JP2018188095A - Stairway raising/lowering apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a stairway raising/lowering apparatus that is able to satisfactorily carry a to-be-carried target while restricting an increase in the number of components.SOLUTION: A stairway raising/lowering apparatus 1 comprises a base frame 60, a main track frame 30, and an auxiliary track frame 40. The auxiliary track frame 40 is provided between a grounding position where a crawler belt 24 is brought into contact with a grounding surface and a separation position where the crawler belt is separated from the grounding surface. On the rear-end side of the base frame 60, a pressing surface 61a is provided. When the front end of the base frame 60 is inclined upward by a telescopic cylinder 71, the pressing surface presses a connection member 51 connected to the auxiliary track frame 40, and moves the auxiliary track frame 40 toward the grounding position. The base frame 60 and the connection member 51 are coupled via an urging member 73 to which urging force has been applied in a shortening direction.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a stair lift device, and more particularly, to a stair lift device including a pair of crawler frames to which a crawler belt is attached.

  In recent years, as a device capable of traveling on stairs while carrying a transport target (for example, luggage or a person), a pair of main crawler mechanism parts and a pivotable shaft on one end side of the main crawler mechanism parts 2. Description of the Related Art A stair lift device having a supported auxiliary crawler mechanism is known (see Patent Document 1).

  According to such a stair climbing device, when shifting from the “flat ground running state” to the “stair running state”, the auxiliary crawler mechanism portion in the inclined posture is brought into contact with a predetermined timing (for example, the first step nose of the staircase). ), It is possible to smoothly enter the stairs, and when running on stairs, the crawler mechanism becomes substantially longer, so it is possible to improve running stability. is there.

JP-A-2005-001445

  Here, in the stair lifting device described in Patent Document 1, a loading platform for loading a load is fixedly attached to the vehicle body.

  Here, in general, when a stair lift device in which a loading platform is fixedly attached to the vehicle body is run on the stairs, not only the vehicle body but also the loading platform inevitably tilts with respect to the horizontal plane.

  In such a case, since the luggage loaded on the loading platform is also tilted, if the luggage is an article that is desired to be maintained in a level state as much as possible, for example, a lunch box, the contents are biased. Etc.

  Therefore, it is conceivable to separately provide an elevating mechanism for tilting the platform so as to be substantially horizontal when the vehicle body is tilted in the stair lifting device described in Patent Document 1. If comprised in this way, even if it makes a stair-climbing apparatus drive | work on a staircase, the said malfunction can be eliminated.

  However, in addition to the lifting device that moves the auxiliary crawler mechanism up and down, the provision of a lifting mechanism that tilts the loading platform not only increases the control burden, but also causes a significant increase in weight.

  The present invention is provided to solve the above inconveniences, and it is an object of the present invention to provide a stair lifting device that can satisfactorily carry a transportation object while suppressing an increase in the number of parts.

  According to the stair lifting device according to the present invention, the above-described problems are a main body frame, a pair of crawler frames provided on both sides of the main body frame, to which a crawler belt driven by power is mounted, and the longitudinal length of the crawler frame. A base frame that is pivotally supported on one end side of the main body frame in the direction and supports the object to be transported from below, a detection device that detects inclination in the longitudinal direction of the main body frame and the base frame, and the main body A drive device that is provided between the frame and the base frame and tilts the moving end of the base frame in the vertical direction; and a control device that drives the drive device based on the detection result of the detection device; It is pivotally supported at one end of the main body frame and extends outward of the main body frame and in the longitudinal direction, A second crawler frame on which the roller belt is mounted, and the second crawler frame is separated from the grounding position and a grounding position for grounding the crawler belt located on the moving end side to the grounding surface. When the moving end of the base frame is tilted upward by the driving device on the shaft support end side of the base frame, the second crawler frame or A pressing surface for pressing the connecting member connected to the second crawler frame to move the second crawler frame toward the grounding position is provided, and the base frame and the second crawler frame or The connection member refers to the second crawler frame or the connection member when the moving end of the base frame is tilted downward by the driving device. And pulling toward and is connected via a connecting member to move toward said second crawler frame to the separated position, is solved by.

In the above configuration,
(1) When the main body frame is inclined with respect to the horizontal plane from the “flat ground traveling state” to the “stairs traveling state”, the moving end side of the base frame (supporting the object to be transported from below) is the driving device. And the second crawler frame is moved from the “separated position” to the “grounding position” by the pressing operation of the second crawler frame or the connecting member by the shaft support end side.
(2) When shifting from the “stairs running state” to the “flat ground running state” and the main body frame is in a state parallel to the horizontal plane, the moving end side of the base frame is tilted downward by the driving device, The second crawler frame is moved from the “contact position” to the “separated position” by releasing the pressing operation (pulling operation) on the shaft support end side.

