JP2022145348A - Staircase lifting work device - Google Patents

Abstract

To provide a staircase lifting work device capable of realizing a light-weight and simple mechanism by employing a bendable arm, rapid lifting of staircase by optimizing lifting operations with a small number of operation processes, and work on a staircase plane by providing a steering device and a drive device.SOLUTION: A staircase lifting work device is constituted of a plurality of wheels under the bottom of a main body, a plurality of bendable arms at a side face of the main body, and a plurality of wheels at tips of the arms, moves horizontally with the wheels fitted on the main body, stretches the plurality of arms to lift a vehicle body part upward, drives the arm wheels to move horizontally, bends the arm after completion of the movement to lift down the main body and grounds the main body wheels onto a horizontal surface. It is possible to move up on a staircase by repeating operations in these horizontal and vertical directions, and it is also possible to move down on the staircase by applying the operations. In addition, with movement in the right or left direction as necessary, it is also possible to conduct various work such as cleaning or inspection on a staircase plane.SELECTED DRAWING: Figure 3

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stair ascending/descending device capable of independently ascending/descending stairs by bending and stretching a plurality of wheels and an arm portion, thereby enabling work on the plane of the stairs.

Conventional technology

Conventional stair-lifting devices include a stair-lifting device that autonomously ascends and descends stairs by means of a leg telescoping mechanism disclosed in Japanese Patent Application Laid-Open No. 10-236350, and a wheel drive mechanism and rolling mechanism disclosed in Japanese Patent Application Laid-Open No. 2006-341709. Various devices have been proposed, such as a stair climbing device using a drive mechanism.

Although the machine described in Japanese Patent Laid-Open No. 10-236350 is a small machine, it has as many as 6 legs and requires 10 steps to climb stairs, so the increase in weight and the complexity of control are considered. be done. The device disclosed in Japanese Patent Laid-Open No. 2006-341709 has a large wheel diameter, so the device itself is relatively large, and 10 steps are required for climbing stairs, which may increase weight and complicate control.

Therefore, in order to smoothly ascend and descend stairs, the present invention minimizes the number of arms, realizes a lightweight and simple mechanism, and optimizes the ascending and descending operation, so that the stairs can be ascended and descended quickly, steering, To provide a stair-lifting device capable of moving leftward or rightward by means of drivable wheels.

According to the invention of claim 1, the stairs can be raised and lowered with four arms, so compared to the conventional method of raising and lowering with six legs, the device configuration can be made smaller and the number of parts used can be reduced. , the weight can be reduced.

According to the invention of claim 2, by linking the wheel at the bottom of the main body, the four arms, and the wheel at the tip of the arm, one step of the stairs can be climbed in four steps, so ten steps as in the conventional case Compared to the method of climbing one step of a staircase, it is possible to move up and down faster, and it is considered to be highly effective in reducing time. The use of this invention is effective not only for simple movement, but also for transportation of objects.

According to the invention of claim 3, in addition to climbing or descending the stairs, it is possible to move the plane portion of the stairs to the left or right, so that work on the stairs that was not possible in the past is possible. It becomes possible to Applications of the present invention include cleaning, inspection and maintenance of the stair plane.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. 1 is a plan view of the stair-lifting device, FIG. 2 is a front view of the stair-lifting device, and FIG. 3 is a left side view of the stair-lifting device. In FIGS. 1, 2 and 3, the stair climbing apparatus comprises a main body 1 and four traveling wheels which are traveling means for traveling on a floor plane or a landing, or for traveling straight or left and right on the plane of the stairs. 2a, 2b, 2c, and 2d, four arms 3a, 3b, 3c, and 3d, which are attached to the sides of the main body and can be vertically expanded and contracted by bending, and attached to the ends of the arms, Four running wheels 4a, 4b, 4c, 4d, which are means of running when the main body is lifted, and sensors 5a, 5b, 5c, 5d, 5e for finding end points during running and lifting motions. , consists of

FIG. 4 is a conceptual diagram showing four steps (A), (B), (C), and (D) of the movement from the first stair to the second stair, and the outline thereof will be explained here. . FIG. 4(A) Drive the wheels 2a, 2b, 2c, and 2d attached to the lower part of the main body 1 of the stair-lifting device, move it horizontally, detect the vertical plane S2v of the second step of the stairs with the sensor 5a, and Stop the wheels in position. Fig. 4(B) Next, extend the multiple arms 3a, 3b, 3c, 3d attached to the side of the main body to lift the car body 1 upward, and the wheels 2a, 2b, 2c, 2d at the bottom of the main body 1 are on the second step of the stairs. be higher than the horizontal plane S2h of

Fig. 4(C) Next, while maintaining this height, the arm wheels 4a, 4b, 4c, 4d are driven to move in the horizontal direction, and all the wheels 2a, 2b, 2c, 2d at the bottom of the main body 1 move up the stairs. The sensor 5c detects the end of the second step of the stairs indicating that the vehicle has reached the horizontal plane S2h of the second step, and stops the wheels at an appropriate position. Be careful not to touch arms 3c and 3d at this time. FIG. 4(D) Finally, the arms 3a, 3b, 3c, and 3d are bent to lower the main body 1, and the lower wheels 2a, 2b, 2c, and 2d of the main body are grounded on the horizontal surface S2h of the second step of the stairs. In this way, the operation of climbing one step is completed, and by repeating the series of operations described above, the stair climbing apparatus can linearly ascend a plurality of stairs.

