JP2007153521A - Stairs lifting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a stairs lifting device capable of lifting a heavy load on stairs. <P>SOLUTION: This stairs lifting device is formed as a three-stage structure by mutually independently horizontally movably arranging a lower stage movable carriage 10, its upper intermediate stage movable carriage 20 and its further upper loading space 30. A plurality of legs 1 to 8 are respectively installed on the intermediate stage movable carriage and the lower stage movable carriage. Vertically driving devices 111 to 114 for changing a distance (the effective length) up to the intermediate movable carriage or the lower stage movable carriage from these lower ends, are arranged on the plurality of respective legs or with every leg group being the same position in the horizontally moving direction. Horizontally driving devices 40 and 50 for independently horizontally driving the respective loading space and lower stage movable carriage via the intermediate stage movable carriage, are arranged on the loading space, the intermediate stage movable carriage or the lower stage movable carriage. The vertically driving devices and the horizontally driving devices are controlled by a control device 100, thereby performing automatic lifting on stairs. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  An object of the present invention is to provide a stair lifting device that transports heavy objects using stairs.

  Today, stairs are installed everywhere, including high-rise buildings such as buildings and stations. There is a high need for carrying luggage using stairs, and various stairs carrying robots have been developed to reduce labor. For example, JP-A-2004-276892 (Patent Document 1), JP-A-2002-19616 (Patent Document 2), JP-A-2002-127909 (Patent Document 3), JP-A-2002 / 2002 JP-A-225720 (Patent Document 4), JP-A-2001-55178 (Patent Document 5), JP-A-2001-225754 (Patent Document 6), JP-A-2001-233600 (Patent Document 7), Japanese Patent Laid-Open No. 10-109653 (Patent Document 8), Japanese Patent Laid-Open No. 9-66839 (Patent Document 9), Japanese Patent Laid-Open No. 8-58641 (Patent Document 10), and Japanese Patent Application Laid-Open No. 2004-181040 for wheelchair movement. Japanese Patent Laid-Open No. 2002-178930 and Japanese Patent Laid-Open No. 2002-178930 (Patent Document 12) propose such an apparatus for carrying a load.

  Further, as a device for maintaining stability during movement, an apparatus for stably supporting a guide rail has been proposed as disclosed in JP-A-8-73197 (Patent Document 13).

  Further, in Japanese Patent Laid-Open No. 6-63876 (Patent Document 14), when moving in an environment where the landing position is restricted, such as stairs, an error between the target position and the actual landing position is detected, and the gait (step length) is detected. ) Has been proposed. Japanese Patent Laid-Open No. 6-134681 (Patent Document 15) proposes a method of providing auxiliary legs on the robot body in order to increase the stability of the walking robot apparatus. Furthermore, biped walking robots have been devised for the purpose of walking on stairs, and some have already been released.

However, in any of the above-described conventional techniques, it is not possible to provide the ability to lift and lower heavy objects exceeding several hundred kg while ensuring safety using stairs. In addition, in the case of a biped robot, it is difficult to move the center of gravity with respect to a heavy object, and it is not suitable for carrying luggage.
JP 2004-276892 A Japanese Patent Laid-Open No. 2002-19616 JP 2002-127909 A JP 2002-225720 A JP 2001-55178 A JP 2001-225754 A JP 2001-233600 A Japanese Patent Laid-Open No. 10-109653 Japanese Patent Laid-Open No. 9-66839 Japanese Patent Laid-Open No. 8-58641 JP 2004-181040 A JP 2002-178930 A JP-A-8-73197 JP-A-6-63876 Japanese Patent Laid-Open No. 6-134681

  The present invention has been made to solve the above-described problems of the prior art, and an object of the present invention is to provide a stair lifting device that can stably stair lift heavy objects.

  The stair lifting device of the present invention has a three-stage structure in which a lower stage moving base, an upper middle stage moving base thereabove, and a loading platform thereabove can be horizontally moved independently of each other, A plurality of legs are attached to each of the lower stage moving bases, and each of the plurality of legs or each leg group that is in the same position in the horizontal movement direction from the lower end thereof to the middle stage moving base or the lower stage moving base. A vertical driving device for changing the distance (effective length) is provided, and a horizontal driving device that drives each of the cargo bed and the lower moving table independently in the horizontal direction via the middle moving table, the loading bed, It is provided on a middle stage moving base or a lower stage moving base, and includes a control device for controlling the vertical direction driving device and the horizontal direction driving device.