  That is, in the above configuration, the base frame is automatically tilted by the driving device according to the travel state of the stair lifting device (“flat ground travel state” and “stair travel state”). A certain object to be transported (for example, a baggage such as a lunch box) can be stably transported in a substantially horizontal state not only on the ground but also on the stairs.

  Further, in the above configuration, when the moving end side of the base frame is tilted upward, the second crawler frame is moved to the “contact position” by the pressing operation by the shaft support end side, while the base frame is moved. When the end side is moved downward, the second crawler frame is moved to the “separated position” by the pulling operation by the shaft support end side.

  Here, in order to facilitate the understanding of the above configuration, the operation of the second crawler frame will be described by taking as an example the case where the stair lifting device moves from the “flat ground traveling state” to the “stair traveling state”.

  First, the case where the stair lifting device is in the “flat ground traveling state” will be described. Since the second crawler frame is not tilted in the vertical direction in this traveling state, normally, the “separated position” Is arranged. Note that the stair lifting device according to the above configuration can travel by a crawler belt mounted on each of a pair of crawler frames (driven by power) in the “flat ground traveling state” and the “stair traveling state”. is there.

  After that, if the crawler belt of the second crawler frame hits the first step nose of the stairs and tries to ascend on the stairs as it is, the main body frame is inclined with respect to the horizontal plane. The end side is gradually tilted upward. When the base frame is tilted in this way, the second crawler frame is pushed down by the pivot end side (pressing surface) of the base frame, so that the “separating position” is directed to the “grounding position”. Will move.

  In this regard, according to the above configuration, the second crawler frame gradually moves from the “separated position” to the “grounding position” at the timing when the stair lifting device shifts from the “flat ground traveling state” to the “stair traveling state”. Therefore, it can be said that it is possible to enter the stairs smoothly.

  After that, when the stair lifting device shifts from the “flat ground running state” to the “stair running state” and the upward tilting of the base frame on the moving end side is finished, the second crawler frame is placed at the “grounding position”. Is done.

  In this state, since the second crawler frame is extended from the crawler frame, the crawler frame can be moved up on the stairs with the substantially longer crawler frame. As a result, the object to be transported (for example, a lunch box) Can be transported more stably in a substantially horizontal state, for example.

  As described above, in the above configuration, the second crawler frame can be moved by using the driving force of the driving device that tilts the base frame, so that the drive for moving the second crawler frame is performed. There is no need to provide a separate device.

  Further, in the above configuration, even if a dedicated driving device for moving the second crawler frame is not separately provided, compared with a stair lifting device provided with such a device, there is no difference in color and traveling on flat ground. It is possible to smoothly run stairs.

  In the above-described stair lift device, it is preferable that the connecting member is a biasing member having a biasing force that moves the second crawler frame to the separation position.

  Further, in the above stair lift device, it is preferable that a crevice-shaped (L-shaped) recess opening downward on the second crawler frame side is formed at the bottom of the crawler frame. is there.

  As described above, according to the present invention, the object to be transported can be stably transported while improving the running stability, and the increase in weight accompanying the increase in the number of parts is ensured, although the structure is relatively simple. It is possible to prevent.

It is a perspective view which shows the stair lifting apparatus which concerns on this embodiment. It is a side view of the stair lifting device of FIG. It is a principal part expanded side view of the stair lifting apparatus of FIG. 1, Comprising: (a) is a figure which shows the state in which a 2nd crawler frame exists in a "separation position", (b) is a 2nd crawler frame in a "grounding position" It is a figure which shows the state in "." It is a side view which shows the state which a stair-climbing apparatus transfers to a "stairs running state" from a "flat ground running state", Comprising: (a) is a figure which shows the state immediately after a crawler belt contact | abutted to the first step nose of a staircase (B) is a figure which shows the state after (a). It is a side view which shows the state which the stair-climbing apparatus is running on stairs, (a) is a figure which shows the state in the middle of going up the stairs, (b) is a figure which shows the state after (a) It is. FIG. 2 is a side view showing a state where the stair lifting device is shifted from the “stair traveling state” to the “flat ground traveling state”, where (a) is a diagram showing a state immediately before the stair lifting device is shifted to the “flat ground traveling state”; (B) is a figure which shows the state immediately after a stair-climbing apparatus transfers to a "flat ground running state".

