JP4095083B2 - Stair lift - Google Patents

Description

  The present invention relates to a vehicle that moves up and down stairs.

Unlike a flat ground, the wheels need to move up and down the stairs by measuring the dimensions of the stairs, raising, treads, etc., and corresponding movements are required. I had to use a lot of equipment.

Thus, a vehicle has been invented that goes up and down stairs that does not require any of the above-mentioned sensors and control devices without making full use of mode conversion or switching operation of a clutch or the like as in the stair climbing vehicle of Patent Document 1. That is,
During flat running, the driving gear of the prime mover rotates the driven gear of the wheel, but when the wheel kicks in the stairs, the rotation of the wheel stops and the rotation of the driven gear stops. The gears on the driven side revolve around the driven gear, but the stair lift of Patent Document 1 utilizes this phenomenon, and the weight of the vehicle body is supported not on the wheels but on the rotating shaft of the motor that revolves. The two modes of flat running and raising / lowering operation are alternately repeated by turning one motor without using the switching device.

JP 2004-182217 A

The rotation axis of the wheel that moves up and down the stairs moves on a circle centered on the step corner. In order for the wheel to make a circular motion around the step corner, not only a force for pushing the wheel from below, but also a force for pushing the wheel forward to move the wheel rotation shaft onto the upper step is necessary. In order to push the wheel from the bottom to the front, the force that floats the wheel in the air does not work directly on the wheel rotation axis on the vertical line passing through the wheel rotation axis, but on the lower side of the vertical line passing through the wheel rotation axis. Must work on the wheel rotation axis diagonally from the position. Only when this wheel rotation axis has a force acting in an oblique direction, the wheel not only floats in the air, but also moves on a circle centered on the step corner, and the wheel changes to the upper stage. This movement requires something that floats the wheel in the air and supports the wheel from below, and even if the wheel goes up, the support remains in the bottom. This support must be grounded while the wheel is in the air, and this support will not float in the air until the wheel is fully raised. If the supporting wheel left on the lower stage is pulled up from the upper stage to the upper stage or if this supporting object is not elevated by itself, the stair lift will not climb the stairs.

In the stair lift described in Patent Document 1 claim 7, when the motor rotates around the rotation axis of the wheel, the auxiliary wheel also rotates together and pushes up the rear part of the wheel. First, raise the motor that supports the weight of the vehicle to the upper stage and then raise the auxiliary wheel to the upper stage, but the height of the auxiliary wheel that dives under the wheel and pushes the rear of the wheel is small, trying to push the wheel from directly below Therefore, the wheel and the auxiliary wheel are integrated and do not make a circular motion centering on the step corner, and the motor cannot raise the wheel only by making a round around the rotation axis of the wheel. The wheels that move up and down the stairs have the disadvantage that even if the stairs have a small kick-up dimension and a long tread dimension, they can be climbed on a stairs with a large kick-up dimension and a short tread dimension. Even if we consider a four-wheel drive stair climbing vehicle having four wheels described in Patent Document 1 claim 7, all four wheels are in a state where the motor only makes one turn around the rotation axis of the wheel. The stage does not rise when it is in a state that requires some assistance to push the wheel later. Therefore, the stair climbing vehicle can handle the wheel and the wheel that pushes the wheel up from the bottom, and a wheel that moves up by itself without any other assistance is required.

Eventually, after the wheel has moved to the upper stage and the support that has been supported from the upper and lower stages plays a role, it floats in the air and moves to the upper stage, but the horizontal force does not work and the wheel only floats in the air If the support does not go up to the upper level, the support must be grounded indefinitely and does not float in the air. When a horizontal force is not applied, a considerably large frictional force is required between the wheel and the step corner to prevent the wheel floating in the air from sliding off the step corner.
In order for the wheel to make a circular motion around the step corner, it is efficient to apply a force in the tangential direction of the circular motion, and the force that floats the wheel in the air at the start of ascending and the rotation axis of the wheel at the end of the ascending The force to push in must work. If only the force that lifts the wheel in the air or the force that pushes the rotating shaft of the wheel works, the efficiency is poor, and a considerable frictional force acts between the wheel and the step corner to damage the step corner. Therefore, the force to lift the wheel in the air and the force to push the rotating shaft of the wheel must work alternately.

The present invention uses a crank mechanism to efficiently apply the force to lift the wheel to the wheel and the force to push the wheel. The above problem is solved and the stair lift of Patent Document 1 is improved and the stair lift of Patent Document 1 is improved. The purpose is to be able to ascend the stairs that did not rise.

