JP2020001543A - Step ascending/descending dolly - Google Patents

Abstract

To reduce load on an operator.SOLUTION: A step ascending/descending dolly 10 comprises: a crawler 21 as running means; a loading platform 22; a running drive part 23 that drives a crawler; an angle change part 24 that changes an angle of the loading platform; a handle 30 gripped by an operator; an operation part (a controller 31) that operates the running drive part and the angle change part; a loading-platform inclination meter 42 that detects an inclination angle of the loading platform; and a warning device (an angle display warning device 32) that gives a warning to an operator on the basis of the inclination angle of the loading platform detected by the loading-platform angle meter. When the inclination angle of the loading platform is θ and lower and upper limit values of the inclination angle are T1 and T2, respectively, and when a condition of T1<θ<T2 is not satisfied, the warning device gives a warning.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a stair climbing trolley.

  2. Description of the Related Art Conventionally, a stair climbing trolley has been widely used as a device for moving up and down stairs in a state where luggage is mounted on a carrier. This type of stair climbing trolley has a crawler as a traveling means, a luggage carrier on which luggage is mounted, and a handle gripped by an operator. The operator of the stair climbing trolley operates the operation unit while holding the handle to run the crawler, thereby causing the stair climbing trolley to move up and down the stairs. At that time, the stair climbing trolley changes the angle of the carrier (for example, refer to Patent Document 1). The device described in Patent Literature 1 is for a wheelchair, but a stair climbing trolley can carry not only a wheelchair but also various articles.

JP-A-10-129541

  As described below, the conventional stair climbing trolley has a problem that a great burden is imposed on an operator.

  For example, a stair climbing trolley moves up and down stairs with relatively heavy luggage loaded on a carrier. At this time, the stair climbing trolley tends to lose its balance (posture) in the front-rear direction, particularly in a place where the center of gravity of the luggage easily moves in the front-rear direction. Such places include, for example, near the floor of the upper floor, near the floor of the lower floor, and the like.

  For example, when climbing the stairs, it is assumed that the operator stands on the upper side of the stairs relative to the stair climbing trolley and operates the stairs climbing trolley from the upper side of the stairs. In this case, when the stair climbing trolley starts to climb up the stairs from the lower floor, the stair climbing trolley starts to tilt from the horizontal state to the angle of the stairs. At this time, the center of gravity of the luggage moves in the lower direction of the stairs (the opposite side of the traveling direction). Therefore, the stair climbing trolley tends to lose its balance in the downward direction of the stairs (opposite to the traveling direction). Then, when the stair climbing vehicle continues to climb the stairs and reaches the floor of the upper floor (the uppermost step of the stairs), the tip of the crawler in the traveling direction side does not contact the stairs. Therefore, the stair climbing trolley operates to incline in the upper direction of the stairs (in the traveling direction). At this time, the center of gravity of the luggage moves in the upper direction of the stairs (in the traveling direction). Therefore, the stair climbing trolley tends to lose its balance in the upper direction of the stairs (in the traveling direction).

  Further, for example, when descending the stairs, the operator stands on the upper side of the stairs ascending and descending the stairs and operates the stairs ascending and descending carriage from the upper side of the stairs. In this case, when the stair climbing vehicle starts to descend the stairs from the floor surface of the upper floor (the uppermost step of the stairs), the leading end of the crawler in the traveling direction does not contact the stairs. Therefore, the stair climbing trolley operates so as to be inclined in the downward stairs direction (the traveling direction). At this time, the center of gravity of the luggage moves in the lower direction of the stairs (the traveling direction). Therefore, the stair climbing trolley tends to lose its balance in the stairs lower direction (the traveling direction). Then, when the stair climbing trolley continues down the stairs and reaches the floor of the lower floor, the tip of the crawler in the traveling direction abuts on the floor of the lower floor. Therefore, the stair climbing trolley operates to incline in the upper direction of the stairs (opposite to the traveling direction). At this time, the center of gravity of the luggage moves upward in the stairs (opposite to the traveling direction). Therefore, the stair climbing vehicle easily loses its balance in the upper direction of the stairs (opposite to the traveling direction).