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 is a perspective view showing a stair lifting device according to the present embodiment, FIG. 2 is a side view of the stair lifting device of FIG. 1, FIG. 3 is an enlarged side view of the main part of the stair lifting device of FIG. FIG. 5 is a side view showing a state in which the apparatus is moving from flat ground traveling to stair traveling, FIG. 5 is a side view showing a state in which the stair lifting device is traveling in stairs, and FIG. 6 is a state in which the stair lifting device is shifted from stair traveling to flat ground traveling. FIG. In the following description, the front-rear direction is the front-rear direction when the side on which the second crawler frame is disposed is the rear side and the side on which the first crawler frame is disposed is the front side, and the left-right direction is the second crawler The horizontal direction in the state which looked at the 1st crawler frame (front side) from the frame (rear side) is each meant.

  As shown in FIGS. 1 and 2, the stair lift device 1 according to the present embodiment includes a main body frame 10, a crawler mechanism unit 20, and a base frame 60 as main components. The stair lift device 1, the main body frame 10, and the base frame 60 correspond to the “stair lift device”, “main body frame”, and “base frame” described in the claims, respectively. To do.

  The main body frame 10 is formed by bending a plate-like metal member (for example, an aluminum member). In addition to the crawler mechanism section 20 and the base frame 60 described above being attached to the main body frame 10 at a predetermined position, the main body frame 10 is also provided with an extendable cylinder 71 for tilting the base frame 60 in the vertical direction and the main body frame 10 with respect to a horizontal plane. The 1st detection apparatus 76 etc. which detect this inclination angle are attached. The telescopic cylinder 71 and the first detection device 76 correspond to the “drive device” and the “detection device” recited in the claims, respectively.

  The telescopic cylinder 71 is attached so as to connect the main body frame 10 and a base portion 61 described later. The telescopic cylinder 71 is configured to be driven based on a drive command from a controller 72 described later.

  The first detection device 76 is mounted and fixed on the front end side of the main body frame 10 and outputs an inclination angle of the main body frame 10 with respect to a horizontal plane to a controller 72 described later. Although described later in detail, in the present embodiment, the controller 72 is configured to control the driving of the telescopic cylinder 71 based on the detection results of the first detection device 76 and the second detection device 77 described later. The controller 72 and the second detection device correspond to the “control device” and the “detection device” described in the claims, respectively.

Next, the crawler mechanism unit 20 will be described with reference to FIGS.
As shown in FIGS. 1 and 2, the crawler mechanism unit 20 includes a crawler driving device 21 and a track frame 22.
The crawler driving device 21 is a motor that can rotate in forward and reverse directions, and is mounted and fixed on the front end side of the main body frame 10. The crawler drive device 21 is configured to be driven based on a drive command from a controller 72 attached to the base frame 60 and to transmit the drive force to the drive shaft 23.

The track frame 22 includes a main track frame 30 and an auxiliary track frame 40, and is disposed opposite to the left and right sides of the main body frame 10.
In the present embodiment, one crawler belt 24 is attached around the track frame 22 (the main track frame 30 and the auxiliary track frame 40), and the track of the crawler belt 24 is defined by the track frame 22. ing.

  The main track frames 30 and 30 are each formed by bending a plate-like metal member or the like, and are fixed to both ends of the main body frame 10 in the left-right direction. On the front side of the main track frame 30, drive wheels 50, 50 attached to both ends of the drive shaft 23 are arranged.

  Further, a substantially heft-shaped (L-shaped) concave portion 31 opening downward is formed at the bottom of the main track frame 30 on the rear end side. Although details will be described later, in the present embodiment, the recess 31 changes the traveling state of the stair lifting device 1 (when transitioning from the “stair traveling state” to the “flat ground traveling state” or the “flat ground traveling state”. ”To“ Staircase running state ”), the transition can be performed smoothly. In addition, the said recessed part 31 corresponds to the "recessed part" as described in a claim.

  As with the main track frame 30, the auxiliary track frame 40 is formed by bending a plate-like metal member or the like, and is disposed so as to extend from the rear end side of the main track frame 30. The auxiliary track frames 40, 40 are connected to each other at the rear end portion and the front end portion thereof by a connecting member 51 and a rotating shaft 52 extending in the left-right direction. The pivot shaft 52 is pivotally supported at the rear end portion of the main body frame 10. The connecting member 51 corresponds to a “connecting member” recited in the claims.

  Since the auxiliary track frames 40 and 40 are configured as described above, the rear end side is tilted in the vertical direction with the rotation shaft 52 as the rotation center (the crawler belt 24 positioned on the rear end side is grounded). It is possible to move between a “grounding position” for grounding and a “separating position” for separating from the grounding surface. In the present embodiment, the lowermost point of the drive wheel 50, the lowermost point of the intermediate wheel 53, and the lowermost point of the rear wheel 54 are substantially the same with the auxiliary track frame 40 moved to the “contact position”. It is arranged on a straight line.

