JP2023000959A - Stair lifting work device - Google Patents

Abstract

To provide a stair lifting work device which achieves a lightweight and simple mechanism by adopting a banding/stretching arm, is reduced in the number of operation processes and can quickly lift stairs by optimizing the lifting operation, and enables work on a stair plane by being provided with a steering device and a drive device.SOLUTION: A stair lifting work device is composed of a plurality of wheels on a lower surface of a body, two bent/stretched arms on a front face and a rear face of the body, and a plurality of wheels on the tips of the arms, moves in a horizontal direction with the wheels of the body part, lifts the vehicle body part upward by stretching the two arms, moves in the horizontal direction by driving the wheels of the arm part, lowers the body part by bending the arms after end of the movement, and grounds the wheels of the body part to a horizontal plane. The stair lifting work device can ascend the stairs by repeating the operations, and can descend the stairs by applying the operations. In addition, the stair lifting work device can perform the work on the stair plane by moving in a left direction or moving in a right direction as necessary.SELECTED DRAWING: Figure 3

Description

TECHNICAL FIELD The present invention relates to a stair climbing apparatus capable of independently ascending and descending stairs by bending and stretching a plurality of wheels and arms, and enabling work on the plane of the stairs.

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.

JP-A-10-236350 JP-A-2006-341709

Although the machine described in Japanese Patent Laid-Open No. 10-236350 is a small machine, it has as many as six legs and requires 10 steps to climb stairs, so the weight and the complexity of the control are taken into account. be done. The device disclosed in JP-A-2006-341709 has a large wheel diameter, so the device itself is relatively large, and 10 steps of climbing stairs are required.

Therefore, in order to smoothly ascend and descend the stairs, the present invention minimizes the number of arms, realizes a lightweight and simple mechanism, and optimizes the ascending and descending operation to provide a device that can quickly ascend and descend the stairs. Another object of the present invention is to provide a stair climbing device that can be moved leftward or rightward by means of steerable and driveable wheels.

According to the invention of claim 1, the stairs can be raised and lowered with two 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 two 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.

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

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;

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, 2d, and two arms 3a, 3b, which are attached to the front and rear surfaces of the body and can be vertically extended by bending, and attached to the tip of the arm to move the body. from four running wheels 4a, 4b, 4c, 4d, which are running means when lifted, and sensors 5a, 5b, 5c, 5d, 5e for finding end points during running and lifting movements. Configured.

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 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. 4(B) Next, extend the two arms 3a, 3b attached to the front and rear of the main body, lift the car body 1 upwards, and the wheels 2a, 2b, 2c, 2d at the bottom of the main body 1 reach the second step of the stairs. Make it higher than the horizontal plane S2h.

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. At this time, it is controlled so as not to contact the arm 3b. FIG. 4(D) Finally, the arms 3a, 3b are bent to lower the main body 1, and the lower wheels 2a, 2b, 2c, 2d of the main body are brought into contact with 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 the arms 3a, 3b attached to the sides of the main body to lift the car body 1 upward so that the wheels 2a, 2b, 2c, 2d at the bottom of the main body 1 are above the horizontal plane S2h of the second step of the stairs. make it float.

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 wheel 4b. FIG. 5(D) Finally, the arms 3a, 3b are bent to lower the main body 1, and the lower wheels 2a, 2b, 2c, 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. Figure 6(B) Next, extend the two arms 3a, 3b attached to the front and rear of the main body, lift the car body 1 upwards, and the wheels 2a, 2b, 2c, 2d at the bottom of the main body 1 reach the second step of the stairs. Make it higher than the horizontal plane S2h.

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. At this time, it is controlled so as not to contact the arm 3b. FIG. 6(D) Next, the arms 3a, 3b are bent to lower the main body 1, and the lower wheels 2a, 2b, 2c, 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 left end vertical plane Sw1 of the stairs is detected by the sensor 5e, and the wheels are stopped 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 right edge vertical plane Sw2 of the stairs is detected by the sensor 5d, and the wheels are stopped 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 two arms 3a, 3b attached to the front and rear of the main body, 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 are bent to lower the main body 1, and the lower wheels 2a, 2b, 2c, 2d of the main body are brought into contact with the horizontal plane 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 left end vertical plane Sw1 of the stairs is detected by the sensor 5e, and the wheels are stopped 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 right edge vertical plane Sw2 of the stairs is detected by the sensor 5d, and the wheels are stopped 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.

It is thought that this stair climbing device can be used not only for the movement of individual robots, but also for the transportation of objects and the movement of people. In addition, since the robot can move leftward or rightward on the stairs, cleaning of the plane of the stairs, inspection of the stairs, maintenance and guarding of the building, etc. will become possible.

1 Stair lift device body
2a , 2b , 2c , 2d main body drive wheels
3a , 3b arm
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;
Two arms that are attached to the front and back of the main body and can be extended 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 two arms to lift the vehicle body upward. (3) Drive the arm wheel to move horizontally. (4) When the main body moves to the upper stairs, the arm is bent to lower the main body and the wheels of the main body are grounded 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) When the main body moves to the lower stairs, the arm is bent to lower the main body, and the wheels of the main body are grounded on 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) When the main body moves to the lower stairs, the arm is bent to lower the main body, and the wheels of the main body are grounded on 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 degrees 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) When the main body moves to the upper stairs, the arm is bent to lower the main body, and the wheels of the main body are grounded on 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 degrees 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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