore, if there is a next plane at a position higher than the plane where the current wheel is located due to the step, even if an assist force is applied in the forward direction, the user cannot move to the next higher plane, and the user can You will be forced to lift the body.

  The present invention has been made in view of such conventional problems, and an object thereof is to provide a wheel-driven moving device that can move without any trouble even when there are steps such as stairs. It is.

  In order to solve the above-mentioned problem, in the wheel drive type moving device according to the first aspect of the present invention, a first wheel disposed on one side of the moving direction at the lower part of the moving device main body, and the moving device A second wheel disposed at the lower part of the main body and on the other side of the moving direction via an arm member that rotates in the up-down direction, and wheel driving means for rotationally driving the first and second wheels, Arm driving means for driving the arm member in the vertical direction; and control means for controlling the wheel driving means and the arm driving means.

  Therefore, in a state where the arm member is stopped without being rotated, the first and second wheels are grounded and rotated to move the moving device main body while obtaining assist force on a flat road surface. be able to. Then, when reaching the place where there is an up staircase, if the arm member is rotated downward, the second wheel disposed on the arm member maintains the grounded state, and the mobile device body is pushed up. The first wheel reaches the next plane in the upstairs. Therefore, when the first and second wheels are rotated, the moving device main body can be made to reach the next plane in the upstairs. Therefore, by repeating this operation, the moving device main body can be moved while obtaining the assist force even on the upstairs.

  In the wheel drive type moving apparatus according to the second aspect of the present invention, at least one of the first and second wheels includes a pair of left and right wheels. That is, it is preferable that the first and second wheels each have a pair of left and right in order to stably travel the mobile device body, but one of the first and second wheels is a pair of left and right, and the other. Three tires may be used as a single unit, and may be arranged at the apexes of these isosceles triangles.

  Moreover, in the wheel drive type moving apparatus according to the invention described in claim 3, the arm member is pivotally supported at one end in the moving direction of the moving apparatus body, and the other side in the moving direction. And the second wheel is pivotally supported by the free end. Therefore, when the arm member is rotated downward, the other side of the moving direction in which the first wheel is provided is surely pushed up, and the first wheel is surely reached on the next plane in the upstairs. be able to.

  Moreover, in the wheel drive type moving apparatus according to the invention described in claim 4, one end portion of the arm member is loosely fitted to the rotation shaft of the first wheel. Therefore, the arm member can be pivotally supported by effectively using the rotation shaft of the first wheel without providing a separate pivot member.

  In the wheel drive type moving apparatus according to the invention of claim 5, the wheel drive means drives the first wheel directly and also drives the second wheel via an endless belt. . Therefore, the first and second wheels can be driven by a single wheel driving means without separately providing wheel driving means for driving the first and second wheels.

  Further, in the wheel drive type moving device according to the invention described in claim 6, the control means includes a forward rotation direction in which the moving device body moves in the forward direction along with the rotation of the wheels, and the forward direction. The wheel driving means is controlled in a reverse direction that moves in the reverse direction opposite to the direction. Therefore, depending on whether the stairs are ascending stairs or descending stairs, it is possible to obtain an appropriate assist force on the ascending and descending stairs by changing the traveling direction of the mobile device body by changing the rotation direction of the wheels.

  Further, in the wheel drive type moving device according to the invention of claim 7, the control means controls the wheel drive means when the moving device main body moves up the staircase to control the first drive means. And the second wheel is rotated forward, and the arm driving means is controlled to rotate the arm member in the vertical direction so that the wheel driving means is controlled when the moving device body moves down the stairs. Then, the first and second wheels are reversed, and the arm driving unit is controlled to rotate the arm member in the vertical direction.

  Therefore, when the vehicle reaches a place where there is an ascending stairs, when both wheels are rotated forward and the arm member is rotated downward, the second wheel disposed on the arm member maintains a grounded state. The moving device main body is pushed up, and the first wheel reaches the next plane in the ascending stairs. In addition, when the down staircase is reached, both wheels are reversely rotated and the arm member is rotated downward, so that the second wheel arranged on the arm member is on the next plane in the down staircase. To reach. Therefore, by repeating these operations, the moving device body can be moved while obtaining the assist force not only on the up stairs but also on the down stairs.

  In the wheel drive type moving device according to the eighth aspect of the present invention, the wheel drive type moving device further includes an operation unit operated by a user, and the control unit performs the ascending staircase according to a user operation on the operation unit. And control when moving down the stairs. Therefore, when the user performs an operation when reaching a place where there is an ascending stairs or a descending stairs, the moving apparatus body can be moved while obtaining assist force in the ascending stairs and the descending stairs by a simple operation.

  Further, in the wheel drive type moving device according to the invention of claim 9, further comprising road surface condition detecting means for detecting the condition of the road surface on which the first and second wheels travel, the control means comprising: Based on the road surface condition detected by the road surface condition detecting means, control is performed when moving the up stairs and moving down the stairs. Therefore, when reaching a place where there is an ascending stairs or a descending stairs, it is possible to automatically generate assist force in the ascending stairs and the descending stairs without any user operation.

  Further, in the wheel drive type moving device according to the invention of claim 10, the road surface condition detecting means includes a pair of front and rear levers swingably supported by the moving device body, and tip portions of the levers. And a roller that is grounded together with the first and second wheels, and a sensor that detects the swing of the lever. Accordingly, the lever swings depending on whether or not the roller is in contact with the ground, and the sensor detects this, whereby the presence or absence of the staircase can be detected or determined.