  In the stair lifting device according to the present invention, the control device places the heavy object on the loading platform, and then extends the effective length of the leg of the lower stage moving table by the vertical drive device, thereby the entire stair lifting device. Is then moved up to the stair lift position, and then only the middle stage moving table is moved horizontally by the horizontal driving device to the length of the tread surface with the loading platform and the lower stage moving table fixed, and then the loading platform is While using the middle stage moving table as a guide, it is horizontally moved by the horizontal direction driving device by a distance corresponding to the tread surface of the stairs, and then the effective length of the legs of the lower stage moving table is reduced by the vertical direction driving device. After that, an operation of horizontally moving the lower stage moving table by the horizontal driving device by a distance corresponding to the tread surface of the stairs using the middle stage moving table as a guide is taken as one cycle. The work can be made to perform in the staircase lifting device.

  In the stair lifting device of the present invention, a hydraulic, servo mechanism, or linear drive servo mechanism can be adopted as the vertical drive device. In the stair lifting device of the present invention, a hydraulic, servo mechanism, or linear drive servo mechanism can be adopted as the horizontal driving device.

  In the stair lifting device according to the present invention, the sliding portions of the lower stage moving base and the middle stage moving base are provided with bearings on one of them, and the vertical displacement is accommodated within a predetermined width on the other, and A guide rail for guiding the movement in the horizontal direction can be provided. Further, in the stair lifting device of the present invention, a bearing can be provided on the side of the loading platform, and a guide rail for the bearing can be provided on the middle platform of the sliding portion between the middle platform and the loading platform.

  Further, in the stairlifting device of the present invention, in order to safely perform the stairlifting operation of heavy objects, a levelness detector, a leg effective length detector, a limit switch, an imaging device or an acceleration detector are provided, and those Based on the signal, the control device can control the step lifting operation.

  According to the stairlifting device of the present invention, it is possible to move heavy objects in a compact manner in loading / unloading equipment in the elevator machine room and transporting luggage on the staircase, which makes it possible to stabilize in a short time in a work place with a step. It is possible to efficiently move a heavy object while maintaining the state.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIGS. 1A and 1B are a plan view and a front view of one embodiment of the present invention, and FIG. 2 is a side view. As shown in the figure, the stairlifting device of the present embodiment has a three-stage structure including a lower stage moving base 10, an intermediate stage moving base 20, and a cargo bed 30. The lower stage moving base 10 and the middle stage moving base 20 are held together by the front and rear guide rails 45 and 46 and the rollers 41 to 44 arranged on the left and right sides of the front and rear sides, respectively, in a horizontal uniaxial direction (left and right in FIG. 1). Can move independently of each other while being guided in the direction).

  Legs 1 to 4 that can be extended and contracted by a hydraulic mechanism are attached to the lower stage moving base 10, and legs 5 to 8 that can be extended and contracted by a hydraulic mechanism are attached to the middle stage moving base 20, respectively. In addition, it is preferable to attach a bottom plate to the tip of each leg as will be described later in order to increase the stability on the stairs. It is also desirable to have a structure to which casters and rollers can be attached in order to enable horizontal movement.

  Rollers 51 to 54 are provided between the middle stage moving table 20 and the loading platform 30, so that they can move independently from each other in the horizontal uniaxial direction (left and right direction in FIG. 1).

  The horizontal movement of the lower stage moving base 10 and the middle stage moving base 20 is driven by a horizontal direction driving device 40 fixed to the lower stage moving base 10. Further, the middle stage moving table 20 is provided with a horizontal direction driving device 50 to drive the middle stage moving table 20 and the loading platform 30 in the horizontal direction. The control device 100 is provided in a space in the vicinity of the horizontal driving device 40 or 50, for example, a clearance space between the loading platform 30, the middle stage moving table 20, and the lower stage moving table 10, or a lower part of the lower stage moving table 10. However, the control device 100 can be configured to be connected to the horizontal direction drive devices 40 and 50 via a wired or wireless connection so that the user can remotely operate the device at hand.

  An auxiliary leg 60 is attached to one end of the middle stage moving base 20, and detachable side legs 70 and 72 are attached to the lower stage moving base 10 or legs 1 to 4. A levelness detector 80 for detecting the levelness is attached in the vicinity of the loading platform 30. In addition, in order to measure the distance from the lower end of each leg to the bottom surface of each moving base, that is, the effective length, a leg effective length detector as shown in FIG. 16 for each leg 1-4, 5-8. 81-84, 85-88 are attached, and proximity detectors 91, 92, 93, 94 using proximity sensors or limit switches for preventing the legs from colliding with the stairs are attached. In addition, if necessary, the acceleration detector 99 is attached to an appropriate place, for example, the illustrated platform 30 in order to reduce the acceleration applied to the heavy object W.

  As shown in FIG. 16, the control device 100 includes a levelness detector 80, leg effective length detectors 81 to 84 and 85 to 88 for each of the legs 1 to 4 and 5 to 8, the front legs 1, 2, and the legs 5. , 6 are inputted with signals from proximity detectors 91, 92, proximity detectors 93, 94, acceleration detector 99, etc. for avoiding collision with the stairs, and on the basis of these signals, a leg and a moving table are inputted. Perform feedback control.

