JP2007145094A - Mechanism for getting over step, and traveling mobile body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To get over a step without an actuator or a special operation. <P>SOLUTION: This traveling mobile body has front wheels 10 and rear wheels. The front wheel 10 has a main wheel 11 on a front side in an advancing direction, and an auxiliary wheel 12 on a rear side. A shaft 11a of the main wheel 11 is rotatably mounted to the other end of a main wheel side link 16 connected with a shaft 14a of a main wheel side gear 14 on one end among a pair of the main wheel side gear 14 and an auxiliary wheel side gear 15 meshed with each other, and a shaft 12a of the auxiliary wheel 12 is rotatably mounted to the other end of the auxiliary wheel side link 17 connected with the shaft 15a of the auxiliary wheel side gear 15 on one end. Also, a pair of the gears 14, 15 are rotatably mounted to the body 2 of the traveling mobile body 2, and the auxiliary wheel side link 17 is swung to move the auxiliary wheel 12 downward together with the swing of the main wheel side link 16 by application of an approximately backward force to the main shaft 11 from the front. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a structure of a wheel part of a traveling vehicle that moves manually such as a handcart or a handcart or a self-propelled traveling vehicle such as a motor or an engine, and in particular, a step-over mechanism that can overcome a large step. And a traveling vehicle including the same.

  In the above-described wheelbarrows and handcarts, when trying to get over a step with wheels, it is usually physically difficult to get over a step larger than the radius of the wheel. In other words, when the step is smaller than the wheel radius, part of the force pushing the wheelbarrow (the force in the direction parallel to the ground) acts in the direction of lifting the wheelbarrow around the point where the wheel is in contact with the step. However, when the step is larger than the radius of the wheel, the force that pushes the wheelbarrow, etc., works almost only on the side of the step, not in the direction to lift the wheelbarrow, etc. , Can not get over the step.

  For this reason, a traveling mobile body having various mechanisms for overcoming a step has been proposed. As one of them, an L-shaped lever is provided so that the lower protruding portion faces the front side and can swing around the bent portion, and an auxiliary wheel arranged between the front wheel and the rear wheel protrudes below the lever. A traveling mobile body having a mechanism in which the height of the auxiliary wheel is adjusted by moving the upper end portion of the lever in the front-rear direction by moving the upper end of the lever in the front-rear direction (for example, a patent) Reference 1).

As another one, a pair of wheel support members to which front wheels and rear wheels are attached are arranged on the left and right sides, and each wheel support member is provided so as to be swung by a swing driving means with a central portion in the front-rear direction as a center. When overcoming the step, swing the wheel support member on one of the left and right sides so that the front wheel crosses the step, and if the front wheel gets over the step, the front wheel will step on the wheel support member on the other side. A traveling mobile body is known that includes a mechanism that swings so that both the left and right front wheels cross a step (see, for example, Patent Document 2).
JP-A-10-181609 JP 2003-285743 A

  However, in the case of Patent Document 1, it is necessary to operate the lever every time the level difference is overcome, and it takes time and effort to operate the mechanism, making it difficult to smoothly move the traveling moving body. On the other hand, in the case of Patent Document 2, it is possible to automatically get over the step by attaching a sensor to the traveling moving body to detect the step, but it is necessary to use an actuator, so the cost is high. There is a drawback that it becomes heavy and the weight increases.

  The present invention has been made in order to solve such a problem of the prior art, and by efficiently utilizing the force applied to the wheel from the front when the wheel hits the step, the actuator is not used and the step is reduced. It is an object of the present invention to provide a step-over mechanism that can overcome a step that is lower than the radius of the wheel as well as a step that is greater than the radius of the wheel without requiring a special operation when getting over, and a traveling mobile body that includes this mechanism. To do.

  The step climbing mechanism of the present invention has a main wheel and an auxiliary wheel, and the main wheel side link has one end connected to the shaft center of one of the pair of gears engaged with each other. The auxiliary wheel shaft is rotatably attached to the other end portion, and the auxiliary wheel shaft is rotatably attached to the other end portion of the auxiliary wheel side link having one end portion connected to the shaft center of the other gear of the pair of gears. A step climbing mechanism having the above-described configuration, wherein the main wheel is disposed on the front side in the traveling direction and the auxiliary wheel is disposed on the rear side in the traveling direction, and a substantially backward force is applied to the main wheel from the front step. Each of the pair of gears is arranged so that the auxiliary wheel side link swings so that the auxiliary wheel moves downward as the main wheel side link swings.

  The step climbing mechanism according to claim 2 of the present invention is the step climbing mechanism according to claim 1, wherein the axis of the auxiliary wheel is more than the axis of the main wheel until the main wheel gets over the step. It is characterized by being positioned on the rear side of the ring radius.