  Therefore, the operator has carefully performed the operation of raising and lowering the stair climbing vehicle and the operation of changing the inclination angle of the carrier so that the balance of the stair climbing vehicle is not lost. However, the conventional stair climbing trolley does not have means for allowing the operator to recognize whether or not the inclination angle of the bed is appropriate at that time. For this reason, throughout the entire period from the start to the end of the elevating operation, the operator performs the operation of raising and lowering the stairs ascending and lowering the inclination angle of the stowage truck while estimating the inclination angle of the stowage truck with his / her own feeling. Such a conventional stair climbing trolley puts a heavy burden on the operator when going up and down the stairs.

  The present invention has been made to solve the above-described problem, and has as its main object to provide a stair climbing trolley that reduces the burden on an operator.

In order to achieve the object, the present invention is a stair climbing vehicle, a crawler as a traveling means, a bed, a traveling drive unit that drives the crawler, an angle changing unit that changes the angle of the bed, A handle that is gripped by an operator, an operation unit that operates the traveling drive unit and the angle changing unit, a bed inclinometer that detects an inclination angle of the bed, and an inclination angle of the bed detected by the bed inclinometer And an alarm device for issuing an alarm to the operator based on the above, wherein the alarm device sets the inclination angle of the carrier to θ, the lower limit value of the inclination angle to T1, and the upper limit value of the inclination angle to T2. In this case, the alarm is issued when the condition of T1 <θ <T2 is not satisfied.
Other means will be described later.

  According to the present invention, the burden on the operator can be reduced.

It is a perspective view of the stair climbing trolley which concerns on embodiment. It is a front view of the stair climbing trolley which concerns on embodiment. It is a side view of the stair climbing trolley which concerns on embodiment. It is an internal block diagram of a stair climbing trolley concerning an embodiment. It is operation | movement explanatory drawing of the stair climbing trolley which concerns on embodiment. It is a flowchart which shows operation | movement of the angle display alarm apparatus provided in the stair climbing trolley which concerns on embodiment. It is explanatory drawing of the example of a display of the angle display alarm apparatus provided in the stair climbing trolley which concerns on embodiment. It is a flowchart which shows the operation in the stair climbing trolley of the comparative example. It is a perspective view of a stair climbing trolley concerning a modification.

  Hereinafter, an embodiment of the present invention (hereinafter, referred to as “the present embodiment”) will be described in detail with reference to the drawings. It should be noted that the drawings are only schematically shown to the extent that the present invention can be sufficiently understood. Therefore, the present invention is not limited only to the illustrated example. In addition, in each drawing, common constituent elements and similar constituent elements are denoted by the same reference numerals, and redundant description thereof will be omitted.

[Embodiment]
The present embodiment intends to provide a stair climbing trolley that allows an operator to recognize whether or not the inclination angle of the cargo bed is appropriate when climbing up and down the stairs.

<Structure of stair climbing trolley>
Hereinafter, the configuration of the stair climbing trolley according to the present embodiment will be described with reference to FIGS. FIG. 1 is a diagram illustrating a configuration of a stair climbing vehicle 10 according to the present embodiment. FIG. 2 is a front view of the stair climbing trolley 10. FIG. 3 is a side view of the stair climbing trolley 10. FIG. 4 is an internal block diagram of the stair climbing trolley 10. Note that the directions of “right”, “left”, “up”, and “down” shown in FIGS. 1 to 3 indicate directions viewed from an operator operating the stair climbing trolley 10. The direction of the stair climbing trolley 10 is such that the side closer to the handle 30 described later is the upper direction of the stairs, and the side farther from the handle 30 described later is the lower direction of the stairs. The upper direction of the stairs is a forward direction when ascending the stairs, and a backward direction when descending the stairs. On the other hand, the downward direction of the stairs is a backward direction when climbing the stairs, and is a forward direction when descending the stairs.

  As shown in FIGS. 1 to 3, the stair climbing trolley 10 includes a trolley body 20, a crawler 21 (running means), a pallet 22, a running drive unit 23, an angle changing unit 24, and a main body control unit 25. , A handle 30, a controller 31 (operation unit), an angle display alarm device 32 (alarm device), a power supply unit 40, a main body inclinometer 41, and a bed inclinometer 42.

  The bogie main body 20 is a main body part in which a crawler 21, a carrier 22, a traveling drive unit 23, an angle changing unit 24, and the like are incorporated.