FIG. 5 is a conceptual diagram showing four steps (A), (B), (C), and (D) of descending from the second step of the stairs to the first step of the stairs. . Fig. 5(A) Drive the wheels 2a, 2b, 2c, 2d attached to the lower part of the main body 1 of the stair climbing device, move it horizontally, detect the end of the second step of the stairs with the sensor 5c, and move it to the appropriate position. to stop the wheels. Fig. 5(B) Next, extend a plurality of arms 3a, 3b, 3c, 3d attached to the side of the main body to lift the car body 1 upward, and the wheels 2a, 2b, 2c, 2d at the bottom of the main body 1 are on the second step of the stairs. to float above the horizontal plane S2h of

Fig. 5(C) Next, while maintaining this height, the arm wheels 4a, 4b, 4c, 4d are driven to move horizontally, and all the wheels 2a, 2b, 2c, 2d at the bottom of the main body 1 move up the stairs. The sensor 5b detects the end of the second step of the stairs indicating that the vehicle has reached the horizontal plane S1h of the first step, and stops the wheels at an appropriate position. At this time, be careful not to derail the arm portion wheels 4a and 4b. FIG. 5(D) Finally, the arms 3a, 3b, 3c and 3d are bent to lower the main body 1, and the lower wheels 2a, 2b, 2c and 2d of the main body are brought into contact with the horizontal surface S1h of the first step of the stairs. In this way, the operation of descending one step is completed, and by repeating the above-described series of operations, the stair climbing apparatus can linearly descend a plurality of stairs.

Fig. 6 shows five steps (A), (B), (C), (D), and (E) representing the action of going up from the first step to the second step and then moving to the left. It is a conceptual diagram showing five steps (A), (B), (C), (D), and (F) of moving rightward to the right, and the outline thereof will be explained here. FIG. 6(A) Drive the wheels 2a, 2b, 2c, and 2d attached to the lower part of the main body 1 of the stair climbing device, move it horizontally, detect the vertical plane S2v of the second step of the stairs with the sensor 5a, and Stop the wheels in position. Fig. 6(B) Next, extend the multiple arms 3a, 3b, 3c, 3d attached to the side of the main body to lift the car body 1 upward, and the wheels 2a, 2b, 2c, 2d at the bottom of the main body 1 are on the second step of the stairs. be higher than the horizontal plane S2h of

Fig. 6(C) Next, while maintaining this height, the arm portion wheels 4a, 4b, 4c, 4d are driven to move in the horizontal direction, and all the wheels 2a, 2b, 2c, 2d at the bottom of the main body 1 move up the stairs. The sensor 5c detects the end of the second step of the stairs indicating that the vehicle has reached the horizontal plane S2h of the second step, and stops the wheels at an appropriate position. Be careful not to touch arms 3c and 3d at this time. FIG. 6(D) Next, the arms 3a, 3b, 3c and 3d are bent to lower the main body 1, and the lower wheels 2a, 2b, 2c and 2d of the main body are grounded on the horizontal surface S2h of the second step of the stairs.

Next, when moving leftward, the wheels 2a, 2b, 2c, and 2d at the bottom of the main body 1 in FIG. Finally, the sensor detects the vertical plane Sw1 at the left end of the stairs and stops the wheels at an appropriate position. Alternatively, when moving rightward, the wheels 2a, 2b, 2c, and 2d at the bottom of the main body 1 in FIG. Finally, the sensor detects the vertical plane Sw2 at the right end of the stairs and stops the wheels at an appropriate position. In this way, by combining leftward or rightward movement after the motion of climbing one step, it is possible to apply the robot not only to climbing the stairs but also to work on the stairs.

