JP4167266B2 - Wheel with a spiral curve on the outer periphery - Google Patents

Description

  The present invention relates to a wheel whose outer periphery has a spiral curve shape.

For example, when a person goes up the stairs, the other leg on the upper stage is in the lower stage, and the weight is transferred to the upper leg, and then the lower leg is pulled up. The lower leg supports weight until you climb the stairs, so you cannot lift the lower leg in the air no matter how much effort you put in the upper leg. As shown in FIG. 8 (a), a conventional wheel that moves up and down a staircase has three branches attached in three directions around a rotating shaft 1 and a wheel attached to the tip thereof. The stairs cannot be raised except when the axle 1 moves to the upper stage by rotation. Because when the axle 1 is above the lower stage, the load applied to the axle 1 is supported by the wheel that contacts the lower stage. Therefore, the wheel that contacts the lower stage cannot be suspended in the air only by the rotational force acting on the axle 1. It is. As long as the axle 1 is above the lower stage, no matter how much rotational force is applied to the axle 1, it is impossible to float the wheel that contacts the lower stage in the air. In this case, it is physically impossible to ascend unless the axle 1 has a force to lift or push up a wheel other than the rotational force. If a force that pushes the wheel from the bottom or a force that pulls it from the top can be applied to the wheel, it can float in the air.

In order for a normal wheel to go up the stairs, a force to push up the wheel from below is required in addition to the rotational force acting on the axle. For this reason, a method has been invented in which a crank having a jack-up function is combined with a wheel and the crank that supports the wheel at the lower stage is lifted after the wheel is raised (see Patent Document 4). Fig. 8 (b) shows a motor that rotates the axle when traveling on flat ground, when the axle stops rotating, revolves around the axle, and the crank K moves up and down to jack up the wheel. The device that pushes up is lifted after the wheel is raised.

FIG. 8 (c) shows a wheel having a swirl curve on the outer periphery, a step-resolving wheelchair having a wheel whose diameter increases with rotation and the center of the swirl curve goes up and down (see FIG. 17 of Patent Document 1). It does not have a device that supports the lower stage and pushes it upward. The wheel itself contacts the lower stage and the axle moves to the upper stage until the upper stage is finished. Since some of the wheels are always in contact with the lower stage during ascending, only the turning force is applied to the axle, and no other force is required. A wheel whose outer periphery has a spiral curve shape can move up and down the stairs independently without requiring a device that is supported by the lower stage and pushed up from below.

The method of ascending by a wheel having a spiral curve on the outer circumference has already been used in a step-resolving wheelchair (see FIG. 17 of Patent Document 1), but the spiral wheel increases the height of the wheel while moving forward. Needs to make one revolution, and a long advance distance is needed to make one revolution. When moving up and down the stairs, the length of the tread surface is too short for the spiral wheel to make one turn. Therefore, a plurality of wheels are arranged side by side on the outer periphery of the spiral wheel, and the axle is moved up and down on the spot without moving the spiral wheel forward (see Patent Document 2 FIG. 11). Moreover, when a spiral wheel with a plurality of wheels was attached to the tip of the lever, the load could be lifted with a constant force from the beginning to the end (see FIG. 7 of Patent Document 3). As described above, a wheel having an outer periphery having a spiral curve has an effect that the wheel itself moves up and down the stairs and works effectively with a small and uniform rotational force, and without any waste.

Japanese Patent Application No. 2004-040587 Japanese Patent Application No. 2005-101197 Japanese Patent Application No. 2005-337170 Japanese Patent Application No. 2005-260614

A wheel having a spiral curved outer periphery has the following disadvantages and has a problem to be solved. When the wheel whose outer periphery is in the shape of a spiral curve makes one turn, it moves forward a long distance, so it cannot make one turn with the length of the tread surface of the stairs. In order for a wheel whose outer periphery has a spiral curve shape to rise up the stairs, it is necessary to make one rotation without moving forward on the tread surface of the stairs and raise and lower the axle on that spot. This is the first problem. The stairs have a wide variety of dimensions and shapes, and in order to be able to ascend at any stairs, the wheel senses the stairs and the entire spiral wheel rotates, and on flat ground, the axle passes through the center of the spiral curve. It is only necessary to turn the attached wheel. The second problem is to automatically switch between leveling and climbing.

However, considering the case where the above-described spiral wheels are attached to both ends of one axle, it is necessary to rotate both the left and right wheels separately on flat ground, and it is necessary to attach a differential device in the middle of the axle. If a differential is installed in the middle, both the left and right wheels do not move simultaneously in the stairs, and only one spiral wheel rises and the other falls. If both the left and right spiral wheels do not move at the same time in the stairs, they will fall over, so solving this is a third problem.

Means for solving the first problem will be described. A wheel having a spiral curve outer periphery travels on a flat ground by rotating a wheel attached to an axle passing through the center of the spiral curve, but the entire wheel having a spiral curve rotates and rises in the stairs. The wheel diameter increases with the rotation of the entire wheel of the spiral curve shape, the center of the spiral curve rises, and the outer periphery shape is a spiral curve, so that the wheel floats with a constant rotational force from the beginning to the end during the ascending stage be able to. One turn will advance a long distance, and one turn cannot be made at the length of the tread surface. To move the axle up and down on the spot without moving forward on the tread surface, place a plurality of wheels side by side on the outer circumference of the spiral curve so that the entire spiral wheel does not move forward To do. In the state immediately before ascending, the end of the spiral wheel is in the lower stage, but the axle must be on the upper stage, and the axle must fall to the upper stage when ascending. In this part, if the spiral wheel moves forward, the axle shifts to the upper stage, and the entire spiral wheel rotates once and ascends by itself. A tire portion that does not slip due to friction with the ground is provided at the end of the spiral curve, and is advanced to the upper stage so as to move forward.