  As shown in FIGS. 1 to 3, the connecting member 51 is based on a plurality of (three in the present embodiment) biasing members 73 (coil springs in the present embodiment) to which a biasing force is applied in the shortening direction. The base frame 60 is connected. For this reason, the auxiliary track frames 40, 40 are arranged at “separated positions” where the rear end side is inclined upward unless a force pressing down from above is applied to the connection member 51 (or the auxiliary track frame 40). It is like that.

  Further, as will be described later, the connecting member 51 is pressed to have a substantially L-shaped cross section that comes into contact with the rear end portion (a pressing surface 61a described later) when the front end portion of the base frame 60 tilts upward. It has a lower surface 51a. The pressing surface 61a and the urging member 73 correspond to a “pressing surface” and a “connecting member” (“urging member”) described in the claims, respectively.

  As shown in FIGS. 1 and 2, the auxiliary track frame 40 has an intermediate wheel 53 movably mounted on the same axis as the rotation shaft 52, while a rear wheel 54 is also movably mounted on the rear end side. ing.

  The crawler belt 24 is mounted so as to be positioned around the drive wheels 50 of the main track frame 30 and the intermediate wheels 53 and the rear wheels 54 of the auxiliary track frame 40, respectively. In the present embodiment, the holding roller 25 that guides the crawler belt 24 while sandwiching the crawler belt 24 with the intermediate wheel 53 is movably attached to the main body frame 10. The reason why the restraining roller 25 is provided is to prevent the crawler belt 24 from being separated upward from the intermediate wheel 53 even when the auxiliary track frame 40 is inclined (see FIG. 2).

  Since the crawler belt 24 is attached to the track frame 22 as described above, when the driving wheel 50 is rotated by the driving of the crawler driving device 21, a certain direction (forward direction or reverse direction) is generated along with the rotation. To be rotated.

Next, the base frame 60 will be described with reference to FIGS.
As shown in FIGS. 1 and 2, the base frame 60 is mainly formed by appropriately joining hollow square pipes made of metal members (for example, aluminum), and a base portion 61 that is framed, And a projecting portion 62 projecting downward from a central position in the left-right direction on the rear end side of the base portion 61.

  The projecting portion 62 is rotatably supported by the rotation shaft 52 at the lower end portion thereof, while the base portion 61 is connected to the main body frame 10 via the telescopic cylinder 71 at the center position in the left-right direction on the front end portion side. It is connected.

  Since the base frame 60 is assembled to the main body frame 10 and the track frame 22 in this way, when the telescopic cylinder 71 expands and contracts, the front end portion side of the base portion 61 has the rotation shaft 52 as the rotation center. It tilts up and down.

  As shown in FIG. 3, the rear end portion of the base portion 61 is connected to the connection member 51 and a pressing surface 61 a that presses the pressed surface 51 a of the connection member 51 when the front end portion tilts upward. An urging member attaching portion 61b to which the urging member 73 is attached is provided.

  As shown in FIGS. 1 and 2, a loading platform 64 is attached to the upper surface of the base portion 61 via a known impact absorbing member 63 that absorbs an impact.

  The loading platform 64 is configured to be able to place a plurality of storage cases C that store articles to be transported, and is formed by appropriately joining metal pipe members. In addition, a substantially U-shaped gripping portion 65 that can be gripped when the operator manually pushes the stair lifting device 1 is attached to the cargo bed 64 on the rear end side.

  The gripping portion 65 is made of a metal pipe member, and an operation portion 75 that can be operated by an operator is attached to an upper end portion of the gripping portion 65. The operation unit 75 includes a switch for turning on / off the power, a “flat land travel mode” (a mode in which the stair lift device 1 travels on a flat ground), and a “stair travel mode” (a so-called “crawler travel mode”). And a switch for driving the crawler driving device 21 to move the stair lifting device 1 backward ("lifting switch") and a switch for moving forward. ("Descent switch") etc. are provided.

  Further, on the bottom surface side of the base portion 61, a controller 72 that integrally controls the operation of the stair lifting device 1 and a second detection device 77 that detects the inclination angle of the base portion 61 with respect to the horizontal plane are provided at predetermined positions. Etc. are attached.

  The controller 72 is electrically connected to the crawler driving device 21, the telescopic cylinder 71, the operation unit 75, the first detection device 76, and the second detection device 77. The control by the controller 72 will be described later.