  The crawler 21 is an endless track that functions as a traveling unit for the stair climbing trolley 10. The crawlers 21 are arranged on both lateral portions of the bogie main body 20. In the present embodiment, the crawler 21 has a structure in which a portion behind the handle 30 is bent obliquely upward.

  The loading platform 22 is a platform on which luggage is mounted. The loading platform 22 is arranged above the bogie main body 20. The angle of the bed 22 can be changed.

The traveling drive unit 23 is a drive unit that drives the crawler 21.
The angle changing unit 24 is a driving unit that changes the angle of the bed 22.

  The main body control unit 25 is a control unit that controls operations of the traveling drive unit 23 and the main body control unit 25. The main body control unit 25 controls the operation of the traveling drive unit 23 according to the operation of the controller 31 by the operator. In addition, the main body control unit 25 adjusts the angle changing unit 24 so that the inclination angle of the carrier 22 with respect to the horizontal direction is within a desired range in accordance with the inclination angle of the bogie main body 20 in the front-rear direction when climbing up and down the stairs. Automatically control the operation of. However, the main body control unit 25 can also control the operation of the angle changing unit 24 according to the operation of the operator by the controller 31. In the present embodiment, the description will be made assuming that the main body control unit 25 is attached to a portion (a column) where the handle 30 is erected so as to face the vicinity of the waist of the operator.

  The handle 30 is a part that is gripped by the operator. The handle 30 is disposed so as to stand upright from the bogie main body 20 so that the upper end thereof extends in the lateral direction.

  The controller 31 is an operation unit that operates the traveling drive unit 23 and the angle change unit 24. The controller 31 is attached to the upper end of the handle 30. In the present embodiment, the controller 31 has a joystick 31a (see FIGS. 1 and 3), and can operate the traveling drive unit 23 and the angle changing unit 24 with the joystick 31a.

  The angle display / warning device 32 is a device that displays the inclination angle of the bed 22 with respect to the horizontal direction and issues an alarm to the operator based on the inclination angle of the bed 22. Here, the description will be made assuming that the angle display / warning device 32 is configured by a tablet-type personal computer. In the present embodiment, the description will be made assuming that the angle display alarm device 32 is attached to the upper end portion of the handle 30 at a position directly below the controller 31.

  Preferably, the angle display alarm device 32 has a structure in which an attachment portion to the handle 30 is pivotally supported and the free end side can be turned up and down. In the case of this structure, the operator can adjust the vertical direction of the angle display / warning device 32 so that the display 33a (see FIG. 1) of the angle display / warning device 32 is easy to see. Therefore, the angle display alarm device 32 can improve the visibility of the display 33a (see FIG. 1).

  Further, the angle display alarm device 32 preferably has a structure capable of sliding in the lateral direction. In the case of this structure, the operator can shift the position of the angle display alarm device 32 in the horizontal direction according to the situation. Therefore, the angle display alarm device 32 can improve the visibility of the display 33a (see FIG. 1).

  The power supply unit 40 is a battery that supplies power to the traveling drive unit 23, the angle change unit 24, the main body control unit 25, the controller 31, and the angle display alarm device 32. In the present embodiment, the power supply unit 40 will be described as being attached to an upright portion (post) of the handle 30 so as to face the vicinity of the waist of the operator.

  The main body inclinometer 41 is an inclinometer that detects the inclination angle of the bogie main body 20 in the front-rear direction (the angle of the crawler 21 with respect to the horizontal direction). The main body inclinometer 41 is arranged, for example, at the position shown in FIGS. 2 and 3. However, the main body inclinometer 41 may be arranged at a position opposite to the position shown in FIG. That is, in the example illustrated in FIG. 2, the main body inclinometer 41 is disposed at a position closer to the left than the center of the bogie main body 20 in the left-right direction, but may be disposed at a position closer to the right.

  The bed inclinometer 42 is an inclinometer that detects the inclination angle of the bed 22. The bed inclinometer 42 is preferably a two-axis inclinometer so as to be able to detect the inclination angle of the bed 22 in the front-back direction and the inclination angle of the bed 22 in the left-right direction. In the present embodiment, a description will be given assuming that the bed inclinometer 42 is attached to a portion (a column) where the handle 30 is erected so as to be opposed to the vicinity of the waist of the operator.