Means for solving the second problem will be described. In the swirl wheel of the present invention, only the wheel attached to the axle passing through the center of the swirl curve rotates on the flat ground, and the entire swirl curved wheel rotates on the stairs, and it is necessary to automatically switch between the flat land traveling and the ascending stage. There is. A spiral wheel frame that is not fixed to the axle and a wheel that is fixed to the axle are attached to the axle at the center of the spiral curve, and the brake attached to the spiral wheel frame stops the rotation of the wheel, so that the entire spiral wheel becomes the axle. Rotate together. This switching device is a vehicle body that does not rotate outside the spiral wheel frame that rotates the switch device that does not operate the brake device even if the brake device that stops or removes the rotation of the wheel fixed to the axle rotates. It is a switching device characterized in that it is attached to the brake device, and the brake device that rotates around the axle is a switch device that does not rotate the entire spiral wheel by hitting it by a switch device fixed to the vehicle body . Separately, if an electromagnet that passes through the axle and is fixed to the vehicle body interposes a thrust bearing in the middle to hold down the clutch panel so that the spiral wheel frame and the wheel that is fixed to the axle are in close contact with each other, It is possible to automatically switch between leveling and climbing at an arbitrary position of rotation. This switching device can be attached to a vehicle body that does not rotate the starting portion that operates the brake device even if the wheel and brake device fixed to the axle rotate.

Means for solving the third problem will be described. When considering a car that goes up and down stairs with spiral wheels attached to both ends of the wheel rotation shaft, it is necessary to rotate the left and right wheels separately to change the direction freely on flat ground, Must be equipped with a differential. However, when climbing the stairs, if both the left and right wheels start climbing at the same time and do not finish, the vehicle body tilts to the left and right and only one of the wheels climbs and the other falls, and the vehicle falls over the stairs. . To prevent such an accident, attach another axle to the car body, fix the gears to both ends of this axle, attach them to each of the left and right spiral wheel frames, and unite them together. Inside the left and right spiral wheels move at the same time, and the brakes attached to the axles attached to the car body are braked when the brakes applied to the spiral wheel frame are released at any moment of rotation of the spiral wheels. Keep it stationary.

By arranging a plurality of wheels side by side on the outer periphery of the spiral wheel and moving the axle up and down on the spot without moving the spiral wheel forward, you can ascend the stairs with a constant force from the beginning to the end and move up and down very smoothly Operation is possible, and there is little up and down movement of the car body, and it is efficient with natural movement. Also, the axle loaded with a constant force from the beginning to the end can be moved up and down, so that the object can be lifted manually, and the cargo bed is moved up and down using a lever with a plurality of wheels arranged on the outer periphery of the spiral curve. It can be used for trolleys.

Before explaining the wheel that moves up and down the stairs of the present invention, the wheel that runs up the slope will be described. Explain that moving up the axle while running up the slope is the same.

FIG. 1A shows the case where the wheel running up the slope is shown and the wheel diameter is small, and FIG. 1B shows the case where the wheel diameter is large. FIG. 1 (c) shows a state in which a wheel whose outer periphery is a spiral curve travels on a flat ground. In FIG. 1, XX is a slope, YY is a vertical line passing through the axle, ZZ is a vertical line passing through the grounding point, WW is a straight line connecting the axle and the grounding point, S is a distance between the straight line YY and the straight line ZZ, and Θ is a slope. Show the gradient.

1 (a) and 1 (b), the action line of the load applied to the axle is the vertical line YY passing through the axle, and the product of the distance S between the vertical line YY and the vertical line ZZ passing through the ground point and the load falls This is the moment of the force to be attempted, and the wheel that climbs the slope requires a rotational force corresponding to this. In FIGS. 1 (a) and 1 (b), if the distance S between the straight line YY and the straight line ZZ is the same, the rotational force is the same. The larger the wheel, the more the vertical line YY passing through the axle and the axle and grounding point are connected. The angle formed with the straight line WW is reduced, and the slope of the slope that can be climbed is reduced.

As shown in FIG. 1 (c), the wheel diameter of the wheel whose outer periphery is a spiral curve increases with rotation. When multiple wheels are attached to the outer periphery of the spiral curve, there are two contact points instead of one, and the distance S between the two contact points is the same length as S described in FIGS. 1 (a) and 1 (b). Then, the spiral wheel of FIG. 1 (c) can be rotated without stopping by the rotational force that climbs the slope of FIGS. 1 (a) and 1 (b), and the axle can be raised. If the height S of the right triangle is always constant in the right triangle formed by the two wheels that are in contact with the ground and the axle, the spiral wheel rotates with a constant rotational force from start to finish. When the height S of the right triangle is always constant, the larger the wheel diameter, the smaller the difference in length between the base and hypotenuse of the right triangle, and the spiral curve has a large increase in radius at the beginning of rotation. At the end, the radius increases little and the spiral curve approaches the circle as much as possible. It is different from the Archimedean spiral curve where the radius increases at the same angle of rotation.

FIG. 2 is a view for explaining the structure of a wheel for moving up and down a staircase according to the present invention. FIG. 2A illustrates a method for drawing a spiral curve on the outer periphery of the wheel, and FIG. 2B illustrates a characteristic of the wheel having a spiral curve on the outer periphery of claim 1. In FIG. 2 (a), if the sides of the right triangle OPi + 1Pi + 2 having the same base (PiPi + 1 = Pi + 1Pi + 2) are superimposed on the hypotenuse OPi + 1 of the right triangle OPiPi + 1 (i = 1, 2, 3. A spiral curve is drawn on the outer circumference.