  The legs 1 to 4 of the lower stage moving table 10 are located inside the legs 5 to 8 of the middle stage moving table 20, and the entire lower stage moving table 10 is enclosed by the middle stage moving table 20. Further, the lower stage moving table 10 and the middle stage moving table 20 are held by guide rails 45 and 46 and can move independently while being guided in the horizontal direction by the rollers 41 to 44. That is, the guide rails 45 and 46 are attached to the middle stage moving table 20 side, the rollers 41 and 43 are sandwiched between the guide rail 45 and the lower stage moving table 10, and the rollers 42 and 44 are moved to the lower stage with the guide rail 46. It is sandwiched by the base 10 and enables horizontal movement independently of each other.

  In the horizontal movement between the middle stage moving platform 20 and the loading platform 30, the rollers 51 to 54 attached to the lower surface of the loading platform 10 move on the guide rails 55 and 56 attached to both ends of the upper surface of the middle stage moving platform 20, respectively. Is done. The guide rails 55 and 56 prevent the rollers 51 to 54 from being removed.

  3 (a) and 3 (b) are detailed views of the lower stage moving base 10. FIG. Four legs 1 to 4 that can be vertically expanded and contracted are attached to the lower stage moving table 10. The maximum effective length of each leg has a length more than three times the kicking up of the staircase used, and has a telescopic structure. And each leg is extended-contracted by the up-down direction drive apparatuses 111-114 like a hydraulic device, and the adjustment of the effective length is enabled. These legs are detachably fixed to the lower stage moving table 10 with bolts or the like by seats 151 to 154.

  A driving device 40 for driving these legs and horizontally driving the lower stage moving table 10 and the middle stage moving table 20 is provided at the lower part of the lower stage moving table 10. Here, in addition to the hydraulic device, the driving device 40 may drive the intermediate stage 20 by a servo mechanism using a ball screw, a rack and a pinion, or a servo mechanism using linear drive. Removable side legs 70 and 72 are attached to the lower stage moving base 10 or the legs 1 to 4.

  A proximity detector 91 composed of a proximity sensor or a limit switch is attached to the leg 1 on the front side in the moving direction, and a proximity detector 92 is also attached to the leg 2. When the driving device 40 is a hydraulic system, a driving oil tank is provided on a part of the lower stage moving table 10. Bottom plates 161 to 164 are attached to the lower ends of the legs.

  4 (a) and 4 (b) are detailed views of the middle stage moving base 20. FIG. The horizontal width of the middle stage moving table 20 (the width in the direction perpendicular to the paper surface in FIG. 4B) is wider than the horizontal width of the lower stage moving table 10 because the legs travel during horizontal movement. Four legs 5 to 8 that can be expanded and contracted vertically are attached to the middle stage moving table 20 with bolts or the like via seats 155 to 158. Similar to the legs 1 to 4 of the lower stage moving base 10, these legs have a length that is more than three times the rise of the staircase used by the maximum effective length, and have a telescopic structure. Each leg is vertically expanded / contracted by vertical drive devices 115 to 118 such as hydraulic devices so that the effective length can be adjusted. These legs are detachably fixed to the intermediate stage moving base 20 with bolts or the like by seats 155 to 157. Further, bottom plates 165 to 168 are attached to the lower ends of the respective legs.

  A horizontal driving device 50 for horizontally driving these legs 5 to 8 and the loading platform 30 is attached to the middle stage moving table 20. Similarly to the horizontal driving device 40 for driving the lower stage 10 described above, the horizontal driving device 50 is provided with a servo mechanism using a ball screw, a rack and a pinion, or a servo mechanism using linear drive, in addition to the hydraulic device. The loading platform 30 can be driven. Further, when the horizontal driving device 50 is a hydraulic device, a driving oil tank is provided in a part of the middle stage moving base 20.

  A proximity sensor 93 such as a proximity sensor for detecting the proximity to the kicking of the stairs or a limit switch for detecting the contact with the proximity sensor 93 is attached to the leg 5 on the front side in the moving direction. A proximity detector 94 is attached. Further, the auxiliary leg 60 is provided at a position that is the rear part in the moving direction to increase the stability. The auxiliary leg 60 is provided as necessary. In addition, 74 and 76 are side legs for a middle stage moving base, and are used for traveling on flat ground.

  FIG. 5 shows another configuration of the lower stage moving table 10. In this lower stage moving base 10, the legs 1 and 2 are fixed to adjust the distance between the legs 1 and 3 and between the legs 2 and 4 according to the tread surface of the stairs, and the legs 3 and 4 are fixed. Are slidable along the guide rails 120 and 122, respectively, and the distance between the legs can be adjusted by the driving devices 121 and 123. Here, the driving devices 121 and 123 use a hydraulic device such as a hydraulic cylinder or a hydraulic jack, a servo mechanism using a ball screw or a rack and a pinion, or a servo mechanism using a linear drive. Note that the distance between the legs is set to be larger than the width of the tread surface of the stairs to be used and not more than twice the size of the tread surface so as not to be excessively large.

