JP2009101923A - Endless belt device for step elevation, and hand-propelld vehicle equipped therewith - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a step-elevation device for stepping up at a free speed without naturally falling down during stopping & stepping down and being constrained by the driving speed of an assist motor, having construction with versatile rotation transmitting elements only connected to one another. <P>SOLUTION: The device comprises an endless belt Bt, a pulley Pc, a one-way clutch Cc, a braking clutch Tc, and the step-up assist motor Mc connected to one another in sequence. During stopping a vehicle on a stair, the Cc is engaged and connected therewith, the output shaft of the Mc being stopped is constrained to rest by lock torque Tlck, and the Tc generates braking resistance Ftrn to resist falling-down force Fwei of the vehicle. When step-down propelling force Pdwn is applied, the Tc is differential-rotated for step-down while generating the braking resistance Ftrn. When step-up propelling force Pup is applied, the motor Mc is started and connecting resistance Ftrn of the Tc transmits the rotation to drive the belt Bt to step up. When the Pup is greater than the Fwei, the Cc over-runs in the direction of non-engagement and the belt Bt is rotated to step up at a free speed without being constrained by the driving speed of the Mc. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a manual propulsion vehicle such as a hand cart, a travel basket or the like equipped with an endless belt device as an auxiliary device for moving up and down stairs.

  Manual propulsion vehicles equipped with a device with an endless belt stretched on a pulley as auxiliary wheels for raising and lowering stairs are known, and when moving up and down stairs, the endless belt device is rotated across the edge of the stairs and grips all loads. I am going to go up and down the stairs. Therefore, the endless belt that is loaded with the weight of the vehicle including the luggage always tries to rotate in the direction of descending the stairs. Will be loaded. In order to alleviate such a burden, the lever is operated when descending to operate the locking piece to restrict the rotation of the endless belt (Patent Document 1), and the external force for raising and lowering the stairs is detected and Means (Patent Document 2) for causing a driving force corresponding to an external force to act on an endless belt is disclosed in the publication.

Japanese Patent Laid-Open No. 2001-315646 “Endless Belt Braking Device for Carrying Cargo…” A wheel and a pair of pulleys are pivotally supported on a frame, and an endless belt for raising and lowering stairs is stretched around the pulley. In a hand-carried two-wheeler for carrying goods, a restricting piece with receiving teeth arranged on the periphery is coaxially attached to the pulley and is integrally attached to a pulley support shaft, and a locking piece for engaging and disengaging the receiving teeth of the restricting piece is provided. The operating device provided in the main frame is provided with an operating lever of the operating device provided at the rear end of the main frame, and the endless belt is braked by operating the operating lever.

According to Japanese Patent Laid-Open No. 10-35504 “Stair Elevator”, a main body having a load carrying part, an external force detector for detecting an external force applied to the main body by the operator for raising and lowering the stairs, and power for raising and lowering the stairs are generated. And a control unit for operating the driving unit based on the force detected by the external force detector. The control means changes the assist gain, which is the correlation between the external force detected by the external force detector and the output to the drive unit, according to the weight of the load detected by the weight detector. The drive for raising and lowering the stairs is made according to the external force for. A detector such as a strain gauge, a potentiometer or a non-contact displacement sensor is used as the external force detection means, and the control drive circuit composed of a control circuit and a current driver for driving the motor inputs the value of the detected force. To calculate and output the assist gain. In accordance with the assist gain, the current of the motor output that is a drive source is controlled, the drive motor outputs an operation torque, an operation speed, an operation acceleration, and the like, and a viscous resistance and a braking instruction are output to the drive unit.

Regardless of the configuration including the braking restriction piece and the operation lever in Patent Document 1 described above, and the detector, arithmetic circuit, control output, and the like in Patent Document 2, only a general-purpose rotation transmission element is connected by an effective arrangement. A reliable and inexpensive control means is configured to solve the following problems.
(1) The predetermined braking force against the dropping force due to the vehicle's own weight should be applied when stopping and descending, and not during ascending.
(2) Ascending drive motor starts when the driver applies ascending driving force to the handle of the vehicle and assists ascending, and when the ascending driving force of the operator exceeds the dropping force of the vehicle, rotation of the endless belt assists ascending Overrun is possible without being restricted by the driving speed of the motor.