  As shown in FIGS. 1 and 4, the angle display alarm device 32 includes a display 33a, a speaker 33b, and a wireless communication unit 33c such as Bluetooth (registered trademark).

In the present embodiment, the display 33a functions as a tilt angle display unit that displays the tilt angle of the platform 22 detected by the platform inclinometer 42.
Further, in the present embodiment, the speaker 33b functions as an alarm unit that issues an alarm sound to the operator based on the inclination angle of the bed 22 detected by the bed inclinometer 42.

  The wireless communication unit 33c can perform wireless communication with another electronic device. For example, when the operator carries the luggage in cooperation with another worker, the wireless communication unit 33c transmits the inclination angle of the carrier 22 to a mobile device (not shown) such as a smartphone carried by the worker. Etc. can be transmitted. By checking the inclination angle and the like of the loading platform 22 with the mobile device, the operator can provide the operator with suitable advice relating to the operation of the stair climbing vehicle 10.

<Operation of stair climbing trolley and angle display alarm device>
The operation of the stair climbing trolley 10 and the angle display / warning device 32 provided on the stair climbing trolley 10 will be described below with reference to FIGS. FIG. 5 is an explanatory diagram of the operation of the stair climbing trolley 10. FIG. 6 is a flowchart showing the operation of the angle display alarm device 32 provided on the stair climbing trolley 10. FIG. 7 is an explanatory diagram of a display example of the angle display alarm device 32.

  As shown in FIG. 5, the stair climbing trolley 10 moves up and down the stairs with relatively heavy luggage 99 loaded on the loading platform 22. FIG. 5 shows an example in which, when descending the stairs, the operator stands on the upper stairs side of the stair climbing trolley 10 and operates the stair climbing trolley 10 from the upper stairs side of the stairs. Also in the case of climbing the stairs, the operator stands on the upper side of the stairs relative to the stair climbing trolley 10 and operates the stair climbing trolley 10 from the upper side of the stairs. The operation of the stair climbing trolley 10 is almost the same when climbing up and down the stairs.

  At the time of ascent / descent, the stair climbing trolley 10 drives the angle changing unit 24 to adjust the inclination angle θ of the luggage carrier 22 so that the center of gravity of the luggage 99 is slightly closer to the upper side of the stairs (position on the handle 30 side). Go up and down the stairs in that state. However, if the inclination angle θ of the loading platform 22 is too small during the ascent / descent, the stair climbing vehicle 10 loses balance (posture) and operates so as to incline downward in the stairs (see a white arrow A10). In addition, when the inclination angle θ of the loading platform 22 is too large during the ascent / descent, the stair climbing vehicle 10 operates to lose its balance (posture) and to incline toward the upper side of the stairs (see a white arrow B10). Therefore, neither case is preferable.

  The stair climbing trolley 10 tends to lose its balance in the front-rear direction, particularly in a place where the center of gravity of the luggage 99 easily moves in the front-rear direction. Such places include, for example, near the floor of the upper floor, near the floor of the lower floor, and the like.

  For example, when climbing the stairs, it is assumed that the operator stands on the upper side of the stairs relative to the stair climbing trolley 10 and operates the stairs climbing trolley 10 from the upper side of the stairs. In this case, when the stair climbing trolley 10 starts to climb up the stairs from the lower floor, the stair climbing trolley 10 starts to tilt from the horizontal state to the angle of the stairs. At this time, the center of gravity of the luggage 99 moves downward in the stairs (opposite to the traveling direction). Therefore, the stair climbing trolley 10 tends to lose its balance in the downward direction of the stairs (the opposite side of the traveling direction). Then, when the stair climbing trolley 10 continues to ascend the stairs and reaches the floor surface of the upper floor (the uppermost step of the stairs), the tip of the crawler 21 on the traveling direction side does not contact the stairs. Therefore, the stair climbing trolley 10 operates so as to be inclined in the upper direction of the stairs (in the traveling direction). At this time, the center of gravity of the luggage 99 moves in the upper direction of the stairs (in the traveling direction). Therefore, the stair climbing trolley 10 tends to lose its balance in the upper direction of the stairs (in the traveling direction).