In the stair lift according to the present invention, the rotation of the wheel stops when the wheel is kicked in the staircase, the motor gear on the driving side revolves around the wheel gear on the driven side, and the motor rotates around the rotation axis of the wheel. In the car that goes up and down the stairs where the device that pushes up the wheel by rotating around the plate, the plate that attaches the motor and the plate that rotates around the rotation axis of the wheel works as the crank, and the circular movement of the crank around the connection axis A jack-up mechanism that lifts the wheel by converting it into a motion that pushes down the rotating connecting rod, and lifts the wheel exclusively in the air at the start of ascending, and the wheel is in a flat ground state just before the ascending end and moves on the upper step Is provided.

The stair lift of the present invention further includes a brake that engages a claw with a step corner when the wheel hits the staircase to brake the wheel gear. This brake revolves and the claw touches the ground. In this state, the brake applied to the wheel gear is released and rebounded to the original position by a spring, and is equipped with a brake mechanism that prevents slippage at the contact point between the wheel and the step corner. A brake is provided that applies a brake to the wheel gear without relying only on friction at the step corners.

On the wheel instead of the caterpillar moves up and down the stairs is a necessary force to push the power and the wheels that floats in the air the wheel in front of the upper stage, wheels are required 4 after a wheel which moves up and down the stairs to the front wheel moves forward while holding down this There was a need for a car. Even in this case, there is a drawback that a stair with a large kick-up dimension and a short tread dimension cannot be climbed even if a step with a small kick-up dimension and a long tread dimension can be climbed. The wheel of the present invention is characterized by the fact that the wheel itself moves up and down the stairs and is not assisted by other devices, so it is suitable for running on flat ground and has good direction changing performance, compactness, small turning effect and high reliability. Is wide.

If the wheel hits the stairs and prevents slipping at the contact point between the wheel and the step corner, the rotation of the wheel stops and the driving gear revolves around the driven gear. It becomes like this. When the motor-mounted plate rotates around the rotation axis of the wheel, the motor-mounted plate functions as a rotating crank, and if the circular motion of the crank is reciprocated by the connecting rod, the wheel will float in the air. If the connecting rod is grounded on the same step on which the wheel rides and is not moved from the grounded position, the wheel can be transferred to the upper stage. The wheel of the stair lift of the present invention is composed of two devices, a brake that stops the rotation of the wheel when the wheel hits the staircase and a jack-up mechanism that lifts the wheel to the upper stage with a crank mechanism. At the start of ascending, the wheel is suspended in the air, and immediately before the ascending end, the wheel is in a flat ground running state so as to be transferred on the upper step.

FIG. 1 is an operation explanatory view showing an embodiment of the present invention and shows a case of traveling on a flat ground, and illustrates an application to a two-wheeled vehicle for carrying goods. The vehicle body is attached not to the wheel rotation shaft but to the connection shaft that revolves around the wheel rotation shaft inside the vicinity of the wheel periphery. When running on flat ground, the motor moves forward by turning the wheel, but the wheel stops when the wheel hits a staircase or a stepped obstacle. On the outer periphery of the wheel, a claw that is caught by an obstacle in the air to stop the rotation of the wheel and is recessed with respect to the ground is attached.

A wheel 2 and a wheel gear 3 are fixedly attached to the wheel rotation shaft 1 with a key, and the wheel rotation shaft 1, the wheel 2 and the wheel gear 3 rotate together. The motor plate 4 rotates around the rotating shaft 1 of the wheel, and the motor 5 is attached to the motor plate 4 and the vehicle body 7 is attached to the vehicle body connecting shaft 6. The connecting rod 9 is attached to the connecting rod connecting shaft 8 on the opposite side of the motor 5 and the vehicle body connecting shaft 6. The motor gear 10 attached to the motor 5 meshes with the wheel gear 3, and the rotation of the motor is transmitted to the wheels when traveling on flat ground. When the wheel hits a staircase or a step and stops rotating, the motor gear 10 revolves around the stopped wheel gear 3 due to the rotation of the motor, and the motor plate 4 also rotates around the rotating shaft 1 of the wheel. When the motor 5 and the vehicle body 7 rotate in the upward direction, the connecting rod connecting shaft 8 on the opposite side rotates in the downward direction. The connecting rod 9 rotating around the connecting rod connecting shaft 8 is pushed down, the leg 12 rotating around the leg connecting shaft 11 on the opposite side of the connecting rod connecting shaft 8 is grounded, and the wheel floats in the air. The connecting rod is composed of an upper half and a lower half, and is connected by an expansion joint 13 in the middle, and a limit switch 14 and a push spring 15 are charged in the expansion / contraction part.