  Further, tandem wheels 66 and 66 and idle wheels 67 and 67 are attached to the left and right sides of the base 61 on the rear end side and the front end side, respectively. Since the tandem type wheel 66 is now known and will not be described in detail, in the present embodiment as well, when the stair lift device 1 is traveling on a flat ground ("flat ground traveling mode") as in the prior art. In this case, the two idle wheels are always grounded, while the stair lift device 1 is running on the stairs S ("stairs run mode"), the idle wheels are the stair nosing of the stairs S. When contacted with the SN, etc., the seesaw motion is performed so that smooth running by the crawler belt 24 is not hindered (see FIG. 5 and the like).

  Next, the operation of the stair lifting device 1 configured as described above will be described with reference to FIGS. In the following description, “main body angle” is the inclination angle of the main body frame 10 with respect to the horizontal plane (inclination angle detected by the first detector 76), and “floor angle” is the inclination angle of the base portion 61 with respect to the horizontal plane (first 2, “floor opening” indicates the inclination angle of the base 61 with respect to the main body frame 10 (the sum of “main body angle” and “floor angle”). Further, in the following description, it is assumed that the inclination angle of the staircase S (the angle with respect to the horizontal plane of the virtual extension line connecting the nose SN and the other nose SN) is “27 °” to “35 °”. It goes without saying that the present invention can also be applied to stairs having other inclination angles.

  First, before describing the case where the stair lifting device 1 travels on the staircase S, the “flat land travel mode” and the “stair travel mode” according to the present embodiment will be described with reference to FIGS. 2 and 4.

First, the “flat land travel mode” will be described with reference to FIG.
When the “flat land travel mode” is selected by the operation of the operation unit 75 by the operator while the crawler belt 24 on the main track frame 30 is in contact with the ground contact surface (the “stair travel mode” state), the controller 72 performs control to move the telescopic cylinder 71 in a shortening direction.

  As shown in FIG. 2, when the telescopic cylinder 71 is shortened, the distance between the front end side of the base portion 61 and the main body frame 10 (main track frame 30) is also shortened. The idler wheel 67 is gradually grounded in place of the crawler belt 24 on the main track frame 30 which has been grounded until now.

  In this state, since the tandem wheels 66 and 66 and the idle wheels 67 and 67 are respectively in contact with the grounding surface, the operator lifts and lowers the stairs by manually pushing the grip portion 65 while holding it. It is possible to move the device 1 to a desired position. In this embodiment, in this state, “main body angle” is “−1 °”, “floor opening” is “2.5 °”, and “floor angle” is “3.5 °” (“2.5 ° ° ”−“ − 1 ° ”). In the present embodiment, as will be described later, the telescopic cylinder 71 is set so that the “floor angle” is within “(±) 15 °” as much as possible from the viewpoint of horizontally holding the load loaded on the loading platform 64. Is configured to expand and contract.

Next, the “staircase traveling mode” will be described with reference to FIG.
When the “stairs running mode” is selected by the operation of the operation unit 75 by the operator while the stair lifting device 1 is in the “flat ground running mode” (see FIG. 2), the controller 72 moves the telescopic cylinder 71. Control to move in the extending direction.

  As shown in FIG. 4A, when the telescopic cylinder 71 is extended, the idler wheel 67 attached to the base 61 also moves upward, so that the crawler belt 24 on the main track frame 30 side has been grounded until now. Instead of the idle wheel 67 that has been used, it comes to be grounded.

  In this state, since the tandem wheels 66 and 66 and the crawler belt 24 on the main track frame 30 side are in contact with the downstairs floor FD (grounding surface), the operator operates the operation unit 75 ( For example, the stair lift device 1 can be moved to a desired position by pressing the “rise switch” or the “down switch” (by driving the crawler driving device 21).

  In the present embodiment, the “main body angle” is changed from “−1 °” to “1.5 °”, and the “floor opening” is set to “2” in a state where the “flat road running mode” is changed to the “stairs driving mode”. .5 ° ”→“ 10.4 ° ”and“ Floor Angle ”are changed from“ 3.5 ° ”to“ 8.9 ° ”(“ 10.4 ° ”−“ 1.5 ° ”), respectively. .

  In addition, in a state where the “flat land travel mode” is changed to the “stairs travel mode”, the pressing surface 61 a of the base portion 61 is a position immediately before the pressed surface 51 a of the connecting member 51 (proximity position). Is preferably arranged.

  Next, the case where the stair lift device 1 that has shifted from the “flat land travel mode” to the “stair travel mode” travels up the stairs S will be described with reference to FIGS. 4 to 6. In the following description, for convenience of explanation, the crawler belt 24 on the auxiliary track frame 40 side starts from a state immediately after contacting the first step nose SN of the stairs S.