In manual propulsion vehicles such as hand carts, travel rods, etc. equipped with endless belt units composed of tracks of two or more pulleys as auxiliary wheels when ascending and descending stairs,
A connection pulley Pa, a one-way clutch Ca, and a brake Ta are connected to each other. The one-way clutch Ca is configured to rotate the endless belt in a direction in which it goes down the stairs (hereinafter referred to as a step-down rotation). Torque is transmitted from the side to the direction of the brake Ta to transmit the rotation, and in the rotation in the direction in which the endless belt ascends the stairs (hereinafter referred to as ascending rotation), the torque is not coupled in the direction of the side and the rotation is performed. Descending braking means arranged to interrupt and arranged to brake the descending rotation by causing the brake Ta to activate a predetermined braking resistance force Fbrk;
The connecting pulley Pb, the one-way clutch Cb, the opening / closing clutch Tb, and the ascending assist motor Mb are connected to each other. In the ascending rotation, the one-way clutch Cb moves from the opening / closing clutch Tb to the connecting pulley Pb. Torque is connected to transmit the rotation of the ascending assist motor Mb, and the torque is not connected in the opposite direction and the rotation is cut off. The operation of the open / close clutch Tb is “torque connected / not connected”. The operation is switched in conjunction with the operation of “ascending drive rotation / stop” of the ascending assist motor Mb. In the descending rotation, the ascending assist motor Mb is stopped and the opening / closing clutch Tb is disconnected. Endless belt equipped with either one or both of the means for ascending assisting means configured to be cut off from the rotation operation on the endless belt side A belt apparatus. Also,

  A connecting pulley Pc, a one-way clutch Cc, a braking clutch Tc, and an ascending assist motor Mc are connected to each other, and the one-way clutch Cc moves from the connecting pulley Pc side to the braking clutch Tc side in descending rotation. The torque is connected to transmit the rotation, and in the ascending rotation, the torque is not connected in the direction of the side so as to block the rotation, and the braking clutch Tc has a difference in force acting from both sides of the predetermined threshold value. If it is within the range, torque is connected to transmit the rotation, and when the threshold value is exceeded, relative rotation is permitted between both sides and a predetermined braking resistance force Ftrn is activated to act. This is an endless belt device provided with a lifting and lowering stage control means configured such that the output shaft of Mc is restrained and locked by a lock torque Tlck.

  Further, the present invention is a manual propulsion vehicle in which the endless belt device is attached at a position where the stairs can be raised or lowered, or attached to a position where the stairs can be raised or lowered and a storage position.

  Without using a special mechanical element such as a ratchet (braking restriction piece) or an operation lever shown in Patent Document 1 or Document 2, or a control element such as a detector, an arithmetic circuit, or a control output device, An endless belt device that is easy to move up and down the stairs by constructing a reliable and inexpensive control means by connecting only general-purpose rotation transmission elements such as the brake Ta, the open / close clutch Tb, and the brake clutch Tc by an effective arrangement. It is the effect of the present invention that can be created.

According to the manual propulsion vehicle equipped with the endless belt device of the present invention, it is not necessary to perform operations such as turning on and off of the brake when stopping and descending on the stairs, and the friction control of the brake Ta or the braking clutch Tc is always performed. Because the power is applied, it can be stopped as if it is running on a flat ground, and the stairs can be lowered, and this friction braking force does not act at the time of ascending, so there is an extra force on the operator and the assist motors Mb, Mc. There is no burden.
During climbing, if the driver applies propulsive force to the handle of the vehicle in the ascending direction, the ascending assist motor starts to assist the ascending step, and if the driver's ascending propulsive force exceeds the vehicle's dropping force, the endless belt rotates. However, it is possible to overrun beyond the drive speed of the ascending assist motor. If the driver strongly pulls the handle instead of climbing the stairs restrained by the climbing speed of the vehicle, the rotation of the endless belt overruns the driving rotation of the assist motors Mb and Mc and the free speed Can be elevated. At this time, the one-way clutches Ca, Cb, Cc are not coupled (rotation free) and are released from the braking force of the brakes Ta, Tc.

  Six embodiments of the endless belt device for elevating and lowering a staircase according to the present invention and a manual propulsion vehicle equipped with the device will be described with reference to the accompanying drawings.

FIG. 1 is a perspective view of an endless belt device 10 according to the first embodiment. FIG. 2 is a three-side view of the apparatus.
A plurality of pulleys P and connecting pulleys Pa are laid in parallel in a frame 11 formed in a channel shape, and an endless belt unit 12 is configured by winding an endless belt Bt around these pulleys. The inner surface of the endless belt Bt and the outer surfaces of the pulley P and the connecting pulley Pa are meshed with each other and can transmit rotation reliably.