  Further, for example, when descending the stairs, it is assumed that the operator stands on the upper side of the stairs as compared with the stairs ascending trolley 10 and operates the stairs ascending trolley 10 from the upper side of the stairs. In this case, when the stair climbing trolley 10 starts descending the stairs from the floor surface of the upper floor (the top of the stairs), the tip of the crawler 21 in the traveling direction does not contact the stairs. Therefore, the stair climbing trolley 10 operates so as to incline in the stairs lower direction (the traveling direction). At this time, the center of gravity of the luggage 99 moves in the lower direction of the stairs (the traveling direction). Therefore, the stair climbing trolley 10 tends to lose its balance in the stairs lower direction (the traveling direction). When the stair climbing trolley 10 continues to descend the stairs and reaches the floor of the lower floor, the forward end of the crawler 21 in the traveling direction abuts on the floor of the lower floor. Therefore, the stair climbing trolley 10 operates to incline in the upper direction of the stairs (the opposite side of the traveling direction). At this time, the center of gravity of the luggage 99 moves upward in the stairs (opposite to the traveling direction). Therefore, the stair climbing trolley 10 tends to lose its balance in the upper direction of the stairs (the opposite side of the traveling direction).

  Therefore, the operator performs the operation of raising and lowering the stair climbing trolley 10 and the operation of changing the inclination angle of the loading platform 22 with the joystick 31a (see FIGS. 1 and 3) of the controller 31 so that the balance of the stair climbing trolley 10 is not lost. At that time, the angle display alarm device 32 of the stair climbing trolley 10 performs, for example, the operation shown in FIG.

As shown in FIG. 6, when the angle display / warning device 32 of the stair climbing trolley 10 starts ascending and descending, it determines whether or not the condition of the following equation (1) is satisfied (step S105).
T1 <θ <T2 (1)
Here, “θ” represents the inclination angle of the platform 22 detected by the platform inclinometer 42 (see FIG. 5).
“T1” represents the lower limit value of the inclination angle of the loading platform 22.
“T2” indicates the upper limit value of the inclination angle of the loading platform 22.

  At that time, as shown in FIG. 7, the angle display / warning device 32 preferably displays a warning screen IM11 for calling attention to the operator on the display 33a. In the example illustrated in FIG. 7, the warning screen IM11 displays a bar BA indicating the inclination angle θ of the loading platform 22, an area displayed as OK (hereinafter, “OK area”), and NG on both sides thereof. (Hereinafter referred to as “NG area”).

  The warning screen IM11 displays the tilt angle θ of the loading platform 22 within a desired range (a range that satisfies the condition of the above formula (1)) by causing the bar line BA to swing in the left-right direction according to the tilt angle θ of the loading platform 22. Or not. When the bar line BA is within the OK area, the inclination angle θ of the carrier 22 is in a favorable state. On the other hand, when the bar line BA enters the NG area, the inclination angle θ of the carrier 22 is in a poor state. For example, in the example shown in FIG. 7, when the inclination angle θ of the loading platform 22 falls below the lower limit value T1, the bar line BA enters the left NG area, while the inclination angle θ of the loading platform 22 is set to the upper limit value described above. If it exceeds T2, the bar BA enters the right NG area. The operator may change the inclination angle θ of the bed 22 with the joystick 31a of the controller 31 (see FIGS. 1 and 3) when the bar line BA is likely to enter the NG area.

  Returning to FIG. 6, when it is determined in the determination in step S105 that the condition of the expression (1) is not satisfied (in the case of “No”), the angle display warning device 32 emits a warning sound from the speaker 33b. This is reported (step S110). The operator changes the inclination angle θ of the carrier 22 with the joystick 31a (see FIGS. 1 and 3) of the controller 31 in response to the alarm sound. After step S110, the process returns to step S105.

  On the other hand, when it is determined in step S105 that the condition of the expression (1) is satisfied (in the case of “Yes”), the angle display warning device 32 determines whether arrival at the destination is detected. Is determined (step S115). Here, when climbing the stairs, the destination means the floor surface of the upper floor (the top of the stairs). In the case of going down the stairs, the destination means the floor surface of the lower floor. Whether the vehicle has arrived at the destination is determined based on the inclination angle of the bogie main body 20 in the front-rear direction detected by the main body inclinometer 41 (the angle of the crawler 21 with respect to the horizontal direction).

