JP5555953B2 - Stair-climbing mobile vehicle - Google Patents

Description

  The present invention relates to a stair-climbing mobile vehicle that includes traveling wheels and is configured to be capable of moving up and down stairs.

Such a stair-climbing mobile vehicle is configured so that it can travel on a flat ground and can go up and down stairs with a person on it or with a load on it.
By the way, in order to carry a person, a seat for seating a person is often provided and used for movement of a physically handicapped person or an elderly person.

  As a first conventional example of such a stair climbing type mobile vehicle (hereinafter referred to as a first conventional example), a rotating link having a shape similar to an equilateral triangle as viewed in the lateral direction of the vehicle body is connected to the main body of the mobile vehicle. A wheel that can be driven and rotated is provided as a traveling wheel at each of the three corners of the rotation link, and has the same axis as the rotation axis of the rotation link. There is an auxiliary link that can be driven and rotated around the center, and an auxiliary wheel is provided at the tip of the auxiliary link (see, for example, Patent Document 1 (pages 6 to 8)).

  For example, when traveling on a flat ground, the stair lift type mobile vehicle of the first conventional example travels by grounding one of three wheels and an auxiliary wheel located behind the wheel, and the staircase. When the step corresponding to is raised, the vehicle moves forward until the wheel located above and ahead of the wheel that contacts the ground is located above the step, and then the auxiliary link is swung downward. The wheel that is in contact with the ground is levitated so that the wheel located above the step is grounded on the upper surface of the step, and then the propulsive force of the wheel that is grounded on the upper surface of the step is used to The wheel or auxiliary wheel that has been levitated by swinging downward is moved to a state where it is located on the upper surface of the step.

Further, the stair lift type mobile vehicle according to the first conventional example is, for example, in a state where two of the three wheels are grounded when the step is lowered from the state of traveling on a flat ground, and the auxiliary link is disposed on the front side. In this state, run to the front of the step, and then move to the step side while swinging the auxiliary link downward to ground the auxiliary wheel and the front wheel to the upper surface of the step. When the auxiliary wheel and the front wheel are in contact with the upper surface of the step, the upper surface of the step is traveled in such a manner that the state is maintained.
Incidentally, in the stair lift type mobile vehicle of the first conventional example, when the step is raised or lowered, the center of gravity of the body on which the load is placed is moved and adjusted.

  Further, as a second conventional example of a stair lift type mobile vehicle (hereinafter referred to as a second conventional example), wheels that can be driven and rotated are provided as traveling wheels before and after the main body of the mobile vehicle. An arm that can be driven and rotated around an axis that is above the center and parallel to the axis of rotation is provided corresponding to each wheel, and the arm rotates to a posture in which the tip is directed to the traveling surface side. Some of them have a length that protrudes downward from the lower end of the wheel when they are moved (see, for example, Patent Document 2 (FIGS. 5 and 7)).

  For example, when traveling on a flat ground, the second conventional stair lift type mobile vehicle travels with the front and rear wheels in contact with the ground, and when ascending the stairs, the wheels reach the next step. At that time, the arm is rotated from the upward posture toward the traveling direction side so that its tip contacts the tread of the next step, and the tip of the arm contacts the tread of the next step. After that, by continuously rotating the arm, the wheel is raised to the upper side of the tread surface of the next stage, and the state is changed to a state where the wheel contacts the tread surface.

Further, the stair lift type moving vehicle of the second conventional example, for example, when descending the stairs from a state of traveling on flat ground, when the wheel reaches near the next step, the arm is moved from the upward posture to the traveling direction side. By rotating the arm toward the wheel, the tip of the arm touches the grounding surface of the wheel, and after the tip of the arm touches the grounding surface of the wheel, the arm continues to rotate, While lowering the wheel toward the tread of the next step, the state is shifted to a state where the wheel contacts the tread.
Note that the rotation of the arms mounted on the front and rear wheels is controlled separately. For example, when the front and rear wheels approach the next stage at the same time when ascending the stairs. The arms provided for the front and rear wheels are simultaneously rotated.