FIG. 3 is a cross-sectional view (showing the AA cross section in FIG. 2) of the portion constituting the descending braking means.
The descending braking means 20 of the present embodiment is constituted by connecting a connecting pulley Pa containing a one-way clutch Ca and a brake Ta in series and supported by a connecting shaft 45 that is rotatably mounted on a frame. The The action of the one-way clutch Ca is that the rotation Rup in the direction in which the endless belt Bt ascends in the {connection pulley Pa ⇒ connection shaft 45} direction is idle with respect to the connection shaft 45, and in the direction of descending. The rotation Rdwn is arranged to mesh with the connecting shaft 45 and rotate. The wedge roller type one-way clutch Ca of a specialized manufacturer of bearings is used, but other types such as a coil spring with an inner diameter contraction type may be used.
The brake Ta according to this embodiment is a belt brake having a constant tension, and a brake belt 23 to which a tension of a tension spring 24 is applied is wound around a brake drum 22 fixed to a connection shaft 45 by a connection key 25. Composed. It is possible to use other types of brakes such as disc type, in-drum expansion type, and electromagnetic type brakes. If the working torque is within a predetermined threshold, the torque is coupled to brake the relative rotation and exceed the threshold. And a relative braking force that allows a predetermined braking resistance force Fbrk or Ftrn to act. As described above, both the one-way clutch Ca and the brake Ta can use a rotation transmission element that is widely used as a standard, and can constitute a reliable and inexpensive means. The same standard transmission elements are used in the one-way clutches Cb and Cc, the open / close clutch Tb, and the braking clutch Tc in the following embodiments.

  FIG. 4 shows the acting force and its direction on a side view of a state in which a travel bag equipped with this apparatus on the bottom surface moves up and down stairs. FIG. 5 is a diagram showing the transmission and operation of the force between the elements constituting the descending braking means 20, and the symbols used in the figure are defined and written together.

<A> State stopped on the stairs under the condition of “Fwei = Fbrk” A force to cause the endless belt Bt to descend downward Rdwn in the direction of Dwei is generated by the action of the natural drop force Fwei. In this rotation Rdwn, {CaL ⇒ CaR} is in mesh connection, and the rotation (Rdwn) force sequentially goes from {connection pulley Pa ⇒ CaL ⇒ CaR (connection shaft 45) ⇒ TaL (brake drum 22)}. The friction braking force Fbrk acts between {TaL⇔TaR (brake belt 23)}, and both are connected and stopped. That is, the travel pole is stationary with the natural fall force Fwei and the friction braking force Fbrk balanced.
In the case of “Fwei> Fbrk”, the kite will naturally fall, but when the operator applies a required force Pup in the ascending direction, the pilot will stand still in balance with “Fwei = Fbrk + Pup”.

<B> State of ascending under the condition of “Fwei <Pup” When the driver applies the propulsive force Pup in the ascending direction, the endless belt Bt rotates in the opposite direction of Dwei by the action of the force difference “Pup-Fwei” Rup. In this rotation Rup, Ca is not connected, and the element group {CaR (connection shaft 45) ⇔ TaL ⇔ TaR (brake band 23) ⇔ frame Frm} is stationary by the friction braking force Fbrk. Bt⇔Pa⇔CaL} is idling, and the travel rod is released from the frictional braking force Fbrk and ascends.

<D> State of descending under the condition of “Fbrk <Fwei + Pdwn” When the driver applies the propulsive force Pdwn in the descending direction, the endless belt Bt descends in the Dwei direction due to the force difference “Fwei + Pdwn−Fbrk”. Rotate Rdwn. In this rotation Rdwn, Ca is meshed, and the descending rotation Rdwn drives the element group {BttPa⇔CaL⇔CaR (connection shaft 45) ⇔TaL (brake drum 22)}, {TaL⇔TaR ( Between the brake bands 23)}, both are in a slip state while generating the friction braking force Fbrk. In other words, the driver can go down the stairs by applying a propulsion force Pdwn in the descending direction while resisting the braking force Fbrk. The friction braking force Fbrk that acts in the state of the <A> term is caused by the static friction coefficient, and the Fbrk that acts in the state of the <D> term is caused by the dynamic friction coefficient, and the values are different. However, it will be represented by the same symbol as an approximate value hereinafter.