  As shown in FIG. 4A, when the crawler belt 24 on the auxiliary track frame 40 side is in contact with the first step nose SN of the stairs S, the crawler belt 24 on the drive wheel 50 side (front side of the recess 31). The crawler belt 24) is also grounded to the lower floor FD.

  In this state, when the crawler belt 24 is rotated in the reverse direction, the crawler belt 24 is grounded on the nose SN of the staircase S on the rear end side and on the downstairs floor FD on the front end side thereof. Since it rotates in the reverse direction (rotates and moves in a two-point supported state), the stair lift device 1 starts to ascend well on the staircase S (see FIG. 4B).

  As shown in FIG. 4B, when the stair lifting device 1 starts to climb on the stair S, the inclination angle of the main body frame 10 with respect to the horizontal plane gradually increases. In this state, the “main body angle” is “10.35 °” (“1.5 °” in the state of FIG. 4A).

  Here, in the present embodiment, it is set so that the drive control of the telescopic cylinder 71 is performed by the controller 72 when the “main body angle” becomes “11.5 °” or more. For this reason, in the state shown in FIG. 4B, the “main body angle” has not reached the set value “11.5 °”, and therefore the controller 72 does not particularly perform any control for driving the telescopic cylinder 71. Don't do it. In this state, “floor opening” is “10.35 °”, and “floor angle” is “0 °” (“10.35 °” − “10.35 °”).

  Thereafter, when the stair lifting device 1 travels up the stairs S and the “floor angle” becomes “11.5 °” or more, the controller 72 refers to the “main body angle” and the like, while the “floor angle” The drive control of the expansion / contraction cylinder 71 (in this case, mainly, the control to extend the expansion cylinder 71, that is, the control to increase the value of “floor opening”) is performed so as to be within “15 °”. In the present embodiment, such control is performed every time the “floor angle” is changed.

  When the telescopic cylinder 71 is extended and the front end side of the base portion 61 is tilted upward, the pressing surface 61a presses the pressed surface 51a of the connecting member 51, so that the auxiliary track frames 40, 40 are attached. It will gradually move from the “separated position” to the “grounding position” against the urging force of the urging member 73 (FIGS. 3B, 5A and 5B). reference). In the present embodiment, the auxiliary track frame 40 is disposed at the “grounding position” in a state where the stair lifting device 1 is traveling on the stair S (the state shown in FIGS. 5A and 5B). It has been adjusted so that.

  Here, an example of drive control of the telescopic cylinder 71 will be described with reference to FIGS. 4B, 5A, and 5B. 5A and 5B show a state in which the stair lifting device 1 is traveling up on the stair S while the telescopic cylinder 71 is extended (also FIG. 3B). reference). 5A shows a state in which the stair lift device 1 has further traveled from the state of FIG. 4B, and FIG. 5B shows that the stair lift device 1 has further moved from the state of FIG. 5A. Each of the traveling states is shown.

  As shown in FIG. 5A, in this state, since the stair lifting device 1 is traveling on the stair S, the “main body angle” is greatly increased from the state of FIG. 4B described above. I understand that. In the state of FIG. 5A, the “main body angle” is “27.17 °” (in the state of FIG. 4B, “10.35 °”).

  If the “floor opening” remains in the state of FIG. 4B in the state of FIG. 5A, the “floor angle” is “−16.82 °” (“10.35 °. (“Opening angle” in FIG. 4B) − “27.17 °”), and the inclination of the loading platform 64 (base portion 61) with respect to the horizontal plane is extremely forwardly inclined.

  Therefore, in this embodiment, control for extending the telescopic cylinder 71 is performed so that the “floor angle” is within “(+) 15 °”. In the state of FIG. 5A, “floor opening” is “37.35 °” and “floor angle” is “10.18 °” (“37.35 °” − “27.17 °”). It has become.

  In the state of FIG. 5B, the “main body angle” is “27.9 °”, which is slightly changed from the state of FIG. 5A (in this state, “27.17 °”). In this embodiment, the controller 72 is not controlled to drive the telescopic cylinder 71 because it is within the range of the slight difference. The “floor angle” in this state is “9.45 °” (“37.35 °” − “27.9 °”) because “floor opening” remains “37.35 °”. .

  As shown in FIG. 5A, when the auxiliary track frame 40 is placed in the “contact position”, the ground contact range of the crawler belt 24 with respect to the nose SN of the stair S is substantially expanded. It is possible to further stabilize the traveling state of the lifting device 1.