The brake plate 16 rotates around the rotating shaft 1 of the wheel, and since the spiral spring 17 is loaded on the rotating shaft 1 of the wheel of the connecting shaft, the brake plate 16 maintains a constant angle with the motor plate 4 when traveling on flat ground. A claw plate 19 is attached to the claw coupling shaft 18 on the opposite side of the wheel rotation shaft 1 of the brake plate 16, and the claw plate 19 comes into contact with the wheel gear 3 to engage and stop the rotation of the wheel 2. A guide roller 21 is attached to the opposite side. The claw connecting shaft 18 is loaded with a spiral spring 17 and is kept in a position where the claw 20 and the wheel gear 3 are not in contact with each other at the time of flat running. , The plate 19 rotates and the claw 20 meshes with the wheel gear 3.

  Although the motor plate 4 moves circularly around the wheel rotation shaft 1, the vehicle body connection shaft 6 is loaded with the vehicle body weight W, so that the vehicle body connection shaft 6 is at the lowest point when traveling on flat ground, and is almost the wheel rotation shaft. 1 on a vertical line passing through 1. From the position of the lowest point, the displacement of the heights of the vehicle body connection shaft 6 and the connecting rod connection shaft 8 at both ends is small with respect to the rotation angle of the motor plate 4, and the large rotation angle is required to lift the vehicle body 7 slightly. Force acts. When the wheel hits a step or a step, the rotation of the wheel is stopped by a slight friction between the tire 23 and the step corner 24, and the motor plate 4 rotates around the rotating shaft 1 of the wheel.

When the leg 12 is grounded, the limit switch 14 of the contact a is closed and the solenoid 22 is operated, the claw 20 and the wheel gear 3 are engaged with each other, so that the wheel gear 3 , the brake plate 16 and the claw plate 19 are integrated. When the motor plate 4 further rotates and the distance between the acting point 6 of the load W and the vertical line Y1-Y1 increases, the moment of the load W centering on the ground contact point of the wheel increases, and slipping occurs between the tire and the step. The rotating shaft of the wheel, the brake plate 16 and the claw plate 19 rotate, the guide roller 21 at the tip of the claw plate 19 rides on the step, and the claw 20 presses the wheel gear and stops the rotation of the wheel more firmly. .

FIG. 2 is an operation explanatory view showing an embodiment of the present invention, and shows the start of ascending stage. When the rotation of the wheel is completely stopped and the motor plate 4 is rotated, the wheel 2, the brake plate 16 and the claw plate 19 are integrally revolved around the step corner, and the wheel rotation shaft 1 is indicated by a one-dot chain line A. Therefore, it moves on a circle centered on the step corner 24. The wheel shows a movement that makes one rotation while making a round around the step corner. Since the wheel is rotating, do not stop the wheel with the brake attached to the car body. It must be ensured that no slip occurs between the wheel and the step corner.

The motor plate 4 to which the motor is attached works as a circular crank, and the rotation of the motor plate 4 is a reciprocating motion of the connecting rod 9 up and down. When the motor 5 starts to turn inside the outer periphery of the wheel, the crank also starts to rotate, the connecting rod 9 attached to the upper end of the motor plate 4 is lowered, and the leg 12 is grounded. The leg does not move from the grounded position. When the motor 5 revolves further, the wheel floats in the air, and the connecting rod 9 pushes the wheel from below while tilting forward while supporting the wheel 2 from below. In other words, not only the force pushing up from the bottom but also the force pushing the wheel forward acts on the wheel.