  FIG. 6 is a perspective view of a travel bag in which two devices are installed side by side on the bottom surface. 7 and 8 show a state where the heel is opened. It has been shown that the endless belt device of the present embodiment can be made compact, so that a travel bag can be configured without hindrance to opening and closing the bag. Three hinges 05 are provided.

FIG. 9 is a perspective view of a cart provided with the endless belt device 10a of the second embodiment on the side surface. The endless belt device 10a is constituted by a single step-down braking means 20 having a single connecting shaft 45a for connecting two endless belt units 12. Each of the two endless belt units 12 is configured by a plurality of pulleys P and a connecting pulley Pa being installed in parallel in a frame 11 formed in a channel shape, and an endless belt Bt is wound around these pulleys. This is equivalent to Example 1.
One descending braking means 20 configured in the same way as the descending braking means of the first embodiment is formed by extending both ends of the connecting shaft 45a into the two endless belt units 12 arranged in parallel. It is connected to a clutch Ca included in the connection pulley Pa. The diagram showing the transmission and operation of the force between the components is the same as the previous example in FIGS. 5 <A><B><D>.

FIG. 10 is a perspective view of the endless belt device 10b according to the third embodiment. The ascending assist means 30 includes one connecting shaft 45b that connects the two endless belt units 12. The endless belt unit 12 and the connecting shaft 45b are the same as those in the second embodiment. Both the connecting pulleys Pb including the one-way clutch Cb included in both units 12 are supported at both ends of the connecting shaft 45b, and the opening / closing clutch Tb and the ascending assist motor Mb are connected to constitute the ascending assist means 30. .
Due to the action of the one-way clutch Cb, the connecting pulley Pb is unconnected to the connecting shaft 45b during the rotation Rup in the direction in which the endless belt Bt ascends, and idles in the direction Rdwn in the descending direction. And rotate together (same as in the previous embodiment).
The opening / closing clutch Tb and the ascending assist motor Mb are meshing clutches and geared motors that are operated by “on / off” of the interlocking operation switch Swb. The operation switch Swb of this embodiment is operated by the operator to “on”. “Deadline” is switched. The operation switch Swb is always in the “off” state and is configured (not shown) to be switched to the “on” state when operated by the operator, and the open / close clutch Tb is engaged in the swb “on” state. When the swb is “off”, the gears are disengaged and idle. The ascending assist motor Mb rotates in the direction in which the endless belt Bt ascends when Swb is “ON”, and stops when SWB is “OFF”.
The connecting shaft 45b, the opening / closing clutch Tb and the ascending assist motor Mb are connected by belt transmission by a timing pulley and a timing belt, and the opening / closing clutch Tb and the ascending assist motor Mb are attached and fixed in parallel to the frame 31.

FIG. 11 is a diagram showing the transmission and operation of force between components in the ascending assist means 30 provided in the apparatus 10b of the third embodiment. Symbols used in the figure are defined and written together.
<A> State stopped on the stairs under the condition of “Fwei = Pup” The natural drop force Fwei is balanced with the driver's ascending propulsion force Pup, and no force is generated to rotate the endless belt Bt. Swb is off, the motor Mb is stopped, and the clutch Tb is not connected.

<B> Ascending stage under the condition of “Fwei <Fass” The operation switch Swb is turned on, the motor Mb is rotated by driving the thrust Fass, the clutch Tb is engaged, and the coupling shaft 45b (the CbR side of the one-way clutch Cb) The rotation Rup in the ascending direction is transmitted to). On the other hand, the natural drop force Fwei of the vehicle becomes the rotational (Rdwn) force of the endless belt Bt in the descending direction, and is sequentially transmitted to {connection pulley Pb ⇒ CbL ⇒ CbR (connection shaft 45b)}, by the propulsion force Fass. It is canceled out by a part of the rotational (Rup) force in the ascending direction. The force difference “Fass−Fwei” causes the endless belt Bt to rotate in the opposite direction of Dwei and the vehicle ascends.
<B> No. 2 “Fwei <Fass + Pup” and “Pup <Fwei” in the ascending state “Fwei> Fass”, the driver applies the propulsive force Pup in the ascending direction. > It becomes the same state as 1 and the vehicle ascends.
The difference in force “Fwei-Pup” becomes the rotational (Rdwn) force of the endless belt Bt in the descending direction, and is sequentially transmitted to {connection pulley Pb ⇒ CbL ⇒ CbR (connection shaft 45b)}, and the motor Mb It is offset by a part of the rotational force (Rup) in the ascending direction by the propulsive force Fass. The force difference “Fass + Pup−Fwei” causes the endless belt Bt to rotate in the opposite direction of Dwei and the vehicle ascends.