  If it is determined in step S115 that arrival at the destination has not been detected ("No"), the process returns to step S105. On the other hand, when it is determined in step S115 that arrival at the destination has been detected (in the case of "Yes"), the angle display alarm device 32 issues an arrival notification sound from the speaker 33b (step S120). ). Thus, the processing of the series of routines ends. In addition, the operator performs the raising / lowering operation of the stair climbing vehicle 10 and the changing operation of the inclination angle θ of the loading platform 22 by using the joystick 31a (see FIGS. 1 and 3) of the controller 31 in response to the notified arrival notification sound.

  In such an operation, the angle display alarm device 32 sets the destination on the floor surface of the upper floor (the top of the stairs) or the floor surface of the lower floor, and at least the stair climbing trolley 10 (for example, the tip of the crawler 21 in the traveling direction side). Until it is detected that the second part reaches the destination, it is repeatedly determined whether or not the condition of the expression (1) is satisfied.

<Main features of the stair climbing trolley>
(1) The stair climbing trolley 10 is gripped by a crawler 21 as a traveling means, a loading platform 22, a traveling driving unit 23 that drives the crawler, an angle changing unit 24 that changes the inclination angle θ of the loading platform 22, and an operator. A handle 30, a controller 31 (operation unit) for operating the traveling drive unit 23 and the angle changing unit 24, a bed inclinometer 42 for detecting the inclination angle θ of the bed 22, and a bed 22 detected by the bed inclinometer 42. And an angle display / warning device 32 (warning device) that issues a warning to the operator based on the inclination angle θ. The angle display alarm device 32 is used when the lower limit value of the inclination angle θ of the carrier 22 is T1 and the upper limit value of the inclination angle θ of the carrier 22 is T2, and the condition of T1 <θ <T2 is not satisfied. Issue an alarm (sound and / or screen).

  Such a stair climbing vehicle 10 issues an alarm (sound and / or screen) when the inclination angle θ of the loading platform 22 is lower than the lower limit value T1 or when the inclination angle θ of the loading platform 22 exceeds the upper limit value T2. Then, the operator is notified that the inclination angle θ of the loading platform 22 is inappropriate. This allows the operator to intensively change the inclination angle θ of the carrier 22 only when an alarm (sound and / or screen) is issued. As a result, the operator, while estimating the inclination angle θ of the loading platform 22 with his / her own sense, throughout the entire period from the start to the end of the lifting operation, operates the lifting operation of the stair climbing vehicle 10 and the operation of changing the inclination angle θ of the loading platform 22. (For example, the operation on the stair climbing trolley of the comparative example shown in FIG. 8) need not be performed. Therefore, the stair climbing trolley 10 can reduce the burden on the operator.

  Further, the operator can recognize the alarm (sound and / or screen) while holding the handle 30. Therefore, the operator can change the inclination angle θ of the carrier 22 while supporting the stair climbing vehicle 10 so that the stair climbing vehicle does not lose its balance (posture). This also allows the stair climbing trolley 10 to reduce the burden on the operator.

  FIG. 8 is a flowchart showing the operation of the stair climbing trolley of the comparative example. The stair climbing trolley of the comparative example is a trolley having no means for allowing an operator to recognize whether or not the inclination angle θ of the loading platform is appropriate, and corresponds to a conventional stair climbing trolley. As shown in FIG. 8, in the stair climbing trolley of the comparative example, throughout the entire period from the start to the end of the elevating operation, the operator estimates the inclination angle θ of the luggage carrier 22 with his / her own feeling, and thereby the inclination of the luggage carrier 22 The angle θ is recognized (step S605). Then, the operator determines whether or not the stair climbing trolley has arrived at the destination (the floor of the upper floor or the floor of the lower floor) with the operator's own feeling (step S610). In the stair climbing trolley of the comparative example, the operator repeats step S605 and step S610 throughout the entire period from the start to the end of the elevating operation. Therefore, the stair climbing trolley of the comparative example imposes a heavy burden on the operator. On the other hand, as described above, the stair climbing trolley 10 according to the present embodiment does not require the operator to perform Step S605 and Step S610. Therefore, the stair climbing trolley 10 according to the present embodiment can reduce the burden on the operator.