  The step climbing mechanism according to claim 3 of the present invention is the step climbing mechanism according to claim 1 or 2, wherein the main wheel climbs over the step and the auxiliary wheel receives a force from the step on the front side. A shaft center of a main wheel attached to the other end portion of the main wheel side link is positioned behind a shaft center of a gear attached to one end portion of the main wheel side link. And

  The traveling moving body of the present invention is a traveling moving body having a front wheel and a rear wheel, wherein at least the front wheel of the front wheel and the rear wheel is provided with the step climbing mechanism according to any one of claims 1 to 3. It is characterized by being.

  In the case of using the step climbing mechanism of the present invention and the traveling mobile body equipped with this mechanism, the steps are overcome as follows. Here, a description will be given with reference to FIG. 3 which is an embodiment of the present invention. That is, when the main wheel 11 comes into contact with the side surface 22 of the step 21 as shown in FIG. 3A when the step-over mechanism or the traveling mobile body equipped with this mechanism travels forward, as shown in FIG. As shown in b), when the main wheel 11 is pushed substantially rearward from the side surface 22 by F1, the inclination angle changes so that the main wheel side link 16 lies down, and it is rotatably attached to the main body of the traveling vehicle. The gear 14 on the main wheel side of the pair of gears 14 and 15 (side connected to the main wheel 11 via the link 16) rotates. Then, the auxiliary wheel side gear 15 (the side connected to the auxiliary wheel 12 via the link 17) meshed with the main wheel side gear 14 is rotated to the opposite side, whereby FIG. As shown, the inclination angle changes so that the auxiliary wheel side link 17 stands, and a force F2 that presses the ground against the auxiliary wheel 12 acts to lift the main wheel 11. Such an operation continues while the main wheel 11 is in contact with the side surface 22 of the step 21. After that, when the axis of the main wheel 11 exceeds the upper edge of the step 21 as shown in FIG. 3 (d), the step-over mechanism or the traveling mobile body equipped with this mechanism as shown in FIG. 3 (e). As the vehicle travels forward, the main wheel 11 gets over the step 21, and then the auxiliary wheel 12 contacts the side surface 22 of the step 21. As a result, as shown in FIG. 3 (f), when the auxiliary wheel 12 is pushed almost rearward by F3, the inclination angle changes so that the auxiliary wheel side link 17 lies down, and the auxiliary wheel side gear 15 does not move so far. The main wheel side gear 14 rotates in the opposite direction to the auxiliary wheel side gear 15, and the force F4 that presses the ground against the main wheel 11 acts to lift the auxiliary wheel 12 up. . Such an operation continues while the auxiliary wheel 12 is in contact with the side surface 22 of the step 21. After that, when the axis of the auxiliary wheel 12 exceeds the upper edge of the step 21, as shown in FIGS. 3 (g) and 3 (h), the step climbing mechanism or the traveling mobile body equipped with this mechanism is moved forward. As the wheel moves, the auxiliary wheel 12 gets over the step 21.

  Therefore, in the step climbing mechanism and the traveling vehicle of the present invention, when the wheel hits the step, the force applied from the front is efficiently converted to the downward force and used, so that the actuator is not used and the step is overcome. Without requiring special operation, a step lower than the radius of the wheel as well as a step higher than the radius of the wheel can be overcome.

  In the case of claim 2, the axis of the auxiliary wheel is positioned more than the radius of the auxiliary wheel beyond the axis of the main wheel until the main wheel gets over the step. The auxiliary wheel does not come into contact with the side of the step until it gets over the step, so that the situation where the main wheel cannot reach the step even though the main wheel has been raised to the height to go over the step does not occur. . In other words, when the distance between the axis of the auxiliary wheel and the axis of the main wheel is smaller than the radius of the auxiliary wheel, the axis of the main wheel is more than the step when the auxiliary wheel is in contact with the side surface of the step. This is because it will be located on the rear side and it will not be possible to get over the steps.

  In the case of claim 3, when the main wheel gets over the step and the auxiliary wheel receives the force from the side surface of the step, the axis of the main wheel attached to the other end of the main wheel side link is the main shaft. Since it is located on the rear side of the shaft center of the gear attached to one end of the wheel side link, the main wheel side link swings so that the main wheel moves downward, in other words, the auxiliary wheel moves relative to the main wheel. Thus, the auxiliary wheel side link is swung so as to move relatively upward, and the climbing of the auxiliary wheel over the step is promoted.

  The present invention will be specifically described below.

  FIG. 1 is a left side view showing a silver car to which the step climbing mechanism of the present invention is applied, FIG. 2A is a left side view showing the step climbing mechanism of the present invention, and FIG. FIG.

  This silver car 1 has a main body 2 that connects pipes in a desired shape, and a back 3 that functions as a stool and luggage compartment. Front and rear wheels 10 and 20 are provided on the left and right sides of the main body 2, respectively. It has been.