The axle 1 passes through the center O of the spiral curve, and the axle wheel 2 is fixed to the axle 1 with a key. A spiral plate 3 whose outer periphery is a spiral curve is attached so as to sandwich both sides of the axle wheel 2, and the axle 1 passes through the center of the spiral wheel. When the axle rotates, the axle wheel also rotates, but even if the axle 1 rotates, the spiral plate 3 does not rotate. In flat running, the spiral plate 3 does not rotate even if the axle wheel rotates. The spiral plate 3 rotates only when moving up and down the stairs. Accordingly, the wheel for moving up and down the stairs of the present invention requires a switch for rotating or not rotating the spiral plate 3. This switch will be described below with reference to FIG.

A plurality of wheels Wi (i = 1, 2, 3...) Are attached to the outer periphery of the spiral curve, and a tire WE is attached to the end portion of the spiral curve. By attaching a plurality of wheels Wi to the outer periphery of the spiral curve, the axle 1 is lifted at the same position without moving forward even if the spiral wheel rotates. In order to move the axle 1 to the upper stage, it is necessary to move forward, and it is possible to move the axle 1 to the upper stage while advancing the axle 1 by attaching the tire WE to the end of the spiral curve. In the figure, → indicates the direction of rotation ⇒ indicates the direction of revolution.

The brake 4 is attached to the spiral plate 3 and is rotated by the rotation of the axle wheel 2 when it comes into contact with the axle wheel 2, and is wound into the axle wheel 2 to increase the braking force. I can't come off. Since the axle wheel 2 is integral with the axle 1, when the brake 4 stops the rotation of the axle wheel 2, the axle 1 and the spiral plate 3 become integral, and the rotation of the axle 1 becomes the rotation of the spiral plate 3 as it is. Since the brake 4 is attached to the spiral plate 3 and rotates, the switch for operating the brake 4 is also attached to the spiral plate 3 for rotation as shown in FIG. A method for preventing the plate 3 from being attached and rotated without being attached to the plate 3 will be described below.

FIG. 2 (b) shows an arbitrary moment when the plate 3 is rotated. An alternate long and short dash line Y1 is a vertical line passing through the axle 1 and is an action line of a load applied to the axle. An alternate long and short dash line Y2 is a vertical line passing through the contact point of the wheel W3. If the spiral shape of the plate 3 is drawn by the method of FIG. The action line Y1 and the fulcrum distance S are constant. Therefore, the moment of force due to the load works constant, and the torque applied to the axle 1 may be constant from start to finish. This means that the climbing of the wheel is the same as climbing a gentle slope with a constant slope, meaning that the motor does not require a large rotational force.

The wheel Wi is sequentially grounded by the rotation of the plate 3, but the tread surface of the stairs is horizontal with no gradient, so the wheel 1 does not fall down as if going down the hill, and the axle 1 remains in the position by the rotation of the spiral plate 3 To rise. When the last tire portion comes into contact with the ground, the axle 1 moves forward while moving forward.

FIG. 3 (a) shows a state of traveling on a flat ground where the wheel ascending / descending the stairs according to the present invention is moved up, and the vehicle moves forward in the ⇒ direction to reach the state shown in FIG. 3 (b). The wheel diameter of the spiral wheel increases due to rotation, and the axle 1 rises and moves to the upper stage. However, a part of the wheel contacts the lower stage and supports the load applied to the axle wheel 2 until the axle 1 is moved to the upper stage. As described in Fig. 2, the spiral wheel is characterized by gradually increasing the radius by rotation to jack up the axle with a small rotational force, and a part of the wheel is always in contact with the lower stage until the climbing is completed. Is supported from below.

In the state of FIG. 3 (b), when the axle wheel 2 is suspended in the air on the upper step, the axle supporting the load is lowered, so no force is required when the axle 1 moves to the upper step. Further, when the axle wheel 2 hits the upper step corner, the spiral wheel ascends as the axle wheel 2 rotates. When the spiral wheel of the present invention goes down the stairs, it rotates in the reverse direction. Since the axle supporting the load is lowered, there is no need for any force even if it is necessary to get off while applying the brakes. However, as shown in FIG. 3B, when the spiral wheel is lifted, the axle wheel 2 floats in the air from the upper step and no force is required to move to the upper step. It is necessary to rotate the wheel.

The spiral wheel is either a state where only the axle wheel rotates and a state where the entire spiral wheel rotates and ascends, and the entire spiral wheel is either rotated or not. (When the entire spiral wheel is not rotating, the ratchet pawl of the reverse rotation prevention device attached to the vehicle body is stopped in the flat ground traveling state shown in FIG. 2 (a).) The axle only in the flat ground traveling state illustrated in FIG. 1 and the spiral wheel frame 3 are separated, and even if the axle rotates, the entire spiral wheel does not rotate. In other states, the axle 1 and the spiral wheel frame 3 are combined, and the rotation of the axle is directly the rotation of the spiral wheel. That is, the position where the axle and the spiral wheel are separated and the combined switch is turned on and off is a flat ground traveling state shown in FIG. 3A, and the rotational angle of the spiral wheel at that time is always constant. In the example of FIG. 3, the switch is turned on at the position where the spiral wheel lies as shown in FIG. 3 (a), and the switch is turned off at the position where the spiral wheel rises as shown in FIG. 3 (b).

In the example of FIG. 3, the first wheel W <b> 1 on the outer periphery of the spiral wheel is attached to the tip of the plate 5 that rotates about the axle 1. When the first wheel W1 on the outer periphery of the spiral wheel hits the staircase, the plate rotates inward and the bearing 12 attached to the plate rotates the brake 4. When the back side of the spiral wheel hits the kick, the brake 4 rotates in the direction to release.

It is easier and more reliable to operate the brake on and off with an electric signal sent from a distance than mechanically transmitting the movement at a place far from the brake to the brake as in the example of FIG. The electric signal can be amplified to increase the braking force. The switching device that combines or separates the axles rotating at arbitrary positions and the wheel frames of the rotating spiral wheels needs to rotate together with the rotations, but the switching position is in the flat ground running state of FIG. In a limited case, the switching device can be fixed to the vehicle body and need not be attached to the rotating body.