  FIG. 6 shows another configuration of the middle stage mobile stand 20. In this intermediate stage moving table 20, the legs 5 and 6 are fixed to adjust the distance between the legs 5 and 7 and between the legs 6 and 8 in accordance with the tread surface of the stairs, and the legs 7 and 8 are fixed. Are slidable along the guide rails 130 and 132, respectively, and the distance between the legs can be adjusted by the driving devices 131 and 133. Here, a hydraulic device such as a hydraulic cylinder or a hydraulic jack, a servo mechanism using a ball screw or a rack and a pinion, or a servo mechanism using a linear drive is used as the driving device. The distance between the legs is larger than the width of the tread surface of the staircase used so as to be approximately the same as the dimension between the legs of the lower stage moving table, and is adjusted to be twice or less in order not to be excessively large.

  The control mechanism of the stair lifting operation by the control device 100 has the configuration shown in FIG. That is, the control device 100 detects the level of the moving platform position detector 300 and the loading platform 30 for detecting the positions of the lower moving platform 10, the middle moving platform 20, and the loading platform 30 based on the operating positions of the horizontal driving devices 40 and 50. Loading platform levelness detector 80, leg effective length detectors 81-88 for detecting the effective length from the driving positions of the driving devices 111-118 of the respective legs 1-8, legs 1, 2, and middle stage of the lower stage moving base 10 Input predetermined signals from the proximity detectors 91 to 94 that detect that the legs 5 and 6 of the moving table 20 are close to the kicking surface of the staircase and the acceleration detector 99 that detects acceleration. Then, automatic control of the lifting operation of the heavy object W on the stairs is performed. The element group controlled by the control device 100 includes lower-stage leg driving devices 111 to 114 for extending and retracting the legs 1 to 4 of the lower stage moving base 10 and middle-stage leg driving for extending and retracting the legs 5 to 8 of the intermediate stage moving base 20, respectively. These are the devices 115 to 118, the horizontal driving device 40 that horizontally drives the lower moving table 10 and the middle moving table 20 independently, and the horizontal driving device 50 that horizontally drives the middle moving table 20 and the loading platform 30 independently.

  Hereinafter, the lifting operation control in the case where the control device 100 lifts the heavy object W by using the stairs will be described with reference to FIGS.

  (Step 1) In FIGS. 7 (a) and 7 (b), the entire apparatus is initially kept horizontal by the legs 1 to 4 attached to the lower stage 10. In addition, the legs 5 to 8 attached to the intermediate stage 20 are supplementarily used as necessary and are stably fixed horizontally. This horizontal holding is instructed by the control device 100 based on the output from the levelness detector 80, and the effective length from the lower end of each leg 1-4, leg 5-8 to the bottom of each moving base is adjusted. Is fed back.

  The lower stage moving platform 10, the middle stage moving platform 20, and the loading platform 30 are mounted between the lower stage moving platform 10 and the middle stage moving platform 20 and the horizontal direction driving device 40, and the middle stage moving platform 20 and the loading platform 30. The horizontal direction driving device 50 fixes the center of the same carrier bed. That is, in this state, the heavy object is loaded so that the position of the center of gravity is approximately the center of the loading platform or the lower stage moving platform.

  When the loading of the heavy object is completed, the height of the lower end of the leg is adjusted up and down by using the leg driving devices 111 to 114 so that the leg does not collide with the stairs when the leg moves. At this time, the driving devices 115 to 118 are used together as necessary.

  (Step 2) Subsequently, as shown in FIGS. 8A and 8B, the legs 1 to 4 of the lower stage moving table 10 are kept level by the legs 1 to 4 and the heavy objects W are supported while the legs 5 to 5 of the middle stage moving stage 20 are supported. 8 is contracted by using the driving devices 115 to 118. At this time, the lower ends of the legs 5 and 6 on the front side in the moving direction are shrunk until they are slightly higher than the height of the staircase, and the rear legs 7 and 8 are horizontally moved to interfere with the floor and the tread. Shrink as much as you can.

  (Step 3) Subsequently, as shown in FIGS. 9A and 9B, the intermediate stage moving base 20 is horizontally moved in the staircase direction. At this time, the loading platform 30 simultaneously reverses the horizontal driving device 40 attached between the lower moving platform 10 and the middle moving platform 20 and the horizontal driving device 50 installed between the middle moving platform 20 and the loading platform 30. By driving, the heavy object W is kept at almost that position without changing the position of the center of gravity. That is, the lower stage moving base 10 and the middle stage moving base 20 are opposite to each other by the guide rails 45 and 46 and the rollers 41 to 44, and the middle stage moving base 20 and the loading stage 30 are opposite to each other by the rollers 51 to 54 and the guides 55 and 56. Move horizontally to.