  In the wheel drive type moving apparatus according to the invention described in claim 11, the first wheel disposed on one side of the moving direction at the lower part of the moving apparatus body and the lower part of the moving apparatus body. A second wheel disposed on the other side of the moving direction via an arm member that pivots in the vertical direction, wheel driving means for rotationally driving the first and second wheels, and the arm member in the vertical direction. Arm driving means for driving in the direction, and control means for controlling the wheel driving means and the arm driving means. The control means is configured such that the second wheel moves when the moving device body moves up the stairs. The arm member is driven to a lowered position where the second wheel is displaced downward and the second wheel is displaced upward to reach the next plane in the ascending stairs, and the arm member is moved to the lowered position. Until the first If the predetermined time has elapsed from the time when the second wheel is rotated and the lowering position is reached, the first control for stopping the first and second wheels, and the predetermined time have elapsed. For example, while rotating the first and second wheels, the second wheel is displaced upward from the lowered position, and the arm member is driven to a steady position facing the first wheel horizontally, And the second control for stopping the first and second wheels for a predetermined time from the time when the arm member reaches the lowered position is repeatedly executed. Therefore, when the control unit repeatedly executes the first and second controls, the moving device main body can be automatically moved step by step on the ascending stairs.

  In the wheel drive type moving device according to the invention described in claim 12, the first wheel disposed on one side of the moving direction at the lower portion of the moving device main body and the lower portion of the moving device main body. A second wheel disposed on the other side of the moving direction via an arm member that pivots in the vertical direction, wheel driving means for rotationally driving the first and second wheels, and the arm member in the vertical direction. Arm driving means for driving in the direction, and control means for controlling the wheel driving means and the arm driving means. The control means is configured such that when the moving device body moves down the stairs, the second wheel The arm member is driven to a lowered position that is displaced downward and reaches the next plane in the descending staircase, and the first and second wheels are rotated until the arm member reaches the lowered position. Along with the bottom A first control for stopping the first and second wheels for a predetermined time from the time when the position is reached, and the first and second wheels when the predetermined time has elapsed. The second wheel is displaced upward from the lowered position, and the arm member is driven to a steady position horizontally facing the first wheel displaced relatively downward, and the arm The second control for stopping the first and second wheels is repeatedly executed for a predetermined time from the time when the member reaches the lowered position. Therefore, when the control unit repeatedly executes the first and second controls, the moving device body can be automatically moved step by step on the descending stairs.

  In the wheel drive type moving apparatus according to the thirteenth aspect of the present invention, a handle is erected on the upper side of the moving apparatus main body and on the side where the first wheel is disposed. Therefore, the moving device body can be moved while pulling the handle when moving up the stairs, and the downward movement of the moving device body can be suppressed by gripping the handle when moving down the stairs.

  As described above, according to the wheel drive type moving apparatus according to the present invention, the first and second wheels are grounded and rotated while the arm member is stopped without being rotated. The moving device main body can be moved while obtaining an assist force on a smooth road surface. In addition, if the arm member is rotated downward when it reaches a place where there is an ascending staircase, the mobile device body is pushed up while the second wheel disposed on the arm member is maintained in a grounded state. The first wheel reaches the next plane in the upstairs. Therefore, when the first and second wheels are rotated, the moving device main body can be made to reach the next plane in the upstairs. Therefore, by repeating this operation, the moving device main body can be moved while obtaining the assist force even on the upstairs.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
(First embodiment)
1 to 9 show a first embodiment of the present invention. As shown in FIGS. 1-3, the wheel drive type bag 1 which concerns on this Embodiment has the bag main body 2 which can be opened and closed, and is a substantially rectangular container body which can accommodate a load. A handle 3 is erected on the front surface 2 a side of the upper portion of the bag body 2, and a control box 4 is disposed at an upper end portion of the handle 3.

  On the other hand, a base member 5 having rigidity is attached to the bottom surface of the bag body 2, and the base member 5 is formed with a recess 5 a that opens to the front surface 2 a side. In the recess 5a, a lifting motor 6 is disposed on the open end side, and a driving motor 7 is disposed on the inner side. Both motors 6, 7 are arranged in the lateral direction, and the rotation shafts 6 a, 7 a are rotatably inserted into the base member 5, and both end portions protrude from the left and right side portions of the base member 5. The gears 8 and 8 are fixed to both ends of the rotating shaft 6a of the elevating motor 6, and the drive tires 9 and 9 are fixed to both ends of the rotating shaft 7a of the driving motor 7. .

  Further, one end of tire arms 10, 10 is loosely fitted between the drive tires 9, 9 and the base member 5 on the rotation shaft 7 a of the drive motor 7. The tire arm 10 is substantially U-shaped, and a gear portion 10a that meshes with the gear 8 is formed at one end. Therefore, as shown in FIG. 4, when the gear 8 rotates, the tire arm 10 is driven via the gear portion 10 a meshing with the gear 8, and the tire arm 10 rotates the rotating shaft 7 a of the driving motor 7. As a center, it is possible to rotate in the vertical direction.

  Here, as shown in FIG. 4, in a state where the bag body 2 is slightly inclined forward, a state in which the interlocking tire 12 described later is in contact with the driving tire 9 in a horizontal position is a steady position of the interlocking tire 12 and the tire arm 10. U. Further, a state in which one side of the tire arm 10 stands up substantially vertically from the steady position U is the interlocking tire 12 and the descending position D of the tire arm 10, and the interlocking tire 12 and the tire arm 10 are It rotates between the steady position U and the lowered position D. In this wheel drive type bag 1, the direction of traveling while pulling the handle 3, that is, the forward direction of the front surface 2 a of the bag body 2 is the forward direction F, and the direction of traveling while pressing the handle 3 opposite to this. The reverse direction R.