Fig. 7 shows five steps (A), (B), (C), (D), and (E) representing the action of descending from the second step to the first step and then moving to the left. It is a conceptual diagram showing five steps (A), (B), (C), (D), and (F) of moving rightward to the right, and the outline thereof will be explained here. Fig. 7(A) Drive the wheels 2a, 2b, 2c, 2d attached to the lower part of the main body 1 of the stair climbing device, move it horizontally, detect the end of the second step of the stairs with the sensor 5c, and move it to the appropriate position. to stop the wheels. Fig. 7(B) Next, extend the multiple arms 3a, 3b, 3c, 3d attached to the side of the main body to lift the car body 1 upward, and the wheels 2a, 2b, 2c, 2d at the bottom of the main body 1 are on the second step of the stairs. to float above the horizontal plane S2h of

Fig. 7(C) Next, while maintaining this height, the arm wheels 4a, 4b, 4c, 4d are driven to move horizontally, and all the wheels 2a, 2b, 2c, 2d at the bottom of the main body 1 move up the stairs. The sensor 5b detects the end of the second step of the stairs indicating that the vehicle has reached the horizontal plane S1h of the first step, and stops the wheels at an appropriate position. At this time, be careful not to derail the arm portion wheels 4a and 4b. FIG. 7(D) Finally, the arms 3a, 3b, 3c and 3d are bent to lower the main body 1, and the lower wheels 2a, 2b, 2c and 2d of the main body are brought into contact with the horizontal surface S1h of the first step of the stairs.

Next, when moving leftward, the wheels 2a, 2b, 2c, and 2d at the bottom of the main body 1 in FIG. Finally, the sensor detects the vertical plane Sw1 at the left end of the stairs and stops the wheels at an appropriate position. Alternatively, when moving rightward, the wheels 2a, 2b, 2c, and 2d at the bottom of the main body 1 in FIG. Finally, the sensor detects the vertical plane Sw2 at the right end of the stairs and stops the wheels at an appropriate position. In this way, by combining leftward or rightward movement after the action of going down one step, it is possible to apply not only down the stairs but also work on the stairs.

FIG. 1 is a plan view of a stair climbing device according to an embodiment of the present invention; The front view of the stair climbing apparatus concerning embodiment of this invention. The left side view of the stair climbing apparatus concerning embodiment of this invention. The conceptual diagram which shows the operation|movement when the stair climbing apparatus concerning embodiment of this invention climbs stairs. FIG. 4 is a conceptual diagram showing the operation of the stair climbing device according to the embodiment of the present invention when descending stairs; FIG. 4 is a conceptual diagram showing the operation when the stair climbing apparatus according to the embodiment of the present invention moves left or right after climbing the stairs; FIG. 4 is a conceptual diagram showing the operation when the stair climbing device according to the embodiment of the present invention moves left or right after descending the stairs;

1 Stair lift device body
2a , 2b , 2c , 2d main body drive wheels
3a , 3b , 3c , 3d arm part
4a , 4b , 4c , 4d arm drive wheel
5a , 5b , 5c , 5d , 5e sensor
S stairs
S1h , S2h stair horizontal plane
S2v , S3v Stair vertical plane
Sw1 , Sw2 Left and right ends of stairs

Claims (3)

a plurality of wheels, a wheel drive mechanism, and a wheel steering mechanism arranged in front and behind the lower surface of the main body;
A plurality of arms that are attached to the front and back of the side of the main body and that can be expanded and contracted in the vertical direction by bending and stretching,
A plurality of wheels and a wheel drive mechanism that are attached to the tip of the arm and that can move in the horizontal direction;
A stair climbing device comprising: During stair climbing control, (1) the wheels attached to the main unit move horizontally and stop in front of the vertical surface of the upper staircase. (2) Extend the arms to lift the vehicle body upward. (3) Drive the arm wheel to move horizontally. (4) Bend the arm to lower the main body, and repeat the control of grounding the main body wheels on the horizontal surface,
When controlling the descent of stairs, (1) the wheels of the main body move on the horizontal plane and stop when the wheels reach the end of the stairs, and (2) the arms are then extended to lift the main body upwards to float the wheels. (3) Next, drive the wheels of the arm to move horizontally. (4) Bend the arm to lower the main body, and ground the wheels of the main body to the horizontal surface. A stair climbing device characterized by repeatedly performing the control of When ascending stairs and controlling left or right movement, (1) the wheels attached to the main unit move horizontally and stop in front of the vertical surface of the upper stairs. (2) Extend the arms to lift the vehicle body upward. (3) Drive the arm wheel to move horizontally. (4) Bend the arm to lower the main body, and ground the wheels of the main body to the horizontal surface. (5) When moving left, turn the main body wheels 90 degrees to the left and move to the left of the stairs. Also, when moving to the right, turn the main body wheels 90° to the right and move to the right of the stairs. This control is performed as many times as necessary,
When descending stairs and controlling left or right movement, (1) move the main body wheels on the horizontal plane and stop when the wheels reach the end of the stairs, (2) extend the arm and move the main body upward. (3) Next, drive the wheels on the arm to move horizontally. (4) Bend the arm to lower the main body and ground the wheels of the main body to the horizontal surface. (5) When moving left, turn the main body wheels 90 degrees to the left and move to the left of the stairs. Also, when moving to the right, turn the main body wheels 90° to the right and move to the right of the stairs. A stair climbing device characterized by performing the control of .

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