JP 2004-290557 A Japanese Patent Laid-Open No. 9-2347

In the stair lift type mobile vehicle of the first conventional example, there is a possibility that the stair cannot be raised and lowered with good stability due to the fact that the posture of the vehicle body easily tilts forward and backward and tends to be disturbed.
That is, for example, when ascending a staircase (step), there is a state where the entire vehicle body is supported by one wheel that contacts the tread of the upper step, and similarly, when descending the staircase (step) Thus, there is a state in which the entire vehicle body is supported by one wheel that contacts the tread of the upper stage.
The state in which the entire vehicle body is supported by one wheel is likely to disturb the posture of the vehicle body unexpectedly leaning forward or backward, and thus the posture of the vehicle body unexpectedly leans forward or backward. There is a possibility that the stairs cannot be raised and lowered with good stability due to being easily disturbed.

  In the stair lift type mobile vehicle of the second conventional example, during the climbing of the staircase, the vehicle body is supported by the front and rear wheels, the vehicle body is supported by the front and rear arms, or one of the front and rear wheels. Since the vehicle body is supported by one of the front and rear arms, the vehicle body is supported at two points on the front and rear sides, so that the posture of the vehicle body is unpredictably forward or backward even when the stairs are raised or lowered. It becomes possible to suppress the inclination and disturbance.

  However, in the stair-climbing mobile vehicle of the second conventional example, the arm equipped corresponding to each of the front and rear wheels rotates and makes its tip contact the tread surface of the staircase. Because it supports the vehicle body, the tip of the arm is likely to slip against the tread surface of the staircase, etc., and the tip of the arm slips and the posture of the vehicle body is disturbed. Therefore, there is a possibility that the stairs cannot be raised and lowered with stability.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a stair-climbing mobile vehicle capable of moving up and down a stair with good stability.

The stair-climbing type moving vehicle of the present invention includes a traveling wheel and is configured to be able to move up and down the stairs.
Around the axis along the direction of the relative rotational axis where the adjacent ones of the four links rotate relative to each other at each of the four link connecting points in the four-link mechanism type wheel support with the same length of the four links. The wheel is equipped with freely rotating,
Wheel driving means for propulsion driving the wheel, and link driving means for driving the wheel support to change its posture are provided,
The link driving means;
One of the two links located on the front side in the traveling direction of the four links when the four link connecting portions are linearly arranged in a vehicle body width direction view along the relative rotational axis direction. The link rotation drive for rotating the link that maintains the parallel posture with respect to the link to the upper side and then rotating the link to the front side to operate in the linear posture,
In the vehicle body width direction view, when the four link connecting portions are in a straight line posture, the two link connecting portions located in the middle in the front-rear direction among the four link connecting portions are centered. In this state, it is characterized in that it is configured to perform link bending / extension driving for bending / extending two links positioned on the front side in the traveling direction and two links positioned on the rear side in the traveling direction.

  That is, when traveling on a flat ground, the four link connection points in the four-bar linkage mechanism type wheel support are arranged in a straight line, or the four links in the four-bar linkage mechanism type wheel support are arranged. In the state where one of the links is positioned on the traveling road surface side and the link maintaining the parallel posture with respect to the link is in the posture positioned on the upper side, the wheels are propelled and driven. Become.

Next, a case where the stairs are lowered from a state of traveling on a flat ground will be described with reference to FIG. FIG. 7 illustrates a stair-climbing type moving vehicle equipped with a wheelchair as a seat for seating. In the following description, assuming that the forward direction of the wheelchair is the traveling direction, the staircase is lowered. Explain the case.
That is, when descending the stairs from a state of traveling on flat ground, in a state where it stops at a position before the stairs, first, in the above-mentioned linear posture, with respect to the two links located on the rear side in the traveling direction by the link bending and stretching drive The two links located on the front side in the traveling direction are rotated downward to equip the two link joints located in the middle in the front-rear direction among the four link joints on the wheel support. The wheel and the wheel equipped at the link connecting point on the rear side in the traveling direction are in contact with the traveling surface corresponding to the flat ground, and the wheel equipped at the link connecting point on the front side in the traveling direction is the first step of the stairs. The surface is brought into contact with the surface (see FIG. 7C).

Next, by link bending / extension driving, the two links positioned on the rear side in the traveling direction are rotated upward with respect to the two links positioned on the front side in the traveling direction so as to return to the linear posture (see FIG. 7 (d)).
In this state, of the four link connecting points, the wheel equipped at the two link connecting points located in the middle in the front-rear direction and the wheel equipped at the link connecting point on the front side in the traveling direction are grounded. It becomes a state, and the wheel equipped at the link connection part on the rear side in the traveling direction is in a state of rising.