  In addition, regarding the rotational direction of the drive motor 7 and both tires 9 and 12, which will be described later, the rotational direction for moving the bag body 2 in the forward direction F is also referred to as the forward direction F, and the bag body 2 is moved in the reverse direction R. Similarly, the rotation direction is referred to as reverse direction R.

  On the other hand, an interlocking shaft 11 having the same diameter as the rotation shaft 7 a of the driving motor 7 is rotatably supported at the other end of the tire arm 10, and the interlocking shaft 11 has the same configuration as the driving tire 9. Yes, interlocking tires 12 having the same diameter and the same circumference are fixed. In addition, a pair of tension rollers 13 and 13 are rotatably supported at a substantially central portion of the tire arm 10. One surface of the endless driving belt 14 that is stretched between the rotating shaft 7a of the driving motor 7 and the interlocking shaft 11 to which the interlocking tire 12 is fixed is in pressure contact with the tension rollers 13 and 13. Accordingly, when the driving motor 7 rotates and the driving tire 9 rotates integrally with the rotating shaft 7a, the driving belt 14 travels with the rotation of the tension rollers 13 and 13 and the interlocking shaft 11 rotates. The interlocking tire 12 is configured to rotate at the same speed as the drive tire 9.

  FIG. 5 is a plan view showing the control box 4. On the surface of the control box 4, there are provided a run / stop button 4a, a forward button 4b, a reverse button 4c, and a staircase button 4d. The run / stop button 4a is a button for turning the power on and off. It is.

  FIG. 6 is a block diagram showing an electrical circuit configuration of the wheel-driven bag 1 according to the present embodiment, and has a control unit 16 arranged in the control box 4. The control unit 16 includes a CPU 17, a ROM 18, a RAM 19 and peripheral circuits thereof. The ROM 18 stores a program shown in a flowchart to be described later. The CPU 17 develops the program stored in the ROM 18 in the RAM 19 and operates according to the program, thereby controlling each unit. The RAM 19 is used as a work area for the CPU 17.

  The control unit 16 is connected to the buttons 4 a to 4 d, and is connected to a power supply unit 20, a driving motor driver 21, a lifting motor driver 22, and an encoder 23. The power supply unit 20 is constituted by, for example, a battery disposed in the base member 5, supplies a voltage of 5 V to the control unit 16, and supplies a voltage of 24 V to the motor drivers 21 and 22. The drive motor driver 21 controls the voltage to drive the drive motor 7, and the lift motor driver 22 drives the lift motor 6. The encoder 23 is disposed in the lifting motor 6 and detects and outputs the amount of rotation of the lifting motor 6.

  In the present embodiment having the above-described configuration, the tire arm 10 and the interlocking tire 12 that engage the gear portion 10a with the gear 8 by stopping the lifting / lowering motor 6 without rotating in a steady state. Is stopped at the steady position U. Therefore, as shown in FIG. 4, the drive tire 9 and the interlocking tire 12 are in contact with each other horizontally and are in contact with each other, and the bag body 2 stands up in a slightly tilted state.

On the other hand, the CPU 17 executes control based on a program stored in the ROM 18 as shown in the flowchart of FIG.
That is, the CPU 17 of the control unit 16 determines whether or not the power is turned on by operating the run / stop button 4a (step S101). If it is determined that the power is turned on, it is determined whether or not the forward button 4b is operated in order for the user to move in the forward direction F while pulling the handle 3 (step S102). If it is determined that the forward button 4b has been operated, the drive motor driver 21 is controlled to rotate the drive motor 7 in the forward direction F (step S103). As a result, the drive tire 9 rotates in the forward direction F, and the drive belt 14 travels so that the interlocking tire 12 also rotates in the forward direction F at the same speed as the drive tire 9. Therefore, when the user moves while pulling the handle 3, the bag body 2 can be pulled in the forward direction F while obtaining the assist force by operating the forward button 4 b.

  On the contrary, the user operates the reverse button 4c in order to move in the reverse direction R while pressing the handle 3. Then, the determination in step S104 is YES, and the process proceeds to step S105, where the drive motor driver 21 is controlled to rotate the drive motor 7 in the reverse direction R (step S105). As a result, the drive tire 9 rotates in the reverse direction R, and the drive belt 14 travels so that the interlocking tire 12 also rotates in the reverse direction R at the same speed as the drive tire 9. Therefore, when the user moves while pressing the handle 3, the bag main body 2 can be pressed while obtaining the assist force by operating the reverse button 4c.

(Moving up stairs)
After the bag body 2 is moved in the forward direction F by operating the forward button 4b in this way, as shown in FIG. 8 (A), when the bag body 2 reaches the place where the upstairs 50 are located, The stairs button 4d is operated. Then, the process proceeds from step S102 to S103 to S106, and the determination in step S106 is YES. Therefore, the process further proceeds to step S107, and the lifting motor driver 22 is controlled to drive the lifting motor 6 to rotate the interlocking tire 12 and the tire arm 10 to the lowered position D (step S107). As a result, as shown in FIG. 8 (B), the tire arm 10 is rotated downward, and accordingly, the drive tire 9 is pushed up together with the bag body 2 and eventually shown in FIG. 8 (C). In addition, the interlocking tire 12 reaches the lowered position D.

  When the interlocking tire 12 reaches the lowered position D by the processing of step S107, it is determined in the next step S108 whether or not a predetermined time of 3 seconds has elapsed. Therefore, the interlocking tire 12 remains in the lowered position D until 3 seconds have elapsed. At this time, since the interlocking tire 12 continues to rotate in the forward direction F, the bag body 2 moves in the forward direction F while the drive tire 9 remains in the upward direction. As a result, as shown in FIG. 8D, the drive tire 9 reaches the next plane 51 in the ascending stairs 50 (FIG. 8F).