  At the same time, the horizontal movement distance of the legs 1 to 4 is set by the control device 100 based on signals from the horizontality detector 80, the leg effective length detectors 81 to 88, the table position detector 300, and the proximity detectors 91 to 94. In addition, control is performed to maintain balance. Thereby, the middle stage moving base 20 moves horizontally while maintaining stability. In this embodiment, in any control process, when an excessive acceleration is applied by a signal from the acceleration detector 99, the operation is immediately stopped.

  (Step 4) If the middle stage moving table 20 is moved horizontally to a predetermined position, the legs 5 to 8 are respectively moved by the leg driving devices 115 to 118 attached to the middle stage moving table 20, as shown in FIGS. 10 (a) and 10 (b). Is lowered to extend the effective length, and the intermediate stage 20 is fixed horizontally.

  (Step 5) Subsequently, as shown in FIGS. 11 (a) and 11 (b), the length of the tread surface of the stairs is set by the horizontal driving device 50 attached between the loading platform 30 and the intermediate stage moving platform 20. Move horizontally. At this time, all the legs are maintained by the control device 100 based on signals from the levelness detector 80, the leg effective length detectors 81 to 88, the table position detector 300, and the proximity detectors 91 to 94 so as to keep the balance of the main body. Control for 1-4, 5-8 is performed. When the horizontal movement of the loading platform 30 is completed, the entire main body including the loading platform 30 is lifted up by extending and contracting all the legs or only the legs 5 to 8 as necessary while checking the level of the loading platform 30. In addition, in order to maintain the stability at the time of this operation, the auxiliary leg 60 may be used as an auxiliary means.

  (Step 6) Subsequently, as shown in FIGS. 12A and 12B, the legs 1 to 4 of the lower stage moving base 10 are contracted while the cargo bed 30 is horizontally supported by the legs 5 to 8 of the middle stage moving base 20. .

  (Step 7) Subsequently, as shown in FIGS. 13 (a) and 13 (b), the lower stage moving table 10 is moved in the staircase direction by the horizontal driving device 40 attached between the lower stage moving table 10 and the middle stage moving table 20. Move horizontally by the length of the tread.

  (Step 8) When the horizontal movement of the lower stage moving base 10 is completed, the legs 1 to 4 are extended while checking the level as shown in FIGS. 14 (a) and 14 (b).

  Thereby, the lifting operation for one step of the stairs is completed. Subsequently, the lifting operation is restarted from step 1 shown in FIG. 15, and the heavy object W is lifted step by step by repeating the lifting operation of steps 1 to 8 described above. When going down the stairs, the reverse operation is performed.

  In these series of operations, as described above, the control device 100 based on signals from the levelness detector 80, the leg effective length detectors 81 to 88, the table position detector 300, and the proximity detectors 91 to 94, Control is performed on all the legs 1 to 4 and 5 to 8 so as to keep the balance of the main body.

  In addition, as shown in FIG. 17, stoppers 310 to 320 are provided for the horizontal driving devices 40 and 50 and the leg driving devices 91 to 98, respectively, so that the moving distance does not exceed the limit value, Furthermore, the machine can be protected by detecting contact with these stoppers 310 to 320 and causing the control device 100 to stop the corresponding drive device. In addition, limit switches 321 to 331 may be provided instead of the stopper or together with the stopper, and it is possible to detect that the movement limit is approached by contacting the limit switch and to output an alarm by the alarm device 332.

  In addition, since this apparatus aims at the staircase movement of heavy objects, it is better that the center of gravity of the load is low. Therefore, as in the above-described embodiment, the horizontal direction driving device 40 and the horizontal direction driving device 50 are attached to the inside of the lower stage moving table 10 or the middle stage moving table 20, so that the dimension in the height direction can be shortened. Thus, the center of gravity can be lowered and the apparatus can be made compact.

  Further, the legs 1 to 4 and 5 to 8 of the lower stage moving base 10 and the middle stage moving base 20 are made detachable, and the side legs 70 and 72 are attached to the lower stage moving base 10, and the side legs 74 and 76 are attached to the middle stage moving base 20. In addition to realizing the vertical movement of the legs during walking, the size can be reduced as much as possible when the stair lifting device is not used, and the storage space can be reduced by making it smaller than the stair lift up dimension. In addition to the reduction, it can be easily carried.

  Moreover, a large power is required for the movement of the heavy object W. Therefore, the drive devices 40 and 50 and the leg drive devices 91 to 98 are exemplified by hydraulic mechanisms, but a ball screw or a servo mechanism by linear drive can also be adopted. In addition, a storage tank for operating oil is required for the application of the hydraulic device. However, by using a part of the lower stage moving base 10 or the middle stage moving base 20 as an operating oil tank, the space can be used effectively.