  By the way, as described above, the substantially track-shaped (L-shaped) recess 31 is formed at the bottom of the main track frame 30. For this reason, when such a concave portion 31 is formed in the main track frame 30, as will be described later, it is convenient when the stair lifting device 1 is shifted from the “stair running state” to the “flat ground running state”. When the stair lift device 1 travels on the staircase S, it has an unfavorable influence (such as traveling on the staircase S while swinging in the front-rear direction as a result of the recess 31 entering the nose SN of the staircase S). Whether or not it matters.

  In this regard, in the present embodiment, when the stair lifting device 1 travels on the stair S while the auxiliary track frame 40 is moved to the “contact position”, FIG. 5A and FIG. As shown, the crawler belt 24 on the auxiliary track frame 40 side and the crawler belt 24 on the front end side of the main track frame 30 (the portion where the recess 31 is not formed) are always on the nose SN of the stairs S, respectively. Since it is grounded (being supported by two or more points), the above-mentioned problems do not occur.

  Thereafter, when the stair lifting device 1 traveling on the stairs S reaches the uppermost step nose SN of the stairs S, the top 31a of the recess 31 is positioned on the uppermost step nose SN as shown in FIG. It becomes a state to do.

  When the top portion 31a of the recess 31 is positioned on the uppermost step nose SN, the crawler belt 24 on the rear inclined portion 31b contacts the upper floor FU, and the crawler belt 24 on the front side of the main track frame 30 is also two from the top. It will be in the state which earth | grounds to the stage nosing SN. As described above, since the crawler belt 24 is supported at two or more points, it is possible to stably run the stair lifting device 1 in a state where the concave portion 31 is gripped by the uppermost step nose SN.

  In the present embodiment, since the concave portion 31 is formed at a substantially central portion of the entire length of the main track frame 30 and the auxiliary track frame 40 in the longitudinal direction, the transition from the “stairs running state” to the “flat ground running state” is performed. In addition, the center of gravity of the stair lifting device 1 is not excessively moved.

  For this reason, in this embodiment, even if the stair lifting device 1 traveling on the staircase S reaches the uppermost step nose SN, it is smoothly stopped from the “staircase traveling state” to the “flat ground traveling state” without temporarily stopping. It is possible to shift (see FIG. 6B).

  By the way, in the state of FIG. 6A, since the concave portion 31 has entered the uppermost nose SN, the “main body angle” and the like have changed from the states of FIG. 5A and FIG. I understand that. Specifically, in the state of FIG. 6A, the “main body angle” is “19.33 °”.

  If “floor opening” remains in the state of FIG. 5B in the state of FIG. 6A, the “floor angle” is “18.02 °” (“37.35 °”). (“Opening angle” in FIG. 5B) − “19.33 °”), which exceeds “15 °”.

  Therefore, in this embodiment, drive control (shortening control) of the telescopic cylinder 71 by the controller 72 is performed so that the “floor angle” is within “15 °”. Specifically, in this embodiment, in this state, “floor opening” is set to “33.83 °”, and “floor angle” is set to “14.5 °” (“33.83 °” − “19.33”. ° ”).

  Further, in the state of FIG. 6B, the “main body angle” is “small” compared to the state of FIG. 6A, and therefore the controller 72 performs control to further shorten the telescopic cylinder 71. In the state of FIG. 6B, when the “main body angle” is “4.1 °”, for example, “floor opening” is set to “16.5 °” and “floor angle” is set to “12. 4 ° ”(“ 16.5 ° ”−“ 4.1 ° ”) is also possible.

  When the telescopic cylinder 71 is shortened, the pressing surface 61a located on the rear end side of the base portion 61 tilts upward, so that the connecting member 51 (connected to the rear end portion side of the auxiliary track frame 40) is Then, it moves upward by the urging force of the urging member 73 (see FIGS. 6A, 6B, 3A, and 3B).

  Thus, in this embodiment, the auxiliary track frame 40 is configured to be moved to the “separated position” by the biasing member 73 at the same time when the front end portion side of the base portion 61 is tilted downward. Therefore, it can be said that there is a merit that such an operation can be surely performed while having a simple configuration.

  In addition, about the operation | movement which the stair-climbing apparatus 1 descends on the staircase S, since the procedure reverse to the operation | movement which ascends as mentioned above is followed, description here is abbreviate | omitted.