FIG. 4A shows a state immediately before the brake 4 is released in a state immediately before the spiral wheel makes one rotation and returns to the flat ground traveling state. FIG. 4 (b) shows a state where the spiral wheel is further rotated and the brake C4 is released by hitting / retracting by the solenoid C1, and FIG. 4 (c) shows that the contact C2 is pressed / removed by the solenoid C1. The state which puts in the brake 4 is shown. The brake 4 shown in FIG. 4 is rotated by the rotation of the wheel when the center of the brake comes into contact with the wheel as shown in FIG. 4 (c), and the radius of the brake increases as the rotation as shown in FIG. 4 (a). Since the long part comes into contact, the braking force is increased, and the radius on both sides of the contact part is larger than the contact part, so that once the brake is applied, it will not come off. However, the condition is that the rotating shaft of the brake 4 does not move. FIG. 4 shows the case where the spiral wheel rotates in the ascending direction, but the brake is turned on and off in the same manner even when it rotates in the descending direction.

A is an arm that rotates about the connection axis A 1, and the connection axis A 1 is attached to the spiral wheel frame 3. A brake 4 is attached to the connecting shaft A2 at the other end of the arm, and A rotates about the connecting shaft A1 to move the brake 4 up and down. B is a T-shaped plate that rotates about the connecting shaft B 1, and the connecting shaft B 1 is attached to the spiral wheel frame 3. Branches are attached in three directions around the connection axis B1, and bearings B2 are attached to the two branches, and the remaining branch B3 fixes the position of the connection axis A2 of the brake 4 by pressing the arm A from above. . When the branch B3 hits the arm A at a right angle as shown in FIGS. 4 (a) and 4 (c), the arm A is pressed down to bring the brake 4 into contact with the axle wheel 2. The brake 4 is rotated by the rotation of the axle wheel 2, and a portion with a long radius of the brake 4 comes into contact with the axle wheel. At this time, a force to push up acts on the connection shaft A2, but since the branch B3 is in contact with the arm A at a right angle, it does not move, and the force with which the brake 4 presses the wheel 2 increases. When the T-shaped plate B rotates by a quarter, A is pushed up by the push spring A3, and the brake 4 is separated from the axle wheel 2. C is moved up and down by a push-type solenoid C1. When the push type solenoid is actuated and the hit is lowered, the upper portion C2 of the hit is in a state where the brake is applied while suppressing the bearing B1. When the push solenoid is de-energized, the contact C rises upward as shown in FIG. 4A and waits at a position where the lower end C3 of the contact C hits the lower end of the branch B3. As the spiral wheel frame 3 rotates, the lower end of the branch B3 moves circularly around the axle 1 and the lower end C3 of the contact is in a fixed position and enters the track, as shown in FIG. Rotate plate B of the mold.

FIG. 5 (a) shows an operation in which the brake is turned on and off by an electromagnetic clutch. By placing a clutch plate in the middle through a thrust bearing, the rotors can be joined even when the electromagnet is fixed. D1 is an electromagnet, D2 is a push spring, D3 is an iron core, these penetrate the axle and are attached to the vehicle body 13 and do not rotate. D5 is a presser, and D6 is a disc that penetrates the axle with a clutch plate. The disc is pressed by the iron core D3 and the pressing spring D2, and is pressed through the thrust bearing D4 so that it can rotate around the axle. When D5 is pressed, the presser D5, the clutch plate D6, the spiral wheel frame 3, and the axle wheel 2 rotate in close contact with each other. Since the axle wheel 2 is integral with the axle 1, the rotation of the axle 1 becomes the rotation of the spiral wheel frame 3 as it is. When the electromagnetic clutch shown in FIG. 5 (a) is used, rotation and rotation of the entire spiral wheel can be started and released at any position. When the motor with brake is stopped using a motor with brake, the spiral wheel is In the state where the axle 1 and the spiral wheel frame 3 are combined, the rotation stops in the middle of the rotation and waits.

Fig. 5 (b) is a state diagram during the ascending stage of a cart with four-wheeled spiral wheels. One of the spiral wheels hits the kick and refuses to advance the cart, while the other spiral wheel moves forward and ascends. is there. In this state, if the spiral wheel to be moved up rotates, it cannot move forward, so that the axle of the spiral wheel does not get on the upper stage. In order to avoid such a situation, it is necessary to wait for the spiral wheel to be raised to stop rotating until the spiral wheel hitting the kick-up advances. Thus, the spiral wheel requires three modes that travel on flat ground, rotate the entire spiral wheel, and stop during the rotation of the spiral wheel. These three modes are processed electrically.

When the swirl wheel rotates in contact with the tread, the axle rises while moving forward, but when the swirl wheel rotates in contact with the kick, the axle is raised while retreating at the beginning of rotation, so the front and rear wheels Considering a driven stair lift, a wheel retreating during climbing prevents other wheels from climbing or climbs and drags down the wheel on the upper stage. Therefore, the swirl wheel must be rotated in a place where it does not hit to prevent retreat. The spiral wheel does not move backward even if it rotates at a position where it does not hit the kick. Rather, the axle is raised while moving forward. The spiral wheel starts to rotate at a position far from the kick, and after raising the vehicle body, it moves forward and falls down to the upper stage so that the axle is transferred to the upper stage. The spiral wheel does not move forward when multiple wheels arranged on the outer periphery of the spiral curve are rotating in contact with the tread, but when the other spiral wheel is moving forward just before ascending, it moves forward and hits the kick. become. Other spiral wheels cannot move forward and cannot climb. For this reason, the mode which stops in the middle of rotation of a spiral wheel is needed.