  In actual stairs, the dimensions of the tread and the kick-up are different. In order to cope with such a problem, the present invention is provided with a drive mechanism that can arbitrarily change the effective length of the leg, that is, the distance from the lower end to the bottom surface of each movable table. Further, as shown in FIGS. 5 and 6 as another embodiment, the width of the leg can be made variable according to the size of the tread surface by attaching the guide rail and the drive mechanism. Here, in order to make the width of the leg variable, bolt screw holes may be provided at a plurality of locations on the moving base, and the mounting position of each leg may be changed according to the dimensions of the tread surface. Furthermore, when the step size is known in advance, as shown in FIGS. 2 and 3, a seat is provided on each leg, for example, screw holes are provided at a plurality of locations on the moving table, thereby reducing the step size. It is also possible to obtain a desired leg length or leg width by screwing using a screw hole at a corresponding position.

  Moreover, stress concentrates near the attachment part of a leg. Therefore, a structure in which a reinforcing material such as an angle is provided to support the legs in the vicinity of the middle stage or the lower stage can be used. In addition to this, adding beams, girders or braces to the legs has the same effect.

  In the stair lifting device of the present invention, the maximum effective length is preferably at least three times the stair lift. Actually, the length is a dimension obtained by adding a margin.

  In order to solve the problem of instability due to the movement of the center of gravity during the movement of the heavy object W by this apparatus, the position near the gravity center of the heavy object or the stairlifting apparatus during the movement, or an alternative position is supported, or vice versa. It is preferable to attach an auxiliary leg that can prevent movement in the direction. Specifically, as shown in FIG. 1, side legs 70 and 72 are provided in a direction transverse to the traveling direction, or an arm is provided on the middle stage moving base 20 in a direction perpendicular to the traveling direction as shown in FIG. The stability can be increased by attaching the auxiliary leg 60 to this. By these methods, it is possible to more stably transfer heavy objects.

  This stair lifting device is used not only for stair lifting of heavy objects W but also for moving a flat bed. Therefore, in order to make the legs have a structure that has both a walking function for lifting stairs and a rotation function for moving on flat ground, side legs with casters or rollers are provided on the side of the walking legs, and the walking legs are By shortening it to the shortest length, the side legs can be lengthened, thereby making it possible to make a structure that moves on flat ground.

  Moreover, in the said embodiment, although the wide baseplate was provided in the lower part of each leg, by this, a leg can be made independent and the more stable movement is attained.

  Further, in the present embodiment, regarding the structure of the sliding portion between the middle stage moving table 20 and the lower stage moving table 10, the lower stage moving table 10 side has rollers 41 to 44 as shown in FIG. Guide rollers 45 and 46 are provided for moving the roller in the horizontal direction while keeping the vertical movement within a predetermined width. As a result, smooth horizontal movement between the intermediate stage 20 and the lower stage 10 is possible. Contrary to the structure of the present embodiment, the sliding portion between the middle stage moving table 20 and the lower stage moving table 10 is a plate-like structure that can slide on the lower stage moving table 10 side. It is also possible to have a structure in which rollers are provided on the upper and lower surfaces of the attached guide rails and the guide rails are provided vertically so that the vertical movement accompanying the horizontal movement of the middle stage moving base 20 falls within a predetermined width.

  In the present embodiment, the sliding portion between the intermediate stage moving platform 20 and the loading platform 30 has a structure in which the loading platform 30 side has rollers 51 to 53 and the intermediate stage moving platform 20 side has guide rails 55 and 56 for the rollers. Thus, a smooth horizontal movement between the two is possible.

  In order to facilitate the operation of this apparatus, as shown in FIG. 18, the control apparatus 100 of the drive apparatus is provided with an operating device group 102 for manually operating each drive apparatus together with an automatic / manual changeover switch 101, and the moving speed. By providing the speed setting device 103 that can vary the above, safer and more stable operation can be realized.

  Further, in the present embodiment, the acceleration detector 99 is installed in the apparatus, and the control apparatus 100 stops the traveling operation when the acceleration detected by the acceleration detector 99 becomes an abnormal value exceeding a predetermined value. Alternatively, a warning is notified by the alarm device 332, which enables safer movement.

  Also, a load detector for detecting the load applied to each leg is attached, and the control device 100 calculates the position of the center of gravity of the entire apparatus in operation from the signal output from each load detector. If you have a control function that controls so that it does not protrude outward in the horizontal direction from the legs you are doing, and if you control the landing position of the legs, the distance between the legs, and the auxiliary legs, this device will not fall down, It becomes possible to operate stably.

  Further, according to the present embodiment, contact or proximity of the stairs to the kick-up surface is detected at the lower part of the front legs 1, 2, 5 and 6 in the moving direction of the lower stage moving base 10 and the middle stage moving base 20, respectively. By providing the proximity detectors 91 to 94, when the leg collides with or approaches the stair lift surface, the horizontal movement can be stopped, and a safer movement is possible.