Next, with reference to one of the two links located on the front side in the traveling direction by the link rotation drive, the reference link among the two links located on the rear side in the traveling direction The link that maintains the parallel posture is turned upward and then turned forward to operate in a linear posture (see FIGS. 7E and 7F).
In this state, the wheel equipped in the two link connection locations that overlap with the middle in the front-rear direction among the four link connection locations in the wheel support, the wheel equipped in the link connection location on the rear side in the traveling direction, And the wheel equipped in the link connection location of the front side of the advancing direction will be in the state which earth | grounds.

Hereinafter, by repeating such link rotation driving, the stairs can be sequentially lowered step by step.
By the way, in the link rotation drive when descending to the flat ground from the last step of the stairs, the link rotation drive is stopped when the state is in front of the linear posture (FIG. 7 (l )reference).

Next, a case where the stairs are raised from a state of traveling on a flat ground will be described with reference to FIG. In the following description, the case where the stairs are raised is described on the assumption that the backward direction of the wheelchair is the traveling direction, contrary to the case where the stairs are lowered.
That is, when ascending the stairs from the state of traveling on the flat ground, first, when descending the stairs, the state corresponding to the state where the link rotation drive is stopped when descending from the last step of the stairs to the flat ground ( In FIG. 7 (m)), proceeding toward the staircase, the wheel equipped at the link connecting point on the front side in the traveling direction stops in a state of being positioned above the tread of the first step of the staircase, Next, link rotation drive is performed so that the wheel contacts the first step tread (see FIG. 7 (l)).

  Next, with reference to one of the two links located on the front side in the traveling direction by the link rotation drive, the reference link among the two links located on the rear side in the traveling direction The link that maintains the parallel posture is turned upward and then turned forward to operate in a linear posture (see FIGS. 7 (k) and 7 (j)).

After this, the link rotation drive is repeatedly performed, and when moving from the last step of the staircase to the flat ground, the procedure reverse to that when the staircase is lowered is performed.
In other words, in the state of the straight posture (see FIG. 7D), the two links located on the front side in the traveling direction are moved downward with respect to the two links located on the rear side in the traveling direction by link bending and driving. Next, the two links located on the rear side in the traveling direction are pivoted upward with respect to the two links located on the front side in the traveling direction by link bending / extension driving. To return to the straight posture (see FIG. 7B).

As described above, when ascending / descending the stairs, it is possible to maintain a state where two of the four wheels are separated from each other in the front-rear direction, and can be kept in contact with the running surface and the tread surface of the stairs. In this case, a wide support polygon that can prevent the posture of the vehicle body from being inclined and disturbed unexpectedly forward or backward can be maintained throughout.
By the way, when actually moving up and down the stairs, control to adjust the center of gravity of the vehicle body back and forth so that the weight of the vehicle body acts on the two wheels that are in contact with the running surface and the tread surface of the stairs Will do.

  Moreover, when the link rotation drive is performed, the other wheels are raised while maintaining the two wheels that are in contact with the tread surface of the stairs in the grounded state. Since the link is kept stationary during the link rotation drive, it is possible to suppress the slipping of the wheel that is kept in contact with the ground during the link rotation drive. It is possible to prevent the posture of the vehicle body from being disturbed.

  In addition, when performing link bending / extension driving, the other wheels are moved up and down while the three wheels that are in contact with the treads of the stairs are kept in contact with the ground. Since the slip does not occur due to the link bending and extending drive, the posture of the vehicle body is not disturbed when the link bending and extending drive is performed.

  Therefore, when moving up and down stairs, it is possible to maintain a wide support polygon that can prevent the posture of the vehicle body from inclining forward and backward and disturbing it all the time, and when performing link rotation drive and link bending drive In addition, it is possible to suppress the posture of the vehicle body from being disturbed by slipping, and thus the stairs can be raised and lowered with good stability.

  In short, according to the first characteristic configuration of the present invention, it is possible to provide a stair-climbing moving vehicle that can move up and down stairs with good stability.

The second feature configuration of the present invention is in addition to the first feature configuration described above.
A pair of left and right wheel supports are provided;
The wheel driving means and the link driving means are provided separately for each of the left and right wheel supports.