  When the determination in step S108 is YES and 3 seconds have elapsed, in the next step S109, the lifting motor driver 22 is controlled to drive the lifting motor 6, and the interlocking tire 12 and the tire arm 10 are stationary. It is rotated so as to be at position U (step S109). As a result, as shown in FIG. 8E, the tire arm 10 rotates upward, and the interlocking tire 12 eventually reaches the steady position U.

  When the interlocking tire 12 reaches the steady position U by the processing of step S109, in the next step S110, it is determined whether or not a predetermined time of 3 seconds has elapsed. Therefore, the interlocking tire 12 remains in the steady position U until 3 seconds have elapsed. At this time, since the drive tire 9 continues to rotate in the forward direction F, the bag body 2 moves in the forward direction F while the interlocking tire 12 remains in the steady position U. As a result, as shown in FIG. 8F, the interlocking tire 12 together with the drive tire 9 reaches a state on the next plane 51 in the ascending stairs 50.

  If the determination in step S110 becomes YES after the elapse of 3 seconds, it is determined whether or not the staircase button 4d has been re-operated (step S111), and steps S107 to S111 are performed until the re-operation is performed. Repeat the process. Therefore, by repeating the processing of steps S107 to S111, a series of operations in FIG. 8A → (B) → (C) → (D) → (E) → (F) is repeated. Each time this series of operations is performed once, the bag body 2 moves up the ascending stairs 50 and moves to the next plane. When the climbing up the stairs 50 is finished and a flat part is reached, the stairs button 4d is operated again. Thereby, determination of the process of step S111 becomes YES and returns to step S101. If the result of determination in step S101 is that the power supply is kept on, the processing from step S102 described above will be executed.

(Moving down stairs)
As shown in FIG. 9A, when moving down the staircase 60, the reverse button 4c is operated to move the bag body 2 in the reverse direction R, and then the staircase button 4d is operated. Then, it progresses to step S102->S104->S105-> S106, and judgment of this step S106 becomes YES. Therefore, the process further proceeds to step S107, and the lifting motor driver 22 is controlled to drive the lifting motor 6 to drive the interlocking tire 12 and the tire arm 10 to the lowered position D (step S107). As a result, as shown in FIG. 9 (B), the tire arm 10 rotates downward, and as shown in FIG. 9 (C), the interlocking tire 12 reaches the descending position D, and in the descending stairs 60. Ground to the next plane 61.

  When the interlocking tire 12 reaches the lowered position D by the process of step S107, it is determined in the next step S108 whether or not a time of 3 seconds has elapsed. Therefore, the interlocking tire 12 remains in the lowered position D until 3 seconds have elapsed. At this time, since the interlocking tire 12 continues to rotate in the reverse direction R, the bag body 2 moves in the reverse direction R. As a result, as shown in FIG. 9D, the drive tire 9 is detached from the plane 62 in the descending stairs 60.

  When the determination in step S108 is YES and 3 seconds have elapsed, in the next step S109, the lifting motor driver 22 is controlled to drive the lifting motor 6, and the interlocking tire 12 and the tire arm 10 are stationary. It is rotated so as to be at position U (step S109). As a result, as shown in FIG. 9 (E), the tire arm 10 rotates downward, and the interlocking tire 12 eventually reaches the steady position U and contacts the ground, and the drive tire 9 also contacts the ground (FIG. 9 (F)). ).

  When the interlocking tire 12 reaches the steady position U by the process of step S109, in the next step S110, it is determined whether or not 3 seconds have elapsed. Therefore, the interlocking tire 12 remains in the steady position U until 3 seconds have elapsed. At this time, since the tires 9 and 12 continue to rotate in the reverse direction R, the bag body 2 moves in the reverse direction R. As a result, as shown in FIG. 9 (F), the interlocking tire 12 together with the drive tire 9 is in a state of moving on the next plane 61 in the descending stairs 60.

  If the determination in step S110 becomes YES after the elapse of 3 seconds, it is determined whether or not the staircase button 4d has been re-operated (step S111), and steps S107 to S111 are performed until the re-operation is performed. Repeat the process. Therefore, by repeating the processes in steps S107 to S111, a series of operations in FIG. 9A → B → C) → D → E) → F is repeated. Each time this series of operations is performed once, the bag body 2 moves down the descending stairs 60 and moves to the next plane. When the descending staircase 60 has been descended and a flat part has been reached, the staircase button 4d is operated again. Thereby, determination of the process of step S111 becomes YES and returns to step S101. If the result of determination in step S101 is that the power supply is kept on, the processing from step S102 described above will be executed.

  In the present embodiment, when the rotation direction of the tire arm 10 is switched, the rotation of the tire arm 10 is stopped for 3 seconds. Depending on the rotational speed of 10, it may be stopped for 3 seconds or more, or may be continuously rotated without stopping. Further, the length of the tire arm 10 is based on the average height of the stairs, and is such a length that both the tires 9 and 12 can come into contact with the adjacent planes of the different stairs in the lowered position D. Preferably there is.

(Second Embodiment)
10 to 21 show a second embodiment of the present invention. In the present embodiment, as shown in FIGS. 10 and 11, a road surface condition detection device 30 is disposed on one side surface of the bag body 2. As shown in FIG. 12, the road surface condition detection device 30 has a plate 31 fixed to the side surface of the bag body 2, and a pair of stoppers 32, 32 are provided at corresponding portions of the plate 31. Is provided. A pin 33 is planted at the center lower portion between the stoppers 32, 32, and the front lever 34 and the rear lever 35 are pivotally supported by the pin 33. A front roller 37 is rotatably supported by a pin 36 at the lower end portion of the front lever 34, and a rear roller 39 is rotatably supported by a pin 38 at the lower end portion of the rear lever 35.