  Further, in order to perform the automatic operation of the entire apparatus, as shown in FIG. 4, an imaging means 200 for imaging the traveling direction and surroundings is attached, and this imaging signal is input to the control apparatus 100 and these signals are input. If walking control is performed while setting the landing point of the leg on the stairs, more accurate and safe automatic driving becomes possible. The image signal is also effective in manual operation.

Furthermore, by providing a damper for preventing collision at the front end in the traveling direction, it is possible to avoid an unstable state due to transportation of heavy objects at the time of collision. In addition, if a rolling prevention device is attached to the loading platform 30, an unstable state associated with the movement of the heavy object W can be avoided in advance. Furthermore, it goes without saying that safety can be improved by incorporating a safety device such as an emergency stop device in the control system.

The top view and front view of the stairlifting device of the first embodiment of the present invention The side view of the stair lifting device of the said embodiment. The top view and front view of the lower stage moving stand in the stair lifting device of the said embodiment. The top view and front view of the middle stage moving stand in the stair lifting device of the said embodiment. The front view of the lower stage moving stand in the stair lifting device of other embodiment of this invention. The front view of the middle stage moving stand in the stairlifting apparatus of other embodiment of this invention. The top view and front view of the stair lifting operation state 1 by the stair lifting device of the first embodiment of the present invention. The top view and front view of the stair lifting operation state 2 by the stair lifting device of the first embodiment of the present invention. The top view and front view of the stair lifting operation state 3 by the stair lifting device of the first embodiment of the present invention. The top view and front view of the stair lifting operation state 4 by the stair lifting device of the 1st Embodiment of this invention. The top view and front view of the stair lifting operation state 5 by the stair lifting device of the first embodiment of the present invention. The top view and front view of the stair lifting operation state 6 by the stair lifting device of the first embodiment of the present invention. The top view and front view of the stair lifting operation state 7 by the stair lifting device of the first embodiment of the present invention. The top view and front view of the stair lifting operation state 8 by the stair lifting device of the first embodiment of the present invention. The front view of the 9 stair lifting operation state by the stair lifting device of the 1st Embodiment of this invention. The functional block diagram of the control apparatus in the stairlifting apparatus of the 1st Embodiment of this invention. The block diagram of the other function example of the control apparatus in the stair lifting device of the 1st Embodiment of this invention. The top view which shows the external appearance of the control apparatus in the stairlifting apparatus of the 1st Embodiment of this invention.

Explanation of symbols

  10: Lower stage moving table, 20: Middle stage moving table, 30: Loading platform, 1-4: Legs attached to the lower stage moving table, 5-8: Legs attached to the middle stage moving table, 40: Horizontal driving device, 41 ˜44: Roller, 45, 46: Guide rail, 50: Horizontal driving device, 51-54: Roller, 55, 56: Guide rail, 60: Auxiliary leg, 70, 72: Side leg for lower stage moving table, 74, 76: Side legs for middle stage moving table, 80: Horizontalness detector, 81-88: Leg effective length detector, 91-94: Proximity detector, 99: Acceleration detector, 100: Control device, 111-114: Lower stage Leg drive device, 115-118: Middle leg drive device, 120, 122: Guide rail, 121, 123: Drive device, 130, 132: Guide rail, 131, 133: Drive device, 151-154: Leg seat, 155 ~ 158: Leg Seat, 161 to 164: leg bottom plate, 165 to 168: leg bottom plate, 200: imaging device, 300: base position detector.

Claims (21)