The connecting rod connecting shaft 8 is located as high as possible. The higher the connecting rod 8 is, the longer the connecting rod can be and the higher the lift is. However, the angle between the motor plate 4 and the connecting rod 9 in the connecting rod connecting shaft 8 is the leg 12. The distance between the connecting rod connecting shaft 8 and the leg 12 becomes longer than the vertical displacement of the connecting rod connecting shaft 8 due to the rotation of the motor plate 4, and the wheel is lifted greatly to push the wheel forward. . Thus, the force for pushing the wheel forward works efficiently in the tangential direction of the revolution A, and the rotation of the motor plate 4 can be changed to the vertical movement of the large connecting rod 9, so that a large step can be raised. However, since the claw cannot catch the step corner of a step greater than half the wheel diameter, the height of the step that can be raised must be less than half the wheel diameter. The smaller the height of the step is less than half of the wheel diameter, the smaller the distance between the wheel rotation axis and the step corner, so that part of the wheel is on the upper step from the beginning and the vehicle body connection shaft is around the wheel. The car body can be raised to the upper level just by turning. On the other hand, the greater the height of the step is less than half of the wheel diameter, the greater the distance between the wheel rotation shaft and the step corner, and the maximum is the wheel radius. The whole wheel is first on the lower step and starts to rise vertically. Since the ascending stage of the wheel is caused by the rotation of the motor plate 4, the vehicle body connecting shaft 6 rotates more than necessary around the wheel and rises above the level difference. However, not only does the connecting rod 9 move up and down, but it gradually tilts and pushes the wheel later, so that the situation where the vehicle cannot be raised only by the vehicle body connecting shaft going around the wheel is not reached.

The circular motion of the connecting rod connecting shaft 8 shown by the alternate long and short dash line C has little vertical displacement even if it rotates greatly at the uppermost position, and the legs are almost vertically grounded, so the wheels are raised directly above with great force. After the connecting rod connecting shaft 8 rotates to some extent, the connecting rod connecting shaft 8 rotates so that the connecting rod 9 rotates largely around the connecting rod connecting shaft 8 and the connecting rod 9 largely moves forward. Will push. As the connecting rod 9 is short and the position where the leg 12 contacts the ground is farther away from the wheel rotation shaft 1, the connecting rod 9 tilts forward as soon as possible, so that the vehicle body connecting shaft 6 can be lifted without raising the vehicle connecting shaft 6 more than necessary. The rotation A that moves to the upper stage of the rotation shaft 1 of the wheel has priority over the rotation B.

FIG. 3 is an operation explanatory view showing an embodiment of the present invention and shows a state immediately before the ascending stage. Immediately before the end of climbing, whether or not the rotation B in which the rotation axis 1 of the vehicle body connection shaft 6 occurs and the rotation axis 1 of the wheel moves to the upper stage is prioritized depends on whether or not the leg 12 floats from the grounded state. If it does not float, the rotation B proceeds. When the rotation A is stopped while the rotation A is stopped, the vehicle body connecting shaft makes one round around the wheel, and the wheel cannot rise. Even if the rotation A does not stop and the rotation B proceeds and the wheels and the like are left on the lower stage, the vehicle body connecting shaft 6 moves to the upper stage. If the wheel rotation shaft 1 is on the right side of the vertical line Y2-Y2 passing through the step corner 24, it will fall if there is no force to support the wheel from below, but to the left of the vertical line Y2-Y2 passing through the step corner 24. If there is a force to push the rotating shaft of the wheel, the vehicle body connecting shaft moves to the upper stage. In this case, the leg remains grounded and the rotation A does not stop.

Even if the vehicle body connecting shaft 6 moves to the upper stage, it is whether or not the wheel or the like that has been lowered to the upper stage can be raised to the upper stage, but the vehicle body connecting shaft that supports the weight of the vehicle body moves to the left from the vertical line Y2-Y2 and the step corner Whether the wheel rotates in the direction in which the vehicle body connecting shaft sinks around 24 or in the direction in which the wheel floats. When the rotation A progresses without the rotation A, the increase in the distance between the step corner 24 and the rotation of the vehicle body connection shaft is slight, and the moment of force in the direction in which the vehicle connection shaft 6 sinks is small. When the rotation of A is large, the distance between the step corner 24 and the vehicle body connection shaft 6 increases, and the moment of force in the direction in which the vehicle body connection shaft sinks increases. In addition, the moment of this force increases as the weight of the vehicle body loaded on the vehicle body connection shaft 6 increases, and it is also a method to collect heavy objects such as a motor and a battery near the vehicle body connection shaft. Also, the wheel that is pulled up to the upper stage and the connecting rod that supports it from the bottom should be designed to be as light as possible.

As long as the motor plate 4 rotates, the angle between the motor plate 4 and the connecting rod 9 increases and the wheel is lifted. However, when the motor plate 4 stops rotating and stops increasing, or when it stops, the motor rotates. It becomes 2 rotations and shifts to a flat ground running operation. The connecting rod connecting shaft 8 has a stop 27 for stopping the rotation, and the leg connecting shaft 11 has a stop 27 for stopping the rotation. To do. Immediately before ascending, the rotation of the motor plate 4 is stopped, and the distance between the step corner 24 and the vehicle body connecting shaft 6 is increased by traveling on the flat ground of the wheel 2 to increase the moment of force in the direction in which the vehicle body connecting shaft 6 sinks.