Fig. 6 shows a stair climbing vehicle that travels on a flat ground by attaching a motor gear to the axle that supports the weight of the vehicle body and transmitting the rotation of the motor gear to the wheel gear. When the wheel gear stops rotating, the motor gear revolves around the wheel gear. It is a car that goes up the stairs (see JP 2004-182217 A). The plate that rotates around the wheel rotation axis has a motor gear and a jack-up function on the opposite side. The jack-up function is lowered when the motor gear is raised. There is a jack-up device with a crank attached (see Japanese Patent Application No. 2005-260614). FIG. 6 shows a spiral wheel according to the present invention.

Two gears, a wheel gear L2 that is combined with the wheel L1 and is not fixed to the wheel rotation shaft L, and a brake gear N that is separated from the wheel L1 and is not fixed to the wheel rotation shaft L pass through the wheel rotation shaft L, and the wheel gear L2 Meshes with the motor gear M1 and the brake gear N does not mesh with the motor gear M1. When the motor gear M1 rotates, the wheel gear L2 rotates but the brake gear N does not rotate. An arm N1 is attached to the brake gear N, and a claw plate N2 for holding the wheel gear L2 is attached to the arm N1. The motor gear M1 and the spiral wheel M2 are attached to the plate M rotating about the wheel rotation axis L, and the spiral gear M3 fixed to the axle of the spiral wheel meshes with the brake gear N. When the claw plate N2 restrains the wheel gear L2 and stops rotating, the motor gear M1 revolves around the wheel gear L2 and the spiral gear M3 meshes with the brake gear N and moves forward, so that the spiral wheel M2 revolves while rotating. When the spiral wheel M2 revolves, it approaches the claw plate N2 as shown in FIG. 6B. However, the spiral wheel and the brake gear are connected by the torsion spring 11, and when they are pulled back by the torsion spring 11, the rotation and revolution are reversed. Thus, the spiral wheel moves away from the claw plate and returns when traveling on the flat ground shown in FIG. The angle between the spiral wheel and the arm to which the claw plate is attached with the wheel rotation axis as the center is maximum at the time of traveling on the flat ground shown in FIG. 6A, and the spiral wheel and the claw plate are at a fixed position.

The movement of the motor gear revolving around the wheel gear starts when the claw plate presses the wheel gear by detecting the kicking of the stairs. When the claw plate presses the wheel gear, the claw plate and the wheel gear are combined and rotated, and the end of the claw plate opposite to the claw hits the step corner. The claw plate acts as a lever to strongly brake the wheel gear and stop the rotation of the wheel gear. When the wheel gear stops rotating and the motor gear continues to rotate, the motor gear moves forward on the stopped wheel gear, and the motor plate rotates around the wheel rotation axis. The spiral wheel gear revolves while rotating forward and rotating on the stopped brake gear.

Since the spiral wheel rotates while revolving as shown in FIG. 6B, the wheel rotates while being swung down under the wheel, so it is pushed up. Since the claw plate does not cause a slip between the wheel and the step corner, the wheel rotation shaft moves circularly around the step corner, and the wheel rotation shaft moves to the upper stage as shown in FIG. Since the claw plate can be stepped on the brake gear and makes a half turn, it can pass through the space between the brake gear and the step corner. Since the spiral wheel is connected to the brake gear by the torsion spring 11, the spiral wheel gear revolves around the brake gear while rotating around the brake gear. By this movement, the angle between the spiral wheel gear and the claw plate is increased, and the motor gear is lowered to the lowest point, so that the state shown in FIG.

When considering a two-wheeled vehicle with the wheels shown in FIG. 6 attached to both ends of the wheel rotation shaft, it is necessary to rotate the left and right wheels separately in order to change the direction freely on flat ground. Need to install a differential. However, when climbing the stairs, if both the left and right wheels start climbing at the same time and do not finish, the vehicle body tilts to the left and right and only one of the wheels climbs and the other falls, and the vehicle falls over the stairs. . In order to prevent such an accident, both the left and right wheels must move at the same time when ascending the stairs, and the differential gear must be prevented from working. In order for the claw plate to simultaneously press the left and right brake gears and to move both the left and right wheels at the same time, the left and right claw plates must be integrated. If the left and right claw plates are integrated, the left and right wheels do not move separately during ascending, and the above-mentioned accident can be avoided. The left and right integrated claw plate also serves as a switching device for different modes of running on the ground and ascending.

In the case of FIG. 6, the claw plate N2, the spiral wheel M2, and the motor gear M1 do not rotate around the wheel rotation axis L, but perform a pendulum motion, so the left and right claw plates N2, the left and right spiral wheels M2, and the left and right motor gears. Even if M1 is attached to both ends of one axle and both left and right wheels move simultaneously, there will be no trouble in hitting something. However, considering the case where the spiral wheels described in FIGS. 2 to 4 are attached to both ends of one axle, it is necessary to rotate both the left and right wheels separately on flat ground, and a differential device is installed in the middle of the axle. It is necessary to install. If a differential is installed in the middle, both the left and right wheels do not move simultaneously in the stairs, and only one spiral wheel rises and the other falls. If both the left and right spiral wheels do not move at the same time in the stairs, they will fall over, so as shown in Fig. 5 (b), attach a gear to each of the left and right spiral wheel frames, and fix the gears to both ends. Try turning another axle. This axle is attached to the car body, and even if the spiral wheel makes one revolution, it will not cause any trouble. In addition, when a brake is attached to this axle and the brake applied to the spiral wheel frame is released, if the brake is applied, it can be stopped at any moment of rotation of the spiral wheel. Stand still in posture. In the example shown in FIG. 5B, the gears 19 attached to both ends of the axle attached to the vehicle body and the gears 18 attached to both the left and right spiral wheel frames 3 are connected by a chain 20.