  Further, opposite protrusions 34a and 35a are provided on the upper end side of both levers 34 and 35, and a coil spring 40 is mounted on the upper part thereof. A sensor body 41 is disposed on the plate 31 between the protrusions 34a and 35a. The sensor body 41 includes a front switch 41a and a rear switch 41b that are turned on when pressed by the protrusions 34a and 35a. And are provided.

  Therefore, in an unloaded state in which the rollers 37 and 39 of the levers 34 and 35 are not grounded, the upper ends of the levers 34 and 35 are opened in the opening direction and the lower ends are closed in the closing direction by the bias of the coil spring 40. The upper ends of the levers 34 and 35 abut against the stoppers 32 and 32. In this state, both switches 41a and 41b are both turned off. In the state where the front roller 37 is grounded, the lower end portion of the front lever 34 operates in the opening direction and the upper end portion operates in the closing direction against the coil spring 40. Therefore, the front switch 41a is pressed by the protrusion 34a of the front lever 34 and is turned on. When the rear roller 39 is grounded, the lower end of the rear lever 35 operates in the opening direction and the upper end in the closing direction against the coil spring 40. Therefore, the rear switch 41b is pressed by the protrusion 35a of the rear lever 35 and is turned on.

  FIG. 13 is a plan view showing the control box 4 in the present embodiment. On the surface of the control box 4, as in the above-described embodiment, there are provided an operation / stop button 4a, a forward button 4b, and a reverse button 4c, as well as a stair up button 4e and a stair down button 4f. It has been.

  FIG. 14 is a block diagram showing an electrical circuit configuration of the wheel-driven bag 1 according to the present embodiment, and has a control unit 16 arranged in the control box 4. The control unit 16 includes a CPU 17, a ROM 18, a RAM 19 and peripheral circuits thereof. The ROM 18 stores a program shown in a flowchart to be described later. The CPU 17 develops the program stored in the ROM 18 in the RAM 19 and operates according to the program, thereby controlling each unit. The RAM 19 is used as a work area for the CPU 17.

The control unit 16 is connected to the buttons 4a to 4c, 4e, and 4f, and includes a power supply unit 20, a driving motor driver 21, a lifting motor driver 22, an encoder 43, and a front switch 41a of the sensor body 41. And the rear switch 41b are connected. The power supply unit 20 is configured by, for example, a battery or the like disposed in the base member 5, supplies a voltage of 5 V to the control unit 16, and supplies a voltage of 24 V to the motor drivers 21 and 22. The drive motor driver 21 controls the voltage to drive the drive motor 7, and the lift motor driver 22 drives the lift motor 6.
However, the encoder 43 in the present embodiment is arranged in the drive motor 7, and detects and outputs the rotation amount of the drive motor 7.

  Other configurations other than the configuration described above are the same as those in the first embodiment described above. That is, the wheel drive type bag 1 has a bag body 2 that is a substantially rectangular container body that can be opened and closed and can accommodate a load. A handle 3 is erected on the front surface 2 a side of the upper portion of the bag body 2, and a control box 4 is disposed at an upper end portion of the handle 3.

  On the other hand, a base member 5 having rigidity is attached to the bottom surface of the bag body 2, and the base member 5 is formed with a recess 5 a that opens to the front surface 2 a side. In the recess 5a, a lifting motor 6 is disposed on the open end side, and a driving motor 7 is disposed on the inner side. Both motors 6, 7 are arranged in the lateral direction, and the rotation shafts 6 a, 7 a are rotatably inserted into the base member 5, and both end portions protrude from the left and right side portions of the base member 5. The gears 8 and 8 are fixed to both ends of the rotating shaft 6a of the elevating motor 6, and the drive tires 9 and 9 are fixed to both ends of the rotating shaft 7a of the driving motor 7. .

  Further, one end of tire arms 10, 10 is loosely fitted between the drive tires 9, 9 and the base member 5 on the rotation shaft 7 a of the drive motor 7. The tire arm 10 is substantially U-shaped, and a gear portion 10a that meshes with the gear 8 is formed at one end. Therefore, when the gear 8 rotates, the tire arm 10 is driven via the gear portion 10a meshing with the gear 8, and the tire arm 10 rotates in the vertical direction around the rotation shaft 7a of the driving motor 7 as a rotation center. It is possible to move.

  Here, when the bag body 2 is slightly inclined forward as shown in the drawing, the state where the interlocking tire 12 faces the drive tire 9 horizontally is the steady position U of the interlocking tire 12 and the tire arm 10. Further, a state in which one side of the tire arm 10 stands up substantially vertically from the steady position U is the interlocking tire 12 and the descending position D of the tire arm 10, and the interlocking tire 12 and the tire arm 10 are It rotates between the steady position U and the lowered position D.

  On the other hand, an interlocking shaft 11 having the same diameter as that of the rotation shaft 7 a of the driving motor 7 is rotatably supported at the other end of the tire arm 10, and the interlocking shaft 11 has the same diameter as that of the driving tire 9. The interlocking tire 12 is fixed. In addition, a pair of tension rollers 13 and 13 are rotatably supported at a substantially central portion of the tire arm 10. One surface of the endless driving belt 14 that is stretched between the rotating shaft 7a of the driving motor 7 and the interlocking shaft 11 to which the interlocking tire 12 is fixed is in pressure contact with the tension rollers 13 and 13. Therefore, when the rotating shaft 7a of the driving motor 7 and the driving tire 9 rotate integrally with the rotating shaft 7a, the driving belt 14 travels with the rotation of the tension rollers 13 and 13, and the interlocking shaft 11, the interlocking tire 12 is configured to rotate at the same speed as the driving tire 9.