FIG. 4 is an operation explanatory view showing the embodiment of the present invention, and shows the end of the ascending stage. The distance between the step corner portion 24 and the vehicle body connection shaft 6 increases when the vehicle body connection shaft 6 rises to the upper stage, and the moment of force in the direction in which the vehicle body connection shaft 6 sinks around the step corner portion causes the wheel 2 to not move up to the lower stage. When it becomes larger than the moment of force in the direction to remain, the entire stair lift is rotated around the step corner 24. Ascending in this way, the vehicle body connecting shaft 6 is positioned at the lowest position and the connecting rod connecting shaft 8 is positioned at the uppermost position, and the connecting rod 9 is also moved up and returned to the flat running state of FIG.

When the distance between the step corner portion 24 and the vehicle body connecting shaft 6 increases after the vehicle body connecting shaft 6 rides on the upper stage, the vehicle body connecting shaft 6 rotates around the step corner portion 24 as indicated by a one-dot chain line D. Advance on the upper step. As the distance between the step corner 24 and the vehicle body connecting shaft 6 increases after the vehicle body connecting shaft 6 has run up, the forward distance increases, and the vehicle connecting shaft 6 is the lowest and the connecting rod connecting shaft 8 is the lowest. It will not be possible to return to the flat ground running state of FIG. 1 located at the upper position, and the wheel will hit the next upper kick. This state is a state in the middle of ascending when the wheel is kicked and the motor plate 4 starts to rotate around the rotation axis of the wheel, and the leg 12 remains in the lower stage and cannot be lifted onto the upper step, so the leg 12 is in the upper step. Can't ground up. Therefore, the next upper stage cannot be elevated. If the stair climbing vehicle does not return to the flat ground running state of FIG. 1 on the step up, the next upper step cannot rise.

As shown in FIG. 4, whether or not the wheel 12 revolves around the step corner 24 including the other parts floating in the air depends on the force in the direction in which the vehicle body connecting shaft 6 sinks around the step corner. Since it is determined by the magnitude of the moment, the distance from the vertical line Y2-Y2 passing through the step angle portion of the vehicle body connecting shaft necessary for the revolution is determined under the condition that a load having a constant weight is placed. The stair lift cannot be climbed continuously unless the distance added to the wheel radius is less than the length of the tread of the step. When ascending a low step, even if the rotation of the motor plate 4 required for ascending is small, the horizontal displacement of the vehicle body connection shaft 6 is large, and the vertical line Y2-Y2 passing through the vehicle body connection shaft 6 and the step corner portion 24 is large. The distance reaches the distance that can revolve the entire wheel. When ascending a high step, a large rotation of the motor plate 4 is necessary. However, the horizontal displacement of the vehicle body connecting shaft 6 due to the rotation of the motor plate 4 is small in the latter stage of the ascending, and only by relying on the rotation of the motor plate 4, The distance from the vertical line Y2-Y2 passing through the vehicle body connecting shaft 6 and the step corner 24 does not readily reach the distance at which the entire wheel can revolve. In this case, since the forward movement of the wheel due to the rotation D of the vehicle body connection shaft becomes large, when the high step is climbed, the vehicle wheel connection shaft 6 moves in the horizontal direction at the later stage of the climbing, so that the wheel rotates at the later stage of the climbing and travels on flat ground Must be accompanied by movement. Even when climbing a high step in the latter half of the climbing stage, even when climbing a high step, the wheel advance during the revolution of the entire wheel can be minimized, and whether or not the stair lift can be climbed continuously is the dimension of the stair lift It will be determined by the tread size.

The wheel continuously climbs the stairs while alternately repeating revolutions and rotations, and the motor plate 4 makes a pendulum motion instead of making a round around the rotating shaft 1 of the wheel and returns to the original. In the same manner, the brake plate 16 does not return to its original state by making a round around the rotating shaft 1 of the wheel, but returns to the original state by performing a pendulum motion. As shown in FIG. 4, the leg 12 floats in the air at the end of the ascending stage, so that the pull type solenoid 22 is not pulled, and the claw plate 19 and the guide roller 21 are stepped on under the wheel. It is separated and returned to its original position by the spiral spring 17 charged in the claw connecting shaft 18. The claw plate 19 protrudes greatly from the wheel when it comes into contact with the first step, but the end of the protruding claw plate becomes the center of the revolving A if it extends largely from the wheel at the end of the last ascending stage, so that the claw plate 19 It is good to be stored in the wheel 2.