  (2) The angle display / warning device 32 issues an arrival notification (sound and / or screen) to the operator when the stair climbing trolley 10 reaches the destination. At that time, the angle display alarm device 32 preferably issues an arrival notification (sound and / or screen) in a pattern different from the alarm (sound and / or screen) pattern. Thus, the angle display / warning device 32 allows the operator to easily recognize the condition of the stair climbing trolley 10.

  (3) The angle display / warning device 32 causes the stair climbing trolley 10 to reach the destination based on the front-back tilt angle (the angle of the crawler 21 with respect to the horizontal direction) of the bogie main body 20 detected by the main body inclinometer 41. It is determined whether or not. Such an angle display alarm device 32 can feed back the information to the operation of the traveling drive unit 23 and the angle change unit 24 when the stair climbing trolley 10 reaches the destination. Thus, the stair climbing vehicle 10 can stabilize the balance (posture) so that the center of gravity of the luggage 99 hardly moves in the front-rear direction.

  As described above, according to the stair climbing trolley 10 according to the present embodiment, the burden on the operator can be reduced.

  The present invention is not limited to the embodiments described above, and includes various modifications. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described above. Further, a part of the configuration of the embodiment can be replaced with another configuration, and another configuration can be added to the configuration of the embodiment. Further, it is possible to add / delete / replace another configuration with respect to a part of each configuration.

  For example, the stair climbing trolley 10 can be modified as shown in FIG. FIG. 9 is a perspective view of a stair climbing trolley according to a modification. In the modification shown in FIG. 9, the stair climbing trolley 10 includes a camera 51. The camera 51 captures an image of the loading platform 22 and / or the angle changing unit 24 and outputs the captured image to the angle display alarm device 32. The angle display / warning device 32, for example, can display the captured image on the display 33a (see FIG. 1) so that the operator can easily recognize the inclination angle of the carrier 22. At this time, the operator can see the display 33a (see FIG. 1) while holding the handle 30. Therefore, the operator can recognize the inclination angle of the loading platform 22 while supporting the stair climbing vehicle so that the stair climbing vehicle does not lose balance (posture).

10 stair climbing trolley 20 trolley body 21 crawler (running means)
22 Carrier 23 Traveling drive unit 24 Angle changing unit 25 Main unit control unit 30 Handle 31 Controller (operation unit)
31a joystick 32 angle display alarm device (alarm device)
33a display (tilt angle display means)
33b speaker (reporting means)
33c Wireless communication means 40 Power supply unit 41 Main body inclinometer 42 Platform inclinometer 51 Camera 99 Luggage

Claims (7)

A crawler as a traveling means,
With a loading platform,
A traveling drive unit that drives the crawler,
An angle changing unit that changes the angle of the carrier,
A handle gripped by an operator,
An operation unit that operates the traveling drive unit and the angle changing unit;
A bed inclinometer for detecting the inclination angle of the bed,
An alarm device that issues an alarm to the operator based on the inclination angle of the carrier detected by the carrier inclinometer,
The alarm device sets the inclination angle of the loading platform to θ, sets the lower limit value of the inclination angle to T1, sets the upper limit value of the inclination angle to T2, and does not satisfy the condition of T1 <θ <T2. A stair climbing trolley that issues the alarm. The stair climbing trolley according to claim 1,
The alarm device sets the floor surface of the upper floor or the floor surface of the lower floor as a destination, and repeats whether or not the condition is satisfied at least until it is detected that the stair climbing trolley has reached the destination. A stair climbing trolley characterized by determining. The stair climbing trolley according to claim 2,
The stair climbing trolley, wherein the alarm device issues an arrival notification to the operator when the stair climbing trolley reaches the destination. The stair climbing trolley according to claim 3,
The stair climbing trolley, wherein the alarm device issues the arrival notification in a pattern different from the alarm pattern. The stair climbing trolley according to any one of claims 2 to 4,
The stair climbing vehicle, wherein the alarm device determines whether the stair climbing vehicle has reached the destination based on an angle of the crawler with respect to a horizontal direction. The stair climbing trolley according to any one of claims 1 to 5,
The stair climbing trolley, wherein the alarm device has a speaker, and emits an alarm sound from the speaker as the alarm. The stair climbing trolley according to any one of claims 1 to 6,
The stair climbing trolley, wherein the alarm device has a display, and displays an alarm screen on the display as the alarm.

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