  In other words, the vehicle body is supported by the pair of left and right wheel supports, and the stairs can be raised and lowered while performing link rotation driving and link bending extension driving for each of the left and right wheel supports.

  Therefore, the left and right wheel supports can support the posture of the vehicle body in the left and right directions with good stability, and the left and right wheel supports can be moved up and down accurately by the link rotation drive and link bending drive. It will be possible.

  In short, according to the second feature configuration of the present invention, in addition to the operational effects of the first feature configuration described above, while maintaining a wide support polygon that can easily support the posture of the vehicle body in the left-right direction with good stability throughout. It is possible to provide a stair lift type mobile vehicle that can accurately lift and lower stairs.

In addition to the first feature configuration or the second feature configuration described above, the third feature configuration of the present invention includes:
Among the four links in the wheel support, the seating seat is positioned in the front-rear direction with respect to a link that is a reference when performing link rotation driving or a link that maintains a parallel posture with respect to the link. And a support means for variably supporting the tilt in the front-rear direction, and a seat drive means for adjusting the position in the front-rear direction and the tilt in the front-rear direction of the seat for seat supported by the support means Provided,
When a stair lift command is issued, the link driving means is operated with a preset link driving setting pattern, and the seat driving means is set to a seat operating setting pattern in synchronization with the operation. It is characterized in that drive control means for operating is provided.

That is, of the four links in the wheel support, the link that is a reference when performing link rotation driving or the link that maintains a parallel posture with respect to the link is the link that performs link rotation driving and the link. When bending and stretching driving is performed, the longitudinal direction is maintained in the vehicle longitudinal direction. Further, since the seating seat supports the link in such a manner that the position in the front-rear direction and the tilt in the front-rear direction can be freely changed, the weight of the seating seat when the link is rotated. Seated to support the weight of the entire vehicle body, including the front and rear wheels, which are positioned before and after the reference link of the two links in the forward direction of the four links in the linear posture Adjust the position of the seat in the longitudinal direction so that the weight of the seat is supported by the grounded wheel when adjusting the position of the seat in the longitudinal direction or when driving the link can do.
Further, the seating seat can be maintained in a horizontal posture by adjusting the tilt of the seating seat in the front-rear direction.

  In other words, when the seat for seating is provided so that a physically handicapped person, an elderly person, etc. can ride, the link whose longitudinal direction is maintained in the longitudinal direction of the vehicle body by the link rotation drive and the link bending / extension drive. On the other hand, the seating seat is supported in such a way that the position in the front-rear direction and the tilt in the front-rear direction can be changed freely. By adjusting the inclination of the seating seat in the front-rear direction, the stairs can be raised and lowered accurately while accurately supporting the weight of the entire vehicle body including the weight of the seating seat with the grounded wheel, In addition, the seating seat can be maintained in a horizontal posture.

  Then, when a stair lift command is issued, the drive control means operates the link drive means with a preset link drive setting pattern, and synchronizes with the operation so that the seat drive means operates the seat. As the setting pattern for link driving, a pattern for sequentially performing link rotation driving and link bending / extension driving to raise and lower the stairs is set as a setting pattern for link driving. Set the pattern to support the weight of the seating seat on the grounding wheel and maintain the seating seat in a horizontal position when performing link rotation driving or link bending extension driving Thus, the stairs can be automatically raised and lowered by instructing a stairs up / down command.

  In short, according to the third characteristic configuration of the present invention, in addition to the effects of the first or second characteristic configuration described above, the weight of the entire vehicle body including the weight of the seating seat is accurately supported by the grounded wheel. However, the stairs can be lifted and lowered with a handicapped or elderly person on the seat by performing a simple operation of raising and lowering the stairs accurately and instructing a stairs lifting command. It is possible to provide a stair-climbing moving vehicle that can automatically perform the above.

In addition to the third feature configuration described above, the fourth feature configuration of the present invention includes:
Of the four links in the wheel support, the lower end pivotally supports the link serving as a reference when the link rotation drive is performed or the link maintaining a parallel posture with respect to the link so as to be swingable back and forth. The leg is provided as the support means, and the seat is pivotally supported at the upper end of the leg so that the inclination of the seat can be changed.

  That is, by swinging a leg back and forth with respect to a link that is a reference when performing link rotation driving or a link that maintains a parallel posture with respect to the link among the four links in the wheel support body The position of the seating seat in the front-rear direction can be adjusted, and the inclination of the seating seat in the front-rear direction can be adjusted by swinging the seating seat relative to the leg.