<C> State of overrun ascending under the condition of “Fwei <Pup” The assisting force Fass of the assist motor Mb does not require assist, and the force difference “Pup−Fwei” is the rotation of the endless belt Bt in the ascending direction. (Rup) force is generated, and the element group {Bt ⇔... 連結 CbL} is connected to perform ascending rotation. On the other hand, Swb is on, Mb is ascending, clutch Tb is connected, and the connecting shaft 45b (CbR) is driven in the Rup direction, but the action of the one-way clutch Cb is in the {CbL⇒CbR} direction. Therefore, the ascending rotation Rup of the endless belt Bt is in an overrun (idling) state with respect to the rotation of the connecting shaft 45b (CbR).

<D> State of descending under the condition of “Pup <Fwei” The difference in force “Fwei-Pup” is the rotational (Rdwn) force of the endless belt Bt in the descending direction, and {the connected pulley Pb ⇒ CbL ⇒ CbR (Connecting shaft 45b)} is transmitted to a descending rotation (Rdwn). Swb is off, Mb is stopped, and clutch Tb is not connected. The pilot descends while supporting the drop force of the vehicle by adjusting the ascending propulsion force.

  FIG. 12 is a perspective view of the endless belt device 10ab according to the fourth embodiment. One descending braking means 20 (equivalent to the second embodiment) having one connecting shaft 45a for connecting the two endless belt units 12 (equivalent to the second or third embodiment), and another connection The ascending assist means 30 (equivalent to the third embodiment) provided with a shaft 45b. The operation switch Swb in the present embodiment is not directly operated by the operator, but is indirectly switched to “cutting in” when the operator applies a driving force in the ascending direction to the handle of the vehicle. Although it is configured to switch from the “OFF” state to the “ON” state when the ascending propulsion force is applied to the handle, it is not shown. Since other configuration descriptions overlap with the descriptions in the first and third embodiments, they are omitted.

FIG. 13 is a diagram showing force transmission and operation between components in the descending braking means 20 and the ascending assist means 30 provided in the endless belt device 10ab of the fourth embodiment.
<A> Stopped on the stairs under the condition of “Fwei = Fbrk” The action of the descending braking means 20 is that Ca is engaged and connected, and friction is controlled between {TaL ⇔ TaR (brake belt 23)}. The power Fbrk is applied and both are connected, and the natural drop force Fwei and the friction braking force Fbrk are balanced and stationary (same as FIG. 5 <A> of the first embodiment).
In the ascending assist means 30, Swb is off, Mb is stopped, the clutch Tb is not connected, and is disconnected from the operation of the endless belt Bt.

<B> Ascending stage under the condition of “Fwei <Fass” or “Fwei <Fass + Pup” and “Pup <Fwei” The operator applies the thrust Pup to the handle in the ascending direction and the operation switch Swb is turned on. Ascending propulsion force Fass of motor Mb is activated, clutch Tb is engaged, and endless belt Bt rotates up in the reverse direction of Dwei by the action of the force difference "Fass-Fwei" or "Fass + Pup-Fwei". The operation of the ascending assist means 30 is the same as <B> in FIG. 11 of the third embodiment.
The action of the descending braking means 20 is that Ca is not connected in the ascending rotation Rup, and the operation of the endless belt Bt is released from the friction braking force Fbrk (same as FIG. 5 <B> in the first embodiment).

<C> State of overrun ascending under the condition of “Fwei <Pup” Without the assist propulsion force Fass of the assist motor Mb, the endless belt Bt rotates up by the effect of the force difference “Pup−Fwei”. ing. The operation of the ascending assist means 30 is as follows. Swb is on, Mb ascends and the ascending propulsion force Fass is activated, and the clutch Tb is connected to drive the connecting shaft 45b (CbR) in the Rup direction. The ascending rotation Rup of the endless belt Bt due to the action of the force difference “Pup−Fwei” is in the overrun (idling) state with respect to the rotation of the connecting shaft 45b (CbR). (Same as FIG. 11 <C> in Example 3).
The action of the descending braking means 20 is that Ca is not connected in the ascending rotation Rup, and the operation of the endless belt Bt is released from the friction braking force Fbrk (same as FIG. 5 <B> in the first embodiment).