  The grounding position of the drive tire 9 and the front roller 37 in the grounded state is such that the grounding position of the front roller 37 is slightly ahead of the grounding position of the driving tire 9 in the forward direction F, and the positional relationship between the two. (Distance) is stored in the ROM 18. Further, the relationship between the ground contact position of the interlocking tire 12 and the rear roller 39 in the grounded state is that the ground contact position of the rear roller 39 is slightly behind the ground contact position of the interlocking tire 12 in the forward direction F, that is, the rear roller in the reverse direction R. The ground contact position 39 is slightly ahead of the ground contact position of the interlocking tire 12, and the positional relationship (distance) between the two is stored in the ROM 18. Further, ROM 18 also stores values necessary for calculations described later, such as the circumferences of both tires 9 and 7.

  In the present embodiment having the above-described configuration, the tire arm 10 and the interlocking tire 12 that mesh the gear portion 10a with the gear 8 by stopping the lifting / lowering motor 6 without rotating in the steady state. It stops at the steady position U. Therefore, the drive tire 9 and the interlocking tire 12 are in contact with each other horizontally and are in contact with each other, and the bag body 2 stands up in a slightly tilted state. The rollers 37 and 39 are grounded, and the front and rear switches 41a and 41b are both turned on.

  On the other hand, the CPU 17 executes control based on the program stored in the ROM 18 as shown in the flowchart of FIG. That is, it is determined whether or not the power is turned on by operating the operation / stop button 4a (step S201). If the power is turned on, it is determined whether or not the forward button 4b has been operated (step S202). If the forward button 4b is operated, the drive motor driver 21 is controlled to rotate the drive motor 7 in the forward direction F (step S203). As a result, the drive tire 9 rotates in the forward direction F, and the drive belt 14 travels so that the interlocking tire 12 also rotates in the forward direction F at the same speed as the drive tire 9. Therefore, when the user moves while pulling the handle 3, the bag body 2 can be pulled while obtaining the assist force by operating the forward button 4b.

  On the contrary, when the user moves while pressing the handle 3, the reverse button 4c is operated. Then, the determination in step S204 is YES, and the process proceeds to step S205, where the drive motor driver 21 is controlled to rotate the drive motor 7 in the reverse direction R (step S205). As a result, the drive tire 9 rotates in the reverse direction R, and the drive belt 14 travels so that the interlocking tire 12 also rotates in the reverse direction R at the same speed as the drive tire 9. Therefore, when the user moves while pressing the handle 3, the bag main body 2 can be pressed while obtaining the assist force by operating the reverse button 4c.

(Moving up stairs)
Then, as shown in FIG. 16A, when the ascending staircase 50 reaches a certain place, the bag main body 2 is moved in the advancing direction F by operating the forward button 4b and the staircase up button 4e is operated. To do. Then, the process proceeds from step S202 to S203 to S206, and the determination in step S206 is YES. Therefore, the process further proceeds to step S207, and the lifting motor driver 22 is controlled to drive the lifting motor 6 to rotate the interlocking tire 12 and the tire arm 10 to the lowered position D (step S207). As a result, as shown in FIG. 16B, the tire arm 10 is rotated downward, and accordingly, the drive tire 9 is integrally pushed up together with the bag body 2, and the interlocking tire 12 is eventually moved to the lowered position D. To reach.

  At this time, when the tire arm 10 starts to rotate downward, the rollers 37 and 39 are separated from the ground, and both the front and rear switches 41a and 41b are turned off. On the other hand, since the drive motor 7 continues to rotate, the bag body 2 continues to advance. Then, as shown in FIG. 17A, the drive tire 9 comes in contact with the next plane 51 in the ascending staircase 50, and when it has advanced a little, the front roller 37 rides on the same plane 51 and the switch 41a is turned on. . Therefore, since the previous switch 41a once turned off is turned on again, the determination result in step S208 for determining whether the front switch 41a has changed from off to on is YES. Therefore, the process proceeds from step S208 to step S209.

  In step S209, the elevating motor driver 22 is controlled to drive the elevating motor 6, and the driving of the interlocking tire 12 and the tire arm 10 to the steady position U is started (step S209). Accordingly, as shown in FIG. 17B, the tire arm 10 starts to rotate upward. During this time, the drive motor 7 continues to rotate, and the rotation speed of the drive motor 7 is detected by the encoder 43. Then, the control part 16 calculates the advance amount of the drive tire 9 based on the detection amount of this encoder 43 (step S210). Further, based on the calculated advance amount of the drive tire 9, the tire arm 10 is driven to the steady position U before the interlocking tire 12 reaches the position of the front roller 37 when the front switch 41a is turned on ( Step S211). Further, since the driving motor 7 continues to rotate, the state of FIG. 17B shifts to the state of FIG. In the state of FIG. 18, the rear switch 41b changes from off to on when the rear roller 39 is grounded.

  Therefore, when it is determined in step S212 whether or not the rear switch 41b has changed from OFF to ON, this determination is YES. Therefore, it is determined whether or not the stairs up button 4e has been re-operated (step S213), and the processes of steps S207 to S213 are repeated until the re-operation is performed. Therefore, by repeating the processing of steps S207 to S213, the series of operations of FIG. 16A → FIG. 16B → FIG. 17A → FIG. 17B → FIG. 18 is repeated. . Each time this series of operations is performed once, the bag body 2 moves up the ascending stairs 50 and moves to the next plane. Then, when the climbing up the stairs 50 is finished and the flat part is reached, the stairs up button 4e is operated again. Thereby, determination of the process of step S213 becomes YES and returns to step S201. If the result of determination in step S201 is that the power supply is kept on, the processing from step S202 described above will be executed.