The lower stage, the upper middle stage, and the upper stage are arranged so that they can move horizontally independently of each other to form a three-stage structure.
A plurality of legs are attached to each of the middle stage and the lower stage.
A vertical driving device for changing the distance (effective length) from the lower end of each leg to each of the plurality of legs or for each leg group having the same position in the horizontal movement direction from the lower end thereof to the middle stage moving base or the lower stage moving base Provided,
A horizontal direction driving device that drives each of the loading platform and the lower moving platform independently in the horizontal direction via the middle moving platform is provided in the loading platform, the middle moving platform, or the lower moving platform,
A stair lifting device comprising a control device for controlling the vertical drive device and the horizontal drive device.   The control device, after placing a heavy article on the loading platform, raises the entire stairlifting device to the stair lift position by extending the effective length of the leg of the lower stage moving table by the vertical drive device, Subsequently, only the middle stage moving base is moved horizontally by the horizontal driving device to the length of the tread surface of the staircase while the loading stage and the lower stage moving base are fixed, and then the loading stage is used as the guide for the middle stage moving base. While moving horizontally by the horizontal driving device by a distance corresponding to the tread surface of the staircase, and subsequently reducing the effective length of the legs of the lower moving table by the vertical driving device, the middle moving table is guided. As described above, a lifting operation is performed on the stair lifting device, in which the operation of horizontally moving the lower stage moving table by the horizontal driving device by a distance corresponding to the tread surface of the stair is taken as one cycle. Stairway lifting device according to claim 1, characterized in Rukoto.   The control device is provided at a position away from the stair lifting device, and is connected between the vertical direction driving device and the horizontal direction driving device of the stair lifting device via wireless or wired connection. Item 3. A stairlift device according to item 1 or 2. A leg effective length detector for detecting an effective length of each leg of the middle stage and the lower stage;
The control device stops the vertical driving device and the horizontal driving device when the effective length of the leg detected by the leg effective length detector reaches a preset limit value by driving the vertical driving device. The stair lifting device according to claim 1 or 2, characterized in that An alarm device, and a leg effective length detector that detects an effective length of each leg of the middle stage and the lower stage.
The control device causes the alarm device to issue an alarm when the effective length of the leg detected by the leg effective length detector reaches a preset limit value by driving the vertical drive device. The stair lifting device according to claim 1 or 2. A moving platform position detector for detecting horizontal movement positions of the loading platform, the middle platform and the lower platform;
When the horizontal movement position of the cargo bed, the middle stage moving stage or the lower stage moving stage detected by the moving stage position detector by driving the horizontal direction driving device reaches a preset limit value, the control device The stair lifting device according to claim 1 or 2, wherein the direction driving device is stopped. An alarm device, and a moving table position detector for detecting a horizontal moving position of each of the cargo bed, the middle moving table and the lower moving table,
When the horizontal movement position of the cargo bed, middle stage movement stage or lower stage movement stage detected by the moving stage position detector by driving of the horizontal direction driving device reaches a preset limit value, the control device The stair lifting device according to claim 1 or 2, wherein an alarm is notified by the device.   The stairlifting device according to claim 1 or 2, wherein each of the plurality of legs has a structure in which an effective length is changed by extending and contracting vertically in a plurality of steps.   3. The stair lifting device according to claim 1, wherein the vertical drive device is a hydraulic, servo mechanism, or linear drive servo mechanism. 4.   The stair lifting device according to claim 1 or 2, wherein the horizontal driving device is a hydraulic, servo mechanism, or linear driving servo mechanism. The plurality of legs are arranged in parallel at least two at a position corresponding to the front and rear in the direction of travel of the stair lifting device on each of the lower stage moving stage and the middle stage moving stage,
The leg movement guide for changing the distance between the legs adjacent to the front and rear in the traveling direction of the stair lifting device and the leg position moving device for moving the leg position are provided. The stair lifting device according to 2.   12. The distance between adjacent legs secured by the movement of the legs by the leg position moving device is limited to a dimension that is larger than the width of the tread surface of the stairs and within twice. Stair lifting device as described in.   12. The maximum extension distance of the effective length of the leg located on the rear side in the traveling direction of the stair lifting device on each of the lower stage moving stage and the middle stage moving stage is three times or more of the stair lift. Or the stairlifting apparatus of 12.   The stair lift according to claim 1 or 2, further comprising an auxiliary leg for supporting a position in the vicinity of the center of gravity of the heavy object or the stair lifting device during movement and preventing movement in the reverse direction. apparatus.   The step lifting device according to claim 1 or 2, wherein each of the plurality of legs is detachably attached so as to be exchangeable.   The stair lifting device according to claim 1 or 2, wherein a bottom plate is provided at a lower end portion of each of the plurality of legs.   16. The stair lifting device according to claim 15, wherein a side leg is attached to the lower stage moving stage or the middle stage moving stage, and a horizontal moving mechanism for moving on the side leg is provided on the side leg.   In the sliding part of the lower stage moving base and the middle stage moving base, a bearing is provided on one of them, and on the other side, a guide rail that accommodates the vertical displacement within a predetermined width and guides the horizontal movement is provided. The stair lifting device according to claim 1 or 2, wherein the stair lifting device is provided.   3. The stair lift according to claim 1, wherein a bearing is provided on a side of the loading platform in a sliding portion between the middle platform and the loading platform, and a guide rail for the bearing is provided on the middle platform. 4. Heavy equipment. A horizontality detector for detecting the horizontality of the cargo bed,
3. The staircase according to claim 1, wherein the control device adjusts an effective length of each of the plurality of legs by the vertical driving device based on a horizontality detection signal of the horizontality detector. Lifting equipment. A proximity detector for detecting contact or proximity of an obstacle is provided at least on the lower part of the leg located on the front side in the traveling direction among the plurality of legs.
2. The control device according to claim 1, wherein the horizontal movement is stopped when the proximity detector detects that the leg is in contact with or close to the stepped-up surface during the horizontal movement of the stair lifting device. The stairlift device according to 1 or 2.

Images