  That is, with a simple configuration using legs, the seating seat is supported by changing the position of the seating seat in the front-rear direction and changing the front-back inclination of the seating seat. Simplification of the support means can be achieved.

  In short, according to the fourth characteristic configuration of the present invention, in addition to the effect of the third characteristic configuration described above, it is possible to provide a stair lift type mobile vehicle that can simplify the support means for supporting the seat for seating. .

In addition to any of the first to fourth characteristic configurations described above, the fifth characteristic configuration of the present invention includes:
A wheel interlocking connection mechanism is provided for interlockingly connecting the four wheels provided at each of the four link connecting portions so as to rotate integrally,
A differential frame equipped with a ring gear driven and rotated by an electric motor in an integrally rotated state is equipped with a pair of left and right output gears that can rotate around the rotation axis of the differential frame, and A pair of differential mechanisms configured to rotatably support a pinion meshing with the pair of left and right output gears on the differential frame body;
One of the pair of differential mechanisms interlocks one of the pair of left and right output gears with one of the four wheels, and the other output gear is one of the four links. Arranged in one of the four links in a state of interlocking connection so as to swing it with respect to one; and
The other differential mechanism interlocks and connects one of the pair of left and right output gears to one of the four wheels that is different from the wheel connected to the one differential mechanism, and the other output. One of the four links is connected in a state where the gear is interlocked so as to swing with respect to one of the four links different from the link swinged by the one differential mechanism. Arranged in one
Propulsion driving the four wheels in one of a same direction rotation state in which a pair of electric motors for the pair of differential mechanisms are rotated in the same direction and a reverse direction rotation state in which the pair of differential motors are rotated in the reverse direction; and In the other of the same direction rotation state and the reverse direction rotation state, it is configured to perform the link rotation drive,
Braking means for preventing rotation of the four wheels is provided;
Any one of the pair of differential mechanisms is equipped to swing the link to perform the link bending and extending drive,
In a state where the braking means is in a braking state, the electric motor that drives the operating mechanism that performs the link bending / extension driving of the pair of differential mechanisms is operated, and the electric motor with respect to the other differential mechanism is in a free state. Is configured to drive the link bending and stretching,
The wheel drive means and the link drive means are configured by the wheel interlocking connection mechanism, the pair of differential mechanisms, the pair of electric motors, and the braking means.

That is, a pair of electric motors (hereinafter simply referred to as “a pair of electric motors”) for the pair of differential mechanisms are rotated in the same direction and in a reverse rotation state in which the reverse rotation state is rotated in the reverse direction. On the other hand, the pair of differential mechanisms is in a state of outputting an output that rotates the four wheels that are linked and linked by the wheel linked linkage mechanism in the reverse direction, and the link of the four-link mechanism is linked to the four-link. When the mechanism is operated in a direction in which the posture of the mechanism can be changed, link rotation driving can be performed.
Further, in the other of the same direction rotation state where the pair of electric motors rotate in the same direction and the reverse direction rotation state where the pair of electric motors rotate in the reverse direction, the pair of differential mechanisms are interlocked and connected by the wheel interlocking connection mechanism. When the four wheels are in a state of outputting an output that rotates the four wheels in the same direction and the link of the four-bar linkage mechanism is operated in a direction in which the posture of the four-bar linkage mechanism cannot be changed, Wheel propulsion drive can be performed.

  That is, in one of the same direction rotation state in which the pair of electric motors rotate in the same direction and the reverse direction rotation state in which the pair of electric motors rotate in the opposite direction, four wheels are propelled and driven, and the same direction rotation state and the above Link rotation drive can be performed in the other of the reverse rotation states.

  Further, the link is obtained by operating the electric motor for operating one differential mechanism of the pair of differential mechanisms and setting the electric motor for the other differential mechanism in a free state while the wheel rotation holding brake is in a braking state. Link bending / extension driving can be performed by using an electric motor for rotating and driving the four wheels.