  The main body 2 includes a hand-pipe pipe 2a formed in a gate shape when viewed from the front side, a front left-hand pipe 2b disposed on the lower left and right front sides and a front side on the lower side, and a lower left and right rear sides. The rear wheel pipe 2c is disposed with the rear side down, and the horizontal base 2d has both ends attached to the lower ends of the front wheel pipes 2b on the left and right sides.

  The base 2d supports the lower side of the back 3. A pair of front wheels 10 are attached below the left and right ends of the base 2d. A pair of rear wheels 20 is attached to the lower ends of the left and right rear wheel pipes 2c.

  Each front wheel 10 includes a main wheel 11 on the front side in the traveling direction, an auxiliary wheel 12 on the rear side in the traveling direction, small support pieces 13a and 13b and large support pieces 13c and 13d provided in a suspended state below the base 2d. The main wheel side gear 14 in which the shaft 14a is rotatably supported by the small support pieces 13a and 13b, the auxiliary wheel side gear 15 in which the shaft 15a is rotatably supported by the large support pieces 13c and 13d, One end is connected to the shaft 14a of the wheel side gear 14 and one end is connected to the shaft 15a of the auxiliary wheel side gear 15 and the other end is connected to the shaft 11a of the main wheel 11. The end portion has an auxiliary wheel side link 17 connected to the shaft 12 a of the auxiliary wheel 12.

  The main wheel 11 is provided to be rotatable with respect to the main wheel side link 16, and the auxiliary wheel 12 is also provided to be rotatable with respect to the auxiliary wheel side link 17. The main wheel side link 16 swings about the shaft 14 a of the main wheel side gear 14, and the auxiliary wheel side link 17 also swings about the shaft 15 a of the auxiliary wheel side gear 15. The main wheel side gear 14 and the auxiliary wheel side gear 15 mesh with each other and are made compact by using a substantially semicircular shape in which a non-meshing portion is omitted. However, it is needless to say that a circular shape may be used. The configuration of the front wheel 10 functions as a step-over mechanism and has a symmetrical arrangement on the left and right.

  When the silver car 1 grips and pushes the hand pushing pipe 2a, the front wheel 10 moves forward over the step on the front side in the traveling direction.

  Next, the step-over operation of the front wheel 10 will be described with reference to FIG.

When the silver car 1 moves forward, when the main wheel 11 comes into contact with the side surface 22 of the step 21 as shown in FIG. 3 (a), the main wheel 11 moves to the side surface as shown in FIG. 3 (b). When the main wheel side link 16 is pushed to the rear side from F22 by F1, the inclination angle changes so that the main wheel side link 16 lies, and the main wheel side gear 14 rotates. Then, the auxiliary wheel side gear 15 meshed with the main wheel side gear 14 rotates to the opposite side, and the inclination angle changes so that the auxiliary wheel side link 17 stands as shown in FIG. Thus, the main wheel 11 is lifted by the force F2 that presses the ground against the auxiliary wheel 12.
Then, as shown in FIG. 3D, such an operation continues while the main wheel 11 is in contact with the side surface 22 of the step 21 as the silver car 1 travels forward. As shown in e), the axis of the main wheel 11 exceeds the upper edge of the step 21. In order to get over the main wheel 11 on the step 21 in this way, the axis of the auxiliary wheel 12 is positioned behind the axis of the main wheel 11 more than the radius of the auxiliary wheel 12 until it gets over. It is preferable to prevent a situation in which the main wheel 11 cannot reach the step 21 despite the fact that the main wheel 11 has risen to a height over the step 21.

  Thereafter, the auxiliary wheel 12 comes into contact with the side surface 22 of the step 21 following the above-mentioned climbing over the step 21 of the main wheel 11. As a result, as shown in FIG. 3 (f), the auxiliary wheel 12 is pushed almost rearward by F3, so that the inclination angle changes so that the auxiliary wheel side link 17 lies down, and the auxiliary wheel side gear 15 is moved up to that point. Is rotated in the opposite direction, while the main wheel side gear 14 is rotated in the opposite direction to the auxiliary wheel side gear 15, and the force F4 that presses the ground against the main wheel 11 acts to lift the auxiliary wheel 12. Go. Such an operation continues while the auxiliary wheel 12 is in contact with the side surface 22 of the step 21.

  Thereafter, when the axis of the auxiliary wheel 12 exceeds the upper edge of the step 21, the auxiliary wheel 12 also moves as the silver car 1 travels forward as shown in FIGS. 3 (g) and 3 (h). Get over step 21. Thus, in order to get over the auxiliary wheel 12 on the step 21, the shaft center of the main wheel 11 attached to the other end portion of the main wheel side link 16 is connected to one end portion of the main wheel side link 16 until it gets over. In order to promote overcoming, it is preferable to apply a force F4 that presses the ground to the main wheel 11 so as to be located behind the axis of the gear 14 attached to the main wheel 11.