(Moving down stairs)
Further, as shown in FIG. 19A, when moving down the staircase 60, the reverse button 4c is operated to move the bag body 2 in the reverse direction R and the staircase down button 4f is operated. Then, the process proceeds from step S202 → S204 → S205 → S206 → S214, and the determination in step S214 is YES. Therefore, the process further proceeds to step S215, and it is determined whether or not the rear switch 41b is turned off. At this time, since the drive motor 7 continues to rotate in the reverse direction R, the bag body 2 also moves in the reverse direction R. Therefore, as shown in FIG. 19B, the rear roller 39 is detached from the descending staircase 60, whereby the rear switch 41b is turned off. Accordingly, the determination in step S214 is YES, and in the next step S216, the interlocking tire 12 is released from the stairs based on the rotational speed of the interlocking tire 12 obtained by the encoder 43 and the distance between the rear roller 39 and the interlocking tire 12. Timing (separation timing) is calculated (step S217), and it is determined whether or not the calculated departure timing is reached (step S218).

  When the interlocking tire 12 is disengaged from the stairs, the lifting motor driver 22 is controlled to drive the lifting motor 6 so that the interlocking tire 12 and the tire arm 10 are in the lowered position D. It rotates (step S218). Accordingly, as shown in FIG. 20A, the interlocking tire 12 reaches the descending position D and contacts the next plane 61 in the descending stairs 60.

  At this time, since the drive motor 7 continues to rotate in the reverse direction R, the bag body 2 also moves in the reverse direction R. Therefore, as shown in FIG. 20 (B), the front roller 37 is detached from the descending staircase 60, whereby the front switch 41a is turned off. Therefore, the determination in step S219 following step S218 is YES, and in the next step S220, the interlocking tire is based on the rotational speed of the drive tire 9 obtained by the encoder 43 and the distance between the front roller 37 and the drive tire 9. The timing at which 12 leaves the stairs (leaving timing) is calculated (step S220), and it is determined whether or not the calculated leaving timing is reached (step S221).

  Then, when it is time to leave, and the driving tire 9 leaves the stairs, the lifting motor 6 is driven by controlling the lifting motor driver 22, and as shown in FIG. The arm 10 is rotated so as to be in the steady position U (step S222). Thereby, as shown in FIG. 21B, the interlocking tire 12 reaches the steady position U and contacts the next plane 61 in the descending staircase 60.

  Then, in the next step S233, it is determined whether or not the stair down button 4f has been re-operated (step S233), and the processes in steps S215 to S233 are repeated until the re-operation is performed. Accordingly, by repeating the processing of steps S215 to S233, FIG. 19 (A) → FIG. 19 (B) → FIG. 20 (A) → FIG. 20 (B) → FIG. 21 (A) → FIG. The series of operations will be repeated. Each time this series of operations is performed once, the bag body 2 moves down the descending stairs 60 and moves to the next plane. When the descending staircase 60 has been descended and a flat part has been reached, the staircase descending button 4f is operated again. Thereby, determination of the process of step S233 becomes YES and returns to step S201. If the result of determination in step S201 is that the power supply is kept on, the processing from step S202 described above will be executed.

  In the present embodiment, the road surface condition detection device 30 having a mechanical configuration is used to detect the road surface condition, but the present invention is not limited to this, and light, ultrasonic waves, and the like are used. Electronic detection means may be used.

  In the embodiment, the driving tire 9 and the interlocking tire 12 are provided in a pair on the left and right, respectively, but by using tires that are wide in the left-right direction, each may be a single tire. Moreover, you may make it arrange | position at each vertex of these isosceles triangles, using either one of the drive tire 9 and the interlocking tire 12 as a pair of left and right and the other as a single, and three tires.

Furthermore, this embodiment describes the case where the present invention is applied to a wheel-driven bag, but it can also be applied to various wheel-driven moving devices such as a wheelchair and a wheel-driven case. .

It is a perspective view which shows the wheel drive type bag which concerns on the 1st Embodiment of this invention. It is a different direction perspective view which shows the wheel drive type bag. It is a different direction perspective view which shows the wheel drive type bag. It is a side view which shows the wheel drive type bag. It is a top view which shows the control box in 1st Embodiment. It is a block diagram which shows the electric circuit structure in the embodiment. It is a flowchart which shows the process sequence in the embodiment. It is operation | movement explanatory drawing at the time of the upward staircase movement in the embodiment. It is operation | movement explanatory drawing at the time of the descent | fall stair movement in the same embodiment. It is a perspective view which shows the wheel drive type bag which concerns on the 1st Embodiment of this invention. It is a different direction perspective view which shows the wheel drive type bag. It is a side view which shows a road surface condition detection apparatus. It is a top view which shows the control box in 2nd Embodiment. It is a block diagram which shows the electric circuit structure in the embodiment. It is a flowchart which shows the process sequence in the embodiment. It is operation | movement explanatory drawing at the time of the upward staircase movement in the embodiment. It is operation | movement explanatory drawing at the time of the upward staircase movement following FIG. It is operation | movement explanatory drawing at the time of the upward staircase movement following FIG. It is operation | movement explanatory drawing at the time of the descent | fall stair movement in the same embodiment. It is operation | movement explanatory drawing at the time of the descent | fall stair movement following FIG. It is operation | movement explanatory drawing at the time of the upward staircase movement following FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Wheel drive type bag 2 Bag main body 2a Front 3 Handle 4 Control box 4a Run / stop button 4b Forward button 4c Reverse button 4d Stair button 4e Stair up button 4f Stair down button 6 Lifting motor 6a Rotating shaft 7 Driving motor 7a Rotation Axis 8 Gear 9 Drive tire 10 Tire arm 10a Gear portion 12 Interlocking tire 14 Drive belt 16 Controller 17 CPU
18 ROM
19 RAM
DESCRIPTION OF SYMBOLS 20 Power supply part 21 Drive motor driver 22 Lifting motor driver 23 Encoder 30 Road surface condition detection apparatus 31 Plate 32 Stopper 33 Pin 34 Front lever 34a Protrusion 35 Rear lever 35a Projection 36 Pin 37 Front roller 38 Pin 39 Rear roller 40 Coil spring 41 Sensor body 41a Front switch 41b Rear switch 43 Encoder D Lowering position F Forward direction R Reverse direction U Steady position