Therefore, since link rotation driving, link bending extension driving and wheel propulsion driving can be performed with two electric motors, the drive configuration is simplified, the cost is reduced, and maintenance is facilitated. Can do.
That is, in order to perform each of link rotation driving, link bending / extension driving, and wheel propulsion driving, it is conceivable to separately provide an electric motor for performing each, but in this case, three electric motors are provided. For this reason, the drive configuration is complicated and expensive.
In addition, since the output of the two motors can be used in total in both the link rotation drive and the wheel propulsion drive, even if each motor has a low capacity, the link rotation drive or wheel has a large output. Can be propulsion driven. In other words, the motor to be used is small, and the cost can be further reduced.
In addition, since the electric motor is less durable than the mechanical structure, it requires maintenance such as replacement as it is used. Therefore, the larger the number of electric motors, the more complicated the maintenance work becomes.

  In short, according to the fifth feature configuration of the present invention, in addition to the operational effects of any of the first to fourth feature configurations described above, for link rotation drive, link bending drive, and wheel propulsion drive. It is possible to provide a stair-climbing mobile vehicle that can simplify the drive configuration, reduce costs, and facilitate maintenance.

Perspective view of stair lift type moving vehicle The perspective view which shows the attitude | position change state of the left wheel support body Schematic showing the configuration of the left wheel support Block diagram showing control configuration Table showing control patterns Table showing control patterns Diagram showing the stair climbing state

Embodiment
Hereinafter, an embodiment of a stair lift vehicle according to the present invention will be described based on the drawings.
As shown in FIG. 1, a wheelchair 1 as a seat for seating on which a human body is seated is supported by left and right wheel supports SL and SR to constitute a stair lift type mobile vehicle.
Incidentally, in this embodiment, although the case where a commercially available thing is used as the wheelchair 1 which comprises the seat for seating is illustrated, the seating for exclusive use which abbreviate | omitted the unnecessary part of the structure with which the commercially available wheelchair 1 is equipped You may implement with the form using a seat.

Hereinafter, the configuration of each part will be described. In the following description, the direction in which the wheelchair 1 is facing forward will be described as being the front direction of the vehicle body.
In addition, although the left and right wheel supports SL and SR are configured in the same manner although they are bilaterally symmetric, members constituting them will be described with the same reference numerals.

As shown in FIGS. 1 and 2, the left and right wheel supports SL, SR are configured in a four-bar linkage mechanism in which the lengths of the four links L <b> 1 to L <b> 4 are equal, Each of the first to fourth wheels W1 to W4 is equipped so as to be rotatable around an axis along a relative rotation axis direction in which adjacent ones of the four links L1 to L4 rotate relative to each other.
Incidentally, since the four links L1 to L4 have their longitudinal directions oriented in the longitudinal direction of the vehicle body, the relative rotational axis in which the adjacent ones of the four links L1 to L4 rotate relative to each other is along the lateral width direction of the vehicle body. In the following description, the direction of the relative rotational axis is referred to as the vehicle body lateral width direction as necessary.

A frame 2 for supporting the wheelchair 1 is attached to the first link L1 of the four links L1 to L4. That is, the first links L <b> 1 in the left and right wheel supports SL and SR are connected by the frame body 2.
And the 3rd link L3 which maintains a parallel attitude | position with respect to this 1st link L1 is arrange | positioned on the outer side rather than the 1st link L1, and the front-end part of the 1st link L1 and the front-end part of the 3rd link L3, Are connected by the second link L2, and the rear end of the first link L1 and the rear end of the third link L3 are connected by the fourth link L4.

Link connection between the first wheel W1, the second link L2, and the third link L3 provided at the link connection point between the first link L1 and the fourth link L4 among the first wheel to the fourth wheels W1 to W4. The 3rd wheel W3 with which a location is equipped is comprised as an omnidirectional wheel.
The omnidirectional wheel is composed of a plurality of grounding bodies in which the outer peripheral part for grounding in the wheel is arranged along the circumferential direction, and the grounding body is around the axis corresponding to the tangential direction of the outer periphery of the wheel. It is supported by the wheel body so as to be rotatable.
Therefore, when the 1st wheel W1 and the 3rd wheel W3 move in the direction of the axis of rotation, the grounding object located in the grounding location will rotate around the axis corresponding to the tangential direction of the wheel circumference. Therefore, the movement in the rotation axis direction can be performed smoothly.