FIG. 7 shows an electric wheelchair in which a spiral wheel having a plurality of wheels attached to the outer periphery of the spiral curve is moved up and down a stair with an assistant attached to the electric wheelchair. It is characterized by rotating at a position that does not hit the car and raising the car body vertically. Further to the drive wheels of the prior, the upper step mesh with wheel push Ete device for stabilizing the attitude of the vehicle body in the Ascent Stage attaches. FIG. 7A shows a state where the swirl wheel is lying on a flat ground and is stationary without being grounded. The driving wheel and the spiral wheel are each driven by a separate motor, and the preceding driving wheel does not stop during operation and rotates during the ascending stage. The subsequent spiral wheel is activated when the limit switch SW1 at the front a contact hits the staircase, and when the spiral wheel makes one revolution, the limit switch at the b contact hits 23 and stops. FIG. 7 (b) shows the state of the dan immediately preceding illustrates the moment to obtain press upper step surface device is out. A claw plate N2 is attached to the arm N1 that rotates about the connecting shaft on the vehicle body side. When the claw 21 at the tip of the claw plate comes into contact with the driving wheel at the start of ascending, the claw 21 is caught in the wheel, and the arm N2 is lowered. And the guide roller 22 at the other end of the claw plate presses the upper step surface. Since the vehicle body side vehicle body side connection axis N is positioned below the axle 1 in the arm N1, the connection shaft at the other end of the arm N1 is separated from the wheel as the arm rotates, and the claw 21 is also separated from the wheel. The device returns to the initial state by the pulling spring 9 immediately before the drive wheel moves up.
FIG. 7 (c) is a stair climbing vehicle in which the combination of the driving wheel and the spiral wheel shown in FIGS. 7 (a) and 7 (b) is attached to the bottom of the vehicle body and the posture is controlled by grasping the rail attached to the wall. Since only the force in the rollover direction is applied, and the load in the vertical direction is borne by the spiral wheel, there is no need to put the entire weight on the rail like a normal stair climbing vehicle, or it is necessary to install the rail on the stairs Absent.

FIG. 8 (a) shows a conventional stair climbing wheel with three branches attached to the center of the axle and a wheel attached to the tip of the branch. Ascending stage is caused by a circular movement of the axle centering on the upper wheel. Because the distance S between the vertical line YY passing through the axle and the center of rotation is large and the moment of force is too large, no matter how much rotational force is applied to the axle, the whole wheel rotates and the lower wheel floats in the air I can't.
FIG. 8 (b) uses the jack-up function of the spiral wheel of FIG. 6 as a crank. When this is applied to an actual staircase, the wheel radius is less than the step tread dimension so that the wheel does not fall on the step. In order to make the wheel gear as large as possible and increase the ascending force, the motor gear will jump out of the outer periphery of the wheel unless the wheel gear is an internal gear. Cannot be set. The motor gear that jumps out of the wheel must be set to a position above the upper step. The revolving of the motor during the climbing stage stores the restoring force for returning to the flat ground running state, it is necessary to rotate in the direction in which the center of gravity rises, and in order to prevent the crank load from being applied to the end of the ascent, Must be mounted on the opposite side of the crank. If the motor gear is attached at a position opposite to the crank and higher than the upper step in the flat ground running state, these conditions are satisfied. As the wheel gear radius approaches the wheel radius as much as possible, there is no space for loading the claw plate N1, so the brake gear N is fixed to the wheel rotation shaft L with a key separately from the wheel gear L2, and the claw is meshed with the claw plate. To prevent slippage between the wheel and the step corner. The claw 21 is easy to fit into the brake gear, and in order to easily come off, the claw plate direction XX is tangential to the brake gear, and when the direction YY of the opposite leg portion is vertical, the claw is away from the brake gear. Rotate to. Further, since the ground contact position of the crank is one step lower than the step on which the wheel is mounted, a leg extending over two steps is attached under the crank K. If the length of the crank K reaches the next lower step, the first step up from running on flat ground becomes impossible, so the length of the crank is not increased, and the leg straddling two steps is rotated.
FIG. 8 (c) shows a step-removal wheelchair. A plurality of wheels are not attached to the outer periphery of a spiral wheel that moves up and down the vehicle body, so the vehicle body is lifted while moving forward. The seat is kept level during the climb.

Since the spiral wheel increases the height of the axle as it rotates, the load applied to the axle can be manually increased or decreased even if it is not electrically operated if the moment of force is kept constant from the beginning to the end of the rotation. This can be used for a wheelchair transporter that carries a wheelchair carrying a person, can move up and down the floor with the wheelchair on it, and can move the wheelchair to a place from a different height.

When lifting the luggage with the lever, a large force is required if the lever is horizontal, and the necessary force decreases as the lever rises. FIG. 9 is an explanatory diagram when lifting a load with a lever. When the lever is nearly horizontal, it is indicated by a solid line, and when the lever is near vertical, it is indicated by a broken line. 9 (a) is a lever with a rod at the tip, FIG. 9 (b) is a lever with a spiral curve at the tip, and FIG. 9 (c) is a lever with a plurality of wheels mounted on the spiral curve in FIG. 9 (b). It is a lever with a plurality of wheels attached with a spiral shape at the tip.

As shown in FIG. 9A, with respect to the same rotation angle Θ of the lever, the vertical movement H1 of the luggage W is large when the horizontal is horizontal, and the vertical movement H2 of the luggage W is small when the vertical is close to vertical. That is, when the baggage W is lifted up by the lever, the baggage W is lifted greatly at the beginning. This is because the distance between the fulcrum and the line of action of the load decreases as the load W is lifted (for example, the distance L1 is large when the lever is horizontal and the distance L2 is small when the lever is near vertical), and the moment of force decreases. It is. For this reason, when you lift an object with a lever, the more you lift it, the lighter it gets.