<D> State of descending under the condition of “Fbrk <Fwei + Pdwn” The action of the descending braking means 20 is the same as FIG. 5 <D> of the first embodiment. The operator applies propulsive force Pdwn in the descending direction to the handle, and the endless belt Bt is descended in the direction of Dwei Rdwn due to the force difference “Fwei + Pdwn−Fbrk”, {TaL ⇔ TaR (brake belt 23) }, The frictional braking force Fbrk is generated and the two are in a slip state.
The operation of the ascending assist means 30 is shut off from the operation of the endless belt Bt, with Swb off, Mb stopped, and the clutch Tb disconnected.

FIG. 14 is a perspective view of a cart provided with an endless belt device 10c of Example 5 on its side surface.
The apparatus 10c is constituted by a single lifting / lowering stage control means 50 having one connecting shaft 45c for connecting two endless belt units 12 (equivalent to the second to fourth embodiments).
Both the connecting pulleys Pc including the one-way clutch Cc included in both units 12 are supported at both ends of the connecting shaft 45c, and the braking clutch Tc and the ascending assist motor Mc are connected to constitute the ascending / descending control means 50. Yes. The connecting shaft 45c, the braking clutch Tc and the ascending assist motor Mc are connected by belt transmission by a timing pulley and a timing belt, and the braking clutch Tc and the ascending assist motor Mc are fixed in parallel to the frames 51L, R and 51M. Yes.
Due to the action of the one-way clutch Cc, the connecting pulley Pc is unconnected to the connecting shaft 45c during rotation Rup in the direction in which the endless belt Bt ascends, and idles in rotation Rdwn in the direction in which the endless belt Bt rises. And rotate together (same as in the previous embodiment).
The ascending assist motor Mc is stationary when the operation switch Swc is stopped and the geared head output shaft is locked and locked by the lock torque Tlck, and when the swc is on, the propulsion force Fass is activated to move the braking clutch Tc in the ascending direction. It is configured to be rotationally driven. It should be noted that the operation switch Swc in this embodiment is not directly operated by the driver, but is indirectly “ON” when the driver applies a propulsive force in the ascending direction to the handle of the vehicle from the “OFF” state at all times. Although it is configured to switch to a state, it is not shown (same as in the fourth embodiment).

15 and 16 are a perspective view of the braking clutch Tc of the lift control means 50 provided in the apparatus 10c of this example and a three-side view showing a part thereof in cross section.
Two rotors TcL (elements on the connecting shaft 45c side) and TcR (elements on the assist motor Mc side) supported on the support shafts 52 installed and fixed to the frames 51L and R are provided with timing pulleys 46 on the outer periphery. Each is rotatable and can transmit rotation by a timing belt (not shown). A friction disk is provided on each of the opposed end surfaces of both rotors TcL and TcR, and one friction disk 54L is fixedly attached to the rotor TcL. The other friction disk 54R is movably attached only to the rotor TcR in the thrust direction, and is urged by a spring 55 in the direction of pressing the friction disk 54L.
The maximum force that can be transmitted by the braking clutch Tc is the frictional force Ftrn generated between the two friction disks. If a force exceeding the frictional force Ftrn is applied between the two rotors {TcL⇔TcR}, the dynamic frictional resistance force F ′ is applied. While resisting, both slip and rotate differentially. F ′ is different from the force Ftrn caused by the static friction, but is represented by the same symbol Ftrn as an approximate value hereinafter.

FIG. 17 is a diagram showing the transmission and operation of force between the elements constituting the lift control means 50 provided in the apparatus 10c of this example.
<A> Stopped on the stairs under the condition of “Fwei = Ftrn” The operation switch Swc is off, the ascending assist motor Mc is stopped, and the output shaft of Mc is constrained and locked by the lock torque Tlck provided to the geared motor. It is stationary. A force that causes the endless belt Bt to rotate downward by the action of the natural drop force Fwei is generated and transmitted sequentially to {connection pulley Pc ⇒ CcL ⇒ <meshing connection> ⇒ CcR (connection shaft 45) ⇒ braking clutch Tc}. go. Between {TcR c Mc}, the locking torque Tlck is restrained and locked, and the braking clutch Tc is in a connected state by activating a friction braking (connection resistance) force Ftrn between {TcL Ｔ TcR}. That is, the cart is stopped because the natural fall force Fwei and the friction braking force Ftrn are balanced.
In the case of “Fwei> Ftrn”, the cart naturally falls. However, when the operator applies a required force Pup in the ascending direction, it balances with “Fwei = Ftrn + Pup”. In this case, the required force Pup is less than the propulsive force sufficient to switch the operation switch Swc to the “ON” state, so the motor Mc is stopped.