  As described above, according to the present embodiment, the auxiliary track frame 40 is set to the “grounding position” by using the driving force of the telescopic cylinder 71 that tilts the base frame 60 (the front end side of the base portion 61). Since it is possible to move between the “separated positions”, it is not necessary to separately provide a driving device for moving the auxiliary track frame 40. Further, even if a driving device for moving the auxiliary track frame 40 is omitted, there is nothing compared with a stair lifting device provided with such a device (for example, the stair lifting device described in Patent Document 1). It is possible to smoothly run on flat terrain and stairs without color.

  In summary, according to the stair lift device 1 according to the present embodiment, the object to be transported can be stably transported while improving the running stability while having a relatively simple configuration, as well as the parts. It can be said that an increase in weight accompanying an increase in the number of points can be surely prevented.

  In the present embodiment, the auxiliary track frame 40 is provided on the extension line in the front-rear direction of the main track frame 30. However, the auxiliary track frame 40 is not necessarily configured in this manner, and is shifted from the extension line in the left-right direction, for example. It is also possible to provide it. In this case, it is not necessary to provide one auxiliary track frame on each of the left and right sides as in this embodiment. For example, one auxiliary track frame may be provided between the pair of main track frames 30 and 30.

  In addition, as described above, when the auxiliary track frame is not provided on the extension line of the main track frame 30, the crawler belt attached to the frame is configured to be driven (turned) by power. In addition, it is also possible to be configured to freely rotate without using power.

  Furthermore, in the said embodiment, although the connection member 51 connected to the auxiliary track frame 40 and the base part 61 were connected via the biasing member 73, the auxiliary track frame 40 and the base part 61 were connected with the biasing member. It is also possible to connect via 73.

  In the above embodiment, the urging member 73 is used as a member for connecting the connection member 51 and the base portion 61. However, the urging member 73 is not limited to this, for example, a member having no urging force (for example, a plate-like or A rod-shaped metal member) can also be used.

  In the present embodiment, the luggage (article) is exemplified as the object to be transported by the stair lifting device 1, but it goes without saying that it may be a person (for example, a person riding in a wheelchair) or an animal.

  As mentioned above, although embodiment which applied the invention made by this inventor was described, this invention is not limited by the description and drawing which make a part of indication of this invention by this embodiment. That is, it is added that other embodiments, examples, operation techniques, and the like made by those skilled in the art based on this embodiment are all included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Stair lift 10 Main body frame 20 Crawler mechanism part 21 Crawler drive device 22 Track frame 23 Drive shaft 24 Crawler belt 25 Retaining roller 30 Main track frame 31 Recess 31a Top part 31b Back side inclined part 40 Auxiliary track frame 50 Drive wheel 51 Connection member 51a Pressed surface 52 Rotating shaft 53 Intermediate wheel 54 Rear wheel 60 Base frame 61 Base portion 61a Pressing surface 61b Energizing member mounting portion 62 Projecting portion 63 Impact absorbing member 64 Loading platform 65 Grabbing portion 66 Tandem wheel 67 Free movement Wheel 71 Telescopic cylinder 72 Controller 73 Energizing member 75 Operation unit 76 First detection device 77 Second detection device C Storage case S Staircase SN Nose FD Downstairs floor FU Upstairs floor

Claims (3)

Body frame,
A pair of crawler frames provided on both sides of the main body frame, to which crawler belts driven by power are mounted;
A base frame that is pivotally supported on one end side of the main body frame in the longitudinal direction of the crawler frame and supports the object to be transported from below;
A detection device for detecting the inclination in the longitudinal direction of each of the main body frame and the base frame;
A drive device provided between the main body frame and the base frame and tilting the moving end of the base frame in the vertical direction;
A control device for driving the drive device based on a detection result of the detection device;
A second crawler frame that is pivotally supported on one end side of the main body frame and extends outwardly of the main body frame and in the longitudinal direction, to which a crawler belt is attached,
The second crawler frame is
The crawler belt located on the moving end side is provided movably between a grounding position for grounding to the grounding surface and a separating position for separating from the grounding surface,
On the shaft support end side of the base frame,
When the moving end of the base frame is tilted upward by the driving device, the second crawler frame is pushed down by pressing the second crawler frame or a connecting member connected to the second crawler frame. Is provided with a pressing surface for moving toward the grounding position,
The base frame and the second crawler frame or the connection member are:
When the moving end of the base frame is tilted downward by the driving device, the second crawler frame or the connecting member is pulled upward to move the second crawler frame toward the separation position. Are connected via a connecting member,
Stair lifting device characterized by that. The connecting member is an urging member having an urging force that moves the second crawler frame to the separation position.
The stair lift device according to claim 1. At the bottom of the crawler frame, a concave portion having a square shape that opens downward on the second crawler frame side is formed.
The stair lift device according to claim 1 or claim 2, wherein