If the tip of the lever has a spiral curve as shown in FIG. 9B, the position of the fulcrum gradually moves away from the position close to the load by the rotation of the lever and moves to the head. Is constant from the beginning to the end, and the distance between the line of action of the load and the fulcrum is constant and there is no change in the moment of force, and it can be pulled up from the beginning to the end with a constant force, so that a large force is not necessary at the beginning. The dashed-dotted line X1-X1 shown in FIG.9 (b) is a horizontal line, the lever is in the position inclined about 30 degree | times from the horizontal line X1-X1, and the dashed-dotted line Y1-Y1 is a vertical line which passes a fulcrum, The distance to the fulcrum is L1. A one-dot chain line X2-X2 and a one-dot chain line Y2-Y2 are horizontal lines when the lever is further rotated and tilted about 60 degrees from the ground, and are vertical lines passing through the fulcrum. The distance between the line of action of the load and the fulcrum is L2, which is the same as the distance L1 between the line of action of the load and the fulcrum when the lever is at a position inclined about 30 degrees from the ground.

In FIG. 9A, the load W moves circularly around the fulcrum, and in FIG. 9B, the result is the same as the result of rotation of the spiral wheel, so the load W also moves forward. FIG. 9C is a view in which a plurality of wheels are mounted on the spiral curve of FIG. 9B, and friction with the ground as shown in FIG. 9B is eliminated, so that the position of the lever fulcrum is as shown in FIG. As shown in b), the luggage W does not move forward and moves up and down at the same position.

FIG. 10 is a diagram in which the lever of FIG. 9C is attached to the end of the slope. One end of the slope is deposited on the ground and the other end is deposited on the step, and the load of the load on the slope is Since a part is supported by the stepped portion, the force for lifting the load with the lever of FIG. 9C is reduced accordingly. FIG. 10A is a partial detail view of the lever of FIG. 9C at the end of the slope, and the height of the slope on the ground side can be fixed to two heights in addition to the height of the ground. The height of the slope end is the height of the ground in FIG. 10 (a), and in FIG. 10 (c), for example, is the height H2 of the loading platform of a vehicle carrying a wheelchair (hereinafter referred to as a wheelchair carrying vehicle) . In FIG. 10 (b), the height between the height in FIG. 10 (a) and the height in FIG. 10 (c) is, for example, the height H1 of the elevator of the train. The slope can be moved horizontally from the platform to the train or from the ground onto the wheelchair carrier bed with the wheelchair leveled.

Figure 10 shows that the end of the slope that can be lifted by the lever is left at the elevator door of the train, and the other end is placed on the loading platform of the wheelchair transporter. Can be placed on the cargo bed. From the train, it will climb up to half of the height from the ground to the loading platform, so you can save time and effort to lift and lower the end with that lever, and the height of the loading platform of the wheelchair transporter is high from the ground. If you get out of the car and put it in a passenger car, it is helpful to lower the wheelchair onto the stage at the same height as the passenger car bed without lowering it to the ground.

The lever K is connected to the slope end by a connecting shaft K1, and a handle 35 is attached to one end of the connecting shaft K1, and a wheel k1k2 is attached to the other at a position where the distance from the lever rotating shaft K1 is different. k3 is a ratchet pawl that attaches to the lever K1, and when the height of the loading platform is raised from the height of the ground in FIG. 10 (a) to the height of the intermediate position in FIG. 10 (b), it is caught on the loading platform. A vertical line Y-Y passing through the connecting axis K1 is an action line of the force of the load W. In FIG. 10B, the vertical line YY is between the contact points of the two wheels k1k2, and the platform is stable even if the ratchet pawl is not caught on the platform. . In FIG. 10 (c), the loading platform passes through the maximum height and is in a lowered state, and if the lowering of the loading platform is stopped at 20, the loading platform is not lowered any further.
If the distance L1 between the acting line of the load W shown in FIG. 10A and the fulcrum Y1-Y1 is the same as the distance L2 between the acting line of the load W and the fulcrum Y2-Y2 shown in FIG. The force to lift the loading platform from the ground in FIG. 10 (a) to the middle height in FIG. 10 (b) is equal to the force to lift from the middle height in FIG. 10 (b) to the height in FIG. 10 (c). become.

FIG. 11 shows the lever of FIG. 10 attached to both sides of the loading platform. The levers on both sides are connected to the front and back surfaces of the lever by two connecting rods 15 separately. The connecting rod is always parallel to the loading platform, and the quadrilateral composed of the four points of the connecting shaft T1 of the loading platform and the two levers and the connecting shaft T2 of the levers at both ends of the connecting rod is always a parallelogram. When a handle is attached to one lever and the rotation of one lever is transmitted to the other, it can be transmitted by a chain, but when it is transmitted by a connecting rod, the parallelogram formed by the four links is close to a rectangle. Rotation is well transmitted to the other, but cannot be transmitted to the other when folded in a straight line. For this reason, two connecting rods 15 having different phases are required on the front and back surfaces of the lever. In order to simplify the drawing, the entry of the connecting rod on the surface is omitted.

11 (a) shows the bed of the height of the ground of the platform height, FIG. 11 (b) bed of height train bed height, FIG. 11 (c) the height of the loading platform wheelchair cart 11A shows a state in which the legs 24 at both ends of the loading platform are in contact with each other and do not move, and FIG. 11B shows a state in which the wheelchair moves only back and forth when the wheelchair is transferred from the train to the loading platform. Therefore, the wheelchair can be moved backward from the train on the carriage and can be quickly separated from the train. Moreover, since it is a movement to the horizontal loading platform of the same height compared with the case where it drops from a train with the conventional slope, it can be lowered from a train forward or backward without tilting the seat of a wheelchair. In FIG. 11C, since the wheel k2 attached to the lever is a free wheel, the vehicle can travel in any direction.

A guide wheel or bearing 12 is attached to the wheel frame of each universal wheel at right angles to the wheels. Each universal wheel is in the air as shown in FIG. 11 (a) and faces upward, but as shown in FIG. 11 (b), each universal wheel needs to be inverted downward when contacting the ground. The free wheel can easily be reversed by first grounding a bearing attached to the frame at right angles to the wheel.