<B> Ascending stage under the condition of “Fwei <Fass” or “Fwei <Fass + Pup” and “Pup <Fwei”, the operator applies the thrust Pup to the ascending direction of the handle and the operation switch Swc is turned on. The motor Mc generates a propulsive force Fass to perform the ascending rotation Rup, and the assist rotational force is transmitted to {rotor TcR of the braking clutch Tc → rotor TcL → CcR (connection shaft 45c)}. On the other hand, the natural drop force Fwei becomes the rotational (Rdwn) force of the endless belt Bt in the descending direction, and the one-way clutch Cc is torque-coupled in the {CcL⇒CcR} direction and transmitted to the connecting shaft 45c, and the assist propulsion described above. The force Fass is canceled by a part of the rotational force (Rup) in the rising direction. The force difference “Fass−Fwei” causes the endless belt Bt to rotate up in the reverse direction of Dwei.

<C> State of overrun ascending under the condition of “Fwei <Pup” The endless belt Bt rotates in the ascending direction by the action of the force difference “Pup−Fwei” without requiring the assist driving force Fass of the assist motor Mb. (Rup).
The operation of the elevating stage control means 50 is the same as in the previous item <B>, in which the connecting shaft 45c is rotated up by the assist propulsive force Fass. On the other hand, when the driver's ascending propulsion force Pup exceeds the natural drop force Fwei, the force difference “Pup−Fwei” causes the endless belt Bt to rotate up Rup, but the one-way clutch Cc is in the {CcL ⇒ CcR} direction. The torque is not coupled, and the overrun (differential rotation) state is established with respect to the ascending rotation Rup of the coupling shaft 45c by the assist propulsion force Fass (the same as FIG. 13 <C> of the third embodiment).

<D> State of descending under the condition of “Ftrn <Fwei + Pdwn” The driver applies a propulsive force Pdwn to the handle in the descending direction, and the force difference “Fwei + Pdwn−Ftrn” causes the endless belt Bt to move in the direction of Dwei. Rotating down Rdwn, the two rotors {TaL ⇒ TaR} are both slipping while generating friction braking force Ftrn. The output shaft of the motor Mc is locked and stationary by the lock torque Tlck provided to the geared motor stopped when the operation switch Swc is off.

FIG. 18 is a side view of the endless belt device that can be repositioned according to the sixth embodiment when housed, and FIG. 19 is a side view of the device that is opened for ascending and descending stairs.
The endless belt unit 12, the two link bar links A06 and B07, and the travel rod form a four-bar link, in a closed leg storage state (FIG. 18) and an open leg state for raising and lowering stairs (FIG. 19). ) Can be changed to an endless belt device. The change of “closed leg open leg” can be easily operated manually, and is locked at the positions of both states shown by the stopper 08 and the tension spring 09. The endless belt unit 12 is the same as that of the first embodiment.

  The self-propelled vehicle can also be applied to a self-propelled vehicle by taking in the driving force of normal operation.

The perspective view of the endless belt apparatus 10 of Example 1. FIG. Three views of the device Sectional drawing of the part which comprises the descending brake means of the apparatus Side view of a state where a travel bag equipped with the device goes up and down stairs Diagram showing force transmission and operation between elements constituting descending braking means Perspective view of a travel bag with two of the same devices installed on the bottom Perspective view of the state where the travel bag has begun to open Side view of travel bag opened The perspective view of the cart provided with the endless belt apparatus 10a of Example 2 on the side. The perspective view of the endless belt apparatus 10b of Example 3. Diagram showing force transmission and movement between elements in the climbing assist means The perspective view of the endless belt apparatus 10ab of Example 4. Diagram showing force transmission and operation in descending braking means and ascending assist means The perspective view of the cart provided with the endless belt apparatus 10c of Example 5 on the side. A perspective view of the braking clutch Tc of the lift control means A three-sided view showing a part of the braking clutch Tc of the lifting control means Diagram showing force transmission and operation in the lift control means Side view of the endless belt device with position changeable according to the sixth embodiment when stored. Side view of the device with the legs open for stairs