1, 2, 3, and 4 are in the ascending stage, but when the motor is rotated in the reverse direction, the series of operations in FIG. 4, FIG. 2, and FIG. In the case of descending, the claw plate 19 does not come into contact with the step, but since the motor speed reducer acts as a brake, the vehicle body connecting shaft slowly descends after the revolution of the wheel. Although the revolution of the wheel is rapid, even if only the wheel suddenly falls to the lower stage, the position of the vehicle body connecting shaft remains unchanged and does not affect the vehicle body.

FIG. 5 is an operation explanatory view showing an embodiment of the present invention and shows a structure of a brake. An a-contact limit switch is interposed between the pull type solenoid 22 and the DC power source 32. When the leg is grounded, the pull-type solenoid 22 is actuated to attract the claw plate 19 and when the leg is separated from the ground, the circuit is opened so that the solenoid is not activated, and the claw plate 19 is moved by the spiral spring 17 loaded on the claw connecting shaft 18. Is restored. Figure 5 relies on the mechanical contact of the limit switch to determine whether or not to operate the solenoid, but overcurrent flows when the motor gear starts to revolve from leveling to ascending, and an increase in current is detected. There is also an electrical method for amplifying this electrical signal to activate the solenoid. There is also a method in which an electromagnetic clutch is interposed between the claw plate 19 and the wheel gear 3, and the rotation of the wheel is stopped by combining the claw plate 19 and the wheel gear when the electromagnetic clutch is energized.

The push spring that is loaded when the connecting rod is extended and contracted not only protects the limit switch but also reduces the impact when the legs touch the ground, especially when the stair lift of the present invention is used when descending. To do.

The operation explanatory diagram showing the embodiment of the present invention shows the time of traveling on flat ground. The operation explanatory diagram showing the embodiment of the present invention indicates the start of ascending stage. An operation explanatory diagram showing an embodiment of the present invention shows a state immediately before the ascending stage. The operation explanatory diagram showing the embodiment of the present invention indicates the end of the ascending stage. The structure of a brake is shown by the operation explanatory view showing the example of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Wheel rotating shaft 2 Wheel 3 Wheel gear 4 Motor plate 5 Motor 6 Car body connecting shaft 7 Car body 8 Connecting rod connecting shaft 9 Connecting rod 10 Motor tooth 11 Leg connecting shaft 12 Leg 13 Expansion joint 14 Limit switch 15 Push spring 16 Brake plate 17 spiral spring 18 claw connecting shaft 19 claw plate 20 claw 21 guide roller 22 pull type solenoid 23 tire 24 step corner of step 25 kicking portion of stair
26 Stairs of step 27 of 27 stairs 28 Buffers such as rubber 29 Wheels 30 Cargo body 7 Carrying bed 31 Handle 7 of car body 7 DC power supply

Claims (2)

A wheel that rotates integrally with the rotation shaft of the wheel and the wheel gear, a motor plate that rotates around the rotation shaft of the wheel, a motor that is attached to the motor plate and that is attached to the motor gear that transmits rotation to the wheel gear; A vehicle body rotatably supported around a rotatable vehicle body connecting shaft near the inner periphery of the wheel of the motor plate, and a connecting rod attached to the motor plate connecting rod connecting shaft on the opposite side of the vehicle body connecting shaft; When the wheel comes into contact with a kick of a staircase or a step, the leg of the connecting rod is rotatably supported around a leg connecting shaft on the opposite side of the connecting rod connecting shaft of the connecting rod. Equipped with a brake
The vehicle body weight is loaded on the vehicle body connection shaft when traveling on flat ground, the vehicle body connection shaft is at the lowest point position, and the rotation of the motor is transmitted to the wheels. Revolving around the wheel gear, the motor plate also rotates around the wheel rotation shaft, the motor and the vehicle body rotate in the upward direction, and the connecting rod connecting shaft on the opposite side rotates in the downward direction. A stair lift that lifts the wheels in such a way that the legs do not move from the grounded position. The brake according to claim 1 is rotatably supported around a rotation shaft of the wheel, and rotates around a brake plate that maintains a constant angle with the motor plate by a spring and a claw coupling shaft at the tip of the brake plate. A claw plate with a guide roller attached to one end and a claw attached to the other end. The claw plate is rotated by a solenoid that operates in conjunction with the grounding of the leg, and the guide roller is placed on the upper step. A stair climbing vehicle characterized in that it rides and the claw presses the wheel gear to stop the rotation of the wheel.

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