  In addition, although embodiment mentioned above demonstrated the case where a level | step difference is higher than the radius of the main wheel 11 or the auxiliary wheel 12, force F1 which pushes back by the main wheel 11 or the auxiliary wheel 12 contacting the level | step difference 21 When F3 or F3 is generated, the main wheel 11 or the auxiliary wheel 12 gets over the step 21 as described above. Therefore, even if the step is lower than the radius of the main wheel 11 or the auxiliary wheel 12, the step is reduced by the generation of the forces F1 and F3. Can get over.

  Therefore, in the silver car 1 of the present embodiment, the force applied from the front to the wheels (the main wheel 11 and the auxiliary wheel 12) when the wheels (the main wheel 11 and the auxiliary wheel 12) hit the step 21 is efficiently converted into a downward force. As a result, it is possible to use a lower step than the radius of the wheels (the main wheel 11 and the auxiliary wheel 12) without exceeding the radius of the wheel without using an actuator and requiring no special operation when overcoming the step. You can get over the steps.

  Further, in the silver car 1 according to the present embodiment, the main wheel is not limited to overcoming such a step, and the main wheel is inclined obliquely upward and backward from the front to a boundary portion without a step that changes from a flat surface to a slope. In response, the auxiliary wheel side link swings so that the auxiliary wheel moves downward, so that it can pass smoothly.

  In the above-described embodiment, one gear of the pair of gears meshed with each other is used as the main wheel side gear, and the other gear is used as the auxiliary wheel side gear. It can also be implemented by using one gear as the auxiliary wheel side gear and the other gear as the main wheel side gear, attaching the auxiliary wheel side link to one gear, and attaching the main wheel side link to the other gear.

  Further, although not explicitly stated in the above-described embodiment, it is not always necessary to arrange the pair of gears vertically. For example, it is needless to say that the present invention can be implemented even if a pair of gears are arranged horizontally or obliquely.

  Further, in the above-described embodiment, the front wheel is the step climbing mechanism having the main wheel and the auxiliary wheel, but the present invention is not limited to this, and it is needless to say that both the front wheel and the rear wheel may be the step climbing mechanism. is there.

  Furthermore, in the above-described embodiment, the present invention is applied to a silver car that is pushed by a person. However, the present invention is not limited to this and is also applied to a traveling vehicle that moves by human power such as a cart pushed by a person or a wheelchair that moves by human power. Further, it can be applied to a self-propelled traveling moving body that is moved by a motor, an engine, or the like.

It is a left view which shows the silver car to which this invention is applied. (A) is the left view which shows the front wheel provided in the silver car of FIG. 1, (b) is the figure which looked at the front wheel from the front side. It is explanatory drawing of the level | step difference operation of a front wheel.

Explanation of symbols

1 Silver car (traveling vehicle)
DESCRIPTION OF SYMBOLS 10 Front wheel 11 Main wheel 12 Auxiliary wheel 14 Main wheel side gear 15 Auxiliary wheel side gear 16 Main wheel side link 17 Auxiliary wheel side link 20 Rear wheel 21 Level difference

Claims (4)

It has a main wheel and an auxiliary wheel, and the shaft of the main wheel is rotatable to the other end of the main wheel side link with one end connected to the shaft center of one of the pair of gears meshing with each other A step-over mechanism in which the auxiliary wheel shaft is pivotally attached to the other end portion of the auxiliary wheel side link with one end connected to the shaft center of the other gear of the pair of gears. There,
The main wheel is disposed on the front side in the traveling direction, the auxiliary wheel is disposed on the rear side in the traveling direction, and the main wheel side link swings due to a substantially backward force applied from the front step to the main wheel. A step climbing mechanism, wherein each of the pair of gears is arranged so that the auxiliary wheel side link swings so as to move the auxiliary wheel downward. In the step climbing mechanism according to claim 1,
A step climbing mechanism characterized in that the axis of the auxiliary wheel is positioned more than the radius of the auxiliary wheel beyond the axis of the main wheel until the main wheel gets over the step. In the step climbing mechanism according to claim 1 or 2,
When the main wheel gets over the step and the auxiliary wheel receives a force from the step on the front side, the axis of the main wheel attached to the other end of the main wheel side link is the main wheel side link. A step climbing mechanism characterized in that the step climbing mechanism is located on the rear side of an axis of a gear attached to one end. In a traveling vehicle having front and rear wheels,
A travel moving body according to any one of claims 1 to 3, wherein a step climbing mechanism according to any one of claims 1 to 3 is provided on at least a front wheel of the front wheel and the rear wheel.

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