Since the handle is rotated outside the loading platform, after the handle is lifted 90 degrees from the ground, as shown in FIG. 11 (b), the second handle charged in the handle pops out, and FIG. As shown in c), when the second handle is lifted, the first handle can be rotated 90 degrees or more outside the loading platform. In FIG. 11 (b), when the first handle is pulled up to stop the height of the floor halfway, the second handle can be used as a cane that prevents the first handle from reversing. The height of the floor that stops on the way can be adjusted by the position where the cane (second handle) stops rotating. If a wheel is attached to the tip of the second handle and a spring is loaded on the connecting shaft, the second handle can be automatically popped out simply by pulling up the first handle.

The lever in FIG. 11 requires less force to lift the load if a plurality of wheels are attached between k1 and k2, but the lever needs to be rotated from 90 degrees to 180 degrees. When the handle moves in a circular motion on the loading platform, if it rotates more than 90 degrees, it will cross the luggage, so the ends of the levers on both sides cannot be connected with a horizontal member. The horizontal frame can move both levers at the same time with a horizontal handle, but to rotate the lever more than 90 degrees, put a ratchet claw to prevent reverse rotation on the loading platform and lever connecting shaft and move the handle outside the loading platform. A 90 degree rotation from the horizontal position to the vertical position of the ground must be reciprocated. Apart from this, there is also a method of dividing the lever rotation into a plurality of stages by rotating the levers 90 degrees from the ground as shown in FIG.

FIG. 12 shows a connecting shaft of a lever J which is the newly added k2 rotation shaft of the lever K of FIG. 10, and a plurality of levers are linked and connected to a rosary. In the method of FIG. 12, a plurality of wheels can be arranged almost linearly when the loading platform is on the ground, and the wheels pop out on the loading platform as in the case of mounting on the outer periphery of one spiral wheel by the method of FIG. It can be stored in a flat shape as shown in FIG. Also, each lever has its own handle. By rotating the handle 90 degrees multiple times, the problem of crossing the loading platform when the handle is turned 90 degrees or more as shown in Fig. 10 is solved. Is done.

13 is a cart in which the lever of FIG. 12 is attached to the four corners of the loading platform. FIG. 13 (a) shows the lever of FIG. 12 in the state of FIG. 12 (b), and FIG. 13 (b) shows the lever of FIG. This is the state (c).

Comparison diagram of wheels and spiral wheels Functional explanatory drawing of the spiral wheel which goes up and down stairs. Operation | movement explanatory drawing of the spiral wheel which raises / lowers stairs. Operation | movement explanatory drawing of the control apparatus of the spiral wheel which raises / lowers stairs. Operation | movement explanatory drawing of the control apparatus of the spiral wheel which raises / lowers stairs. Operation | movement explanatory drawing which shows an Example. Operation | movement explanatory drawing which shows the Example of the spiral wheel which raises / lowers stairs. Explanatory drawing of the wheel which raises and lowers the conventional stairs Explanatory drawing when lifting luggage with a lever Explanatory drawing of the slope which attached the lever of FIG.6 (c) to the edge part FIG. 9 is an explanatory diagram of a cart in which the lever of FIG. 8 is attached to both sides of the loading platform. Explanatory drawing of a lever that connects a plurality of levers in FIG. Explanatory drawing of the cart that the lever of FIG. 10 attaches to the four corners of the cargo bed

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Axle 2 Axle wheel 3 Spiral shaped plate 4 Brake 5 Plate having a plurality of connecting shafts 6 A connecting rod having connecting shafts at both ends 7 An arm 8 rotating around a connecting shaft 8 A rotating shaft 9 A pulling spring 10 A pushing spring 11 A torsion spring 12 bearing 13 car body 14 step corner 15 step kick 16 step tread 17 step 18 ground 18 left and right spiral wheels 19 gear 19 attached to both ends of one axle 20 chain 21 claw 22 guide 24 legs per roller 23 25 cargo bed 26 rubber cushioning material

Claims (5)

A cam body that rotates about the main shaft;
A plurality of outer ring bodies that rotate about the support shafts provided at a plurality of locations on the peripheral edge of the cam body;
The outer periphery with a spiral curve shape wheel,
The distance between the main shaft and the support shaft increases from the intersection of the virtual line connecting both the support shafts of the two outer ring bodies in contact with the ground and the perpendicular line passing through the main shaft and perpendicular to the virtual line. A wheel with a spiral curve on the outer periphery where the distance to the spindle is constant. 2. The wheel having an outer periphery of a spiral curve according to claim 1, wherein a peripheral portion of the cam pair has a portion where a support shaft is not provided. 3. The wheel according to claim 1 or 2, wherein the support shaft is disposed at a predetermined interval on a peripheral portion of the cam body. Kicking part of the front step even at one turn when the drive wheel abuts the front step and at a position adjacent to the rear of the drive wheel that supports the vehicle body by allowing the vehicle to go up and down the stairs The tire part that frictions with the ground is the furthest position from the main axis of the peripheral part of the cam body so that the vehicle that is attached to a position that does not contact the vehicle and moves up and down the stairs just moves forward on the front step. The driving wheel moves up and down with the driving wheel after moving the axle up and down without traveling in a state where the driving wheel is in contact with the front step and prevented from moving forward. Item 4. The wheel according to any one of items 3 to 3, wherein the outer periphery has a spiral curve shape. A cam body that rotates about a connecting shaft attached to the end of the loading platform, and a plurality of outer ring bodies that rotate about shafts provided at a plurality of peripheral portions of the cam body;
The outer periphery provided with a wheel having a spiral curve shape, and a handle is attached to one end thereof, and the handle is rotated by moving the handle up and down to move the loading platform end in the vertical direction. A wheel whose outer periphery described in any one is a spiral curve shape.

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