Claims (13)

A first wheel disposed at one side of the moving direction at the bottom of the moving device body;
A second wheel disposed on the lower side of the moving device main body and on the other side of the moving direction via an arm member that rotates in the vertical direction;
Wheel driving means for rotationally driving the first and second wheels;
Arm driving means for driving the arm member in the vertical direction;
Control means for controlling the wheel driving means and the arm driving means;
A wheel-driven moving device comprising:   The wheel-driven moving device according to claim 1, wherein at least one of the first and second wheels comprises a pair of left and right wheels. The arm member has one end pivotally supported on one side in the moving direction of the moving device body, and has a free end on the other side in the moving direction,
The wheel-driven moving device according to claim 1 or 2, wherein the second wheel is pivotally supported by the free end portion.   The wheel drive type moving device according to claim 3, wherein one end of the arm member is loosely fitted to a rotation shaft of the first wheel.   The wheel drive type moving device according to claim 1 or 2, wherein the wheel driving means drives the first wheel directly and also drives the second wheel via an endless belt.   The control means moves the wheel driving means in a forward rotation direction in which the main body of the moving device moves in the forward direction along with the rotation of the wheels and in a reverse direction in which it moves in the reverse direction opposite to the forward direction. The wheel-driven moving device according to claim 1 or 2, wherein the wheel-driven moving device is controlled. The control means controls the wheel driving means to rotate the first and second wheels forward when the moving device main body moves up the staircase, and controls the arm driving means to control the arm driving means. Rotate the arm member up and down,
When the moving device body moves down the stairs, the wheel driving means is controlled to reverse the first and second wheels, and the arm driving means is controlled to move the arm member in the vertical direction. The wheel-driven moving device according to claim 6, wherein control for rotating is executed. It further comprises operating means operated by the user,
8. The wheel-driven movement according to claim 7, wherein the control means executes control in the case of moving the ascending stairs and the case of moving the descending stairs in accordance with a user operation on the operation means. apparatus. Road surface condition detecting means for detecting the condition of the road surface on which the first and second wheels travel;
8. The wheel drive according to claim 7, wherein the control means executes control for moving the ascending stairs and moving the descending stairs based on the road surface condition detected by the road surface condition detecting means. Mobile device. The road surface condition detecting means includes a pair of front and rear levers supported swingably on the moving device body,
A roller rotatably supported at the tip of each lever and grounded together with the first and second wheels;
A sensor for detecting the swing of the lever;
The wheel drive type moving apparatus according to claim 7, further comprising: A first wheel disposed at one side of the moving direction at the bottom of the moving device body;
A second wheel disposed on the lower side of the moving device main body and on the other side of the moving direction via an arm member that rotates in the vertical direction;
Wheel driving means for rotationally driving the first and second wheels;
Arm driving means for driving the arm member in the vertical direction;
Control means for controlling the wheel driving means and the arm driving means,
This control means, when moving up the staircase of the mobile device body,
The second wheel is displaced downward, and accordingly the second wheel is displaced upward to drive the arm member to a lowered position that reaches the next plane in the ascending stairs, and the arm The first and second wheels are rotated until the member reaches the lowered position, and the first and second wheels are stopped for a predetermined time from the time when the member reaches the lowered position. Control,
When the predetermined time has elapsed, the first and second wheels are rotated, and the second wheel is displaced upward from the lowered position so as to face the first wheel horizontally. A second control for driving the arm member to a steady position and stopping the first and second wheels for a predetermined time from when the arm member reaches the lowered position;
The wheel drive type moving device characterized by repeatedly executing A first wheel disposed at one side of the moving direction at the bottom of the moving device body;
A second wheel disposed on the lower side of the moving device main body and on the other side of the moving direction via an arm member that rotates in the vertical direction;
Wheel driving means for rotationally driving the first and second wheels;
Arm driving means for driving the arm member in the vertical direction;
Control means for controlling the wheel driving means and the arm driving means,
This control means, when moving down the staircase of the mobile device body,
The arm member is driven to a lowered position where the second wheel is displaced downward and reaches the next plane in the descending staircase, and the first and first wheels are moved until the arm member reaches the lowered position. A first control for rotating the two wheels and stopping the first and second wheels for a predetermined time from the time of reaching the lowered position;
When the predetermined time has elapsed, the first and second wheels are rotated, and the second wheel is displaced upward from the lowered position, and is relatively displaced downward. The arm member is driven to a steady position facing the other wheel horizontally, and the first and second wheels are stopped for a predetermined time from the time when the arm member reaches the lowered position. Control and
The wheel drive type moving device characterized by repeatedly executing The wheel-driven moving device according to any one of claims 1 to 12, wherein a handle is erected on an upper side of the moving device main body on a side where the first wheel is disposed.

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