Explanation of symbols

Fwei Falling force in the descending direction generated by the weight of the manual propulsion vehicle Fbrk Braking force in the descending direction generated between the entering and exiting elements of the brake Ftrn Friction braking force transmitting the rotation between the entering and exiting elements of the brake clutch Tc Pup Propulsive force in the ascending direction due to the driver pushing or pulling the vehicle Pdwn Propulsive force in the descending direction due to the operator pushing or pulling the vehicle Ca, b, c One-way clutch CaL, bL, cL One-way Endless belt side elements CaR, bR, cR of the clutches Ca, b, c The opposite side elements Ta, b, c of the one-way clutches Ca, b, c, brakes, open / close clutches, braking clutches TaL, bL, cL Ta, b , C endless belt side elements TaR, bR, cR Ta, b, c opposite elements Rup Rdwn indicating the rotation of each element in the ascending direction RBup indicating the rotation of each element in the descending direction RBup Ascending direction of the endless belt RBdwn indicating the rotation of the endless belt Bt endless belts Pa, b, c indicating the direction in which the endless belt is to be rotated by the action of Dwei Fwei, indicating the direction of rotation of the endless belt Pa, b, c articulated pulley P pulley Mb, c assist motor Swb, c operation switch 01 travel rod 02 cart 03 traveling wheel 04 handle 05 Hinge 06 Link A
07 Link B
08 Stopper 09 Pull spring 10a, b, ab, c Endless belt device 11 Frame (of endless belt unit)
12 endless belt unit 20 descending braking means 21 frame (for descending control means)
22 Brake drum 23 Brake belt 24 Tension spring 25 Key 30 Ascending assist means 31 Frame (for ascending assist means)
45a, b, c Connecting shaft 46 Timing pulley 47 Timing belt 50 Lifting stage control means 51L, R frame (for braking clutch Tc)
51M frame (elevating stage assist motor Mc)
52 Bearing shaft 54L, R Friction disk 55 Spring

Claims (3)

In manual propulsion vehicles such as hand carts, travel rods, etc. equipped with endless belt units composed of tracks of two or more pulleys as auxiliary wheels when ascending and descending stairs,
A connection pulley Pa, a one-way clutch Ca, and a brake Ta are connected to each other. The one-way clutch Ca is configured to rotate the endless belt in a direction in which it goes down the stairs (hereinafter referred to as a step-down rotation). Torque is transmitted from the side to the direction of the brake Ta to transmit the rotation, and in the rotation in the direction in which the endless belt ascends the stairs (hereinafter referred to as ascending rotation), the torque is not coupled in the direction of the side and the rotation is performed. Descending braking means arranged to interrupt and arranged to brake the descending rotation by causing the brake Ta to activate a predetermined braking resistance force Fbrk;
The connecting pulley Pb, the one-way clutch Cb, the opening / closing clutch Tb, and the ascending assist motor Mb are connected to each other. In the ascending rotation, the one-way clutch Cb moves from the opening / closing clutch Tb to the connecting pulley Pb. Torque is connected to transmit the rotation of the ascending assist motor Mb, and the torque is not connected in the opposite direction and the rotation is cut off. The operation of the open / close clutch Tb is “torque connected / not connected”. The operation is switched in conjunction with the operation of “ascending drive rotation / stop” of the ascending assist motor Mb. In the descending rotation, the ascending assist motor Mb is stopped and the opening / closing clutch Tb is disconnected. Endless belt equipped with either one or both of the means for ascending assisting means configured to be cut off from the rotation operation on the endless belt side Belt apparatus. In manual propulsion vehicles such as hand carts, travel rods, etc. equipped with endless belt units composed of tracks of two or more pulleys as auxiliary wheels when ascending and descending stairs,
A connecting pulley Pc, a one-way clutch Cc, a braking clutch Tc, and an ascending assist motor Mc are connected to each other, and the one-way clutch Cc moves from the connecting pulley Pc side to the braking clutch Tc side in descending rotation. The torque is connected to transmit the rotation, and in the ascending rotation, the torque is not connected in the direction of the side so as to block the rotation, and the braking clutch Tc has a difference in force acting from both sides of the predetermined threshold value. If it is within the range, torque is connected to transmit the rotation, and when the threshold value is exceeded, relative rotation is permitted between both sides and a predetermined braking resistance force Ftrn is activated to act. An endless belt device comprising an elevating stage control means configured such that the output shaft of Mc is restrained and locked by a lock torque Tlck. A manual propulsion vehicle that can be easily moved up and down the stairs, wherein the endless belt device according to claim 1 or 2 is attached to a position at which the stairs can be raised or lowered, or can be changed to a position at which the stairs can be raised or lowered and a storage position.

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