Of the first wheel to the fourth wheel W1 to W4, the second wheel W2, the third link L3, and the fourth link L4 that are equipped at the link connection point between the first link L1 and the second link L2 The 4th wheel W4 with which a link connection place is equipped is comprised as a rubber-tire type wheel.
Accordingly, when the second wheel W2 or the fourth wheel W4 is in contact with the traveling surface, the propulsive force can be accurately obtained, and since the first wheel W1 and the third wheel W3 are omnidirectional wheels, the vehicle turns. Can be performed well.

That is, when the wheels on both ends of the link having the same name are grounded on each of the left and right wheel supports SL and SR among the four links L1 to L4, two omnidirectional wheels and two rubber tire wheels are always grounded. Will be. In addition, as will be described later, the omnidirectional wheel and the rubber tire wheel rotate in conjunction with each other on the left and right wheel supports SL and SR. Therefore, when there is a difference in the rotational speeds of the left and right wheels, the omnidirectional wheel moves smoothly in the direction of the axis of rotation (side), so a straight line connecting the ground contact points of the two rubber tire wheels. The turning operation can be smoothly performed around the upper point.
This turning operation can be performed smoothly if two omnidirectional wheels and two rubber tire wheels are in contact with each other. By placing these at the opposite vertices of the four-bar link, the four wheels are grounded even when the stairs are raised or lowered. You can turn at any moment. That is, it is possible to change the direction during raising and lowering. For this reason, it is possible to operate even with staircases that are spiraled.

As shown in FIG. 3, wheel driving means G for propelling and driving the first to fourth wheels W1 to W4 and link driving means K for driving the wheel support SL to change its attitude are provided.
FIG. 3 illustrates the left wheel support SL and illustrates the wheel drive means G and the link drive means K in the left wheel support SL, but also for the right wheel support SR, The wheel driving means G and the link driving means K provided for the left wheel support SL are provided.

The link driving means K is configured to perform link rotation driving and link bending extension driving.
As shown in FIGS. 2A and 2B, the link rotation drive by the link driving means K is performed in the vehicle body width direction view along the relative rotation axis direction in which adjacent ones of the four links L1 to L4 rotate relative to each other. In the state where the four link connecting portions are linearly arranged in a straight line posture, the state is based on one of the two links positioned on the front side in the traveling direction among the four links L1 to L4. Then, the link maintaining the parallel posture is rotated upward, and then the link is operated forward so as to have a linear posture.

That is, FIG. 2 exemplifies the left wheel support SL. When it is assumed that the vehicle travels in the forward direction of the vehicle body, that is, moves forward, the four links L1 to L4 of FIG. Two links located on the front side in the traveling direction are the first link L1 and the second link L2, and the link L1 as shown in FIG. 2A with the first link L1 as a reference. The link rotation driving is performed in such a manner that the third link L3 that maintains the parallel posture is rotated upward.
Then, in a state where the third link L3 is turned upward and then turned forward with the first link L1 as a reference, as shown in FIG. Of the two links L1 to L4, the two links located on the front side in the traveling direction are the second link L2 and the third link L3, and are shown in FIG. 7 (i) with the third link L3 as a reference. Thus, link rotation drive is performed in the form in which the first link L1 that maintains the parallel posture with respect to the link L3 is rotated upward.

Incidentally, in the present embodiment, the vehicle travels in the backward direction, that is, it can travel backward, and when it is assumed that the vehicle travels backward, in FIG. 2B, of the four links L1 to L4, Two links located on the front side in the traveling direction are the third link L3 and the fourth link L4. With reference to the third link L3, as shown in FIG. Thus, the link rotation drive is performed in such a manner that the first link L1 that maintains the parallel posture is rotated upward.
Then, in a state where the first link L1 is rotated upward in the state with the third link L3 as a reference, the linear posture is rotated to the front side, as shown in FIG. Of the two links L1 to L4, the two links located on the front side in the traveling direction are the first link L1 and the fourth link L4, and are shown in FIG. Thus, link rotation drive is performed in a form in which the third link L3 that maintains a parallel posture with respect to the link L1 is rotated upward.

  That is, in the present embodiment, the first link L1 and the third link L3 correspond to a link that is in a reference state and a link that maintains a parallel posture with respect to the link when link rotation driving is performed. In this embodiment, the frame 2 for supporting the wheelchair 1 is attached to the first link L1 of the first link L1 and the third link L3 as described above. This is just an example.

  In addition, as shown in FIGS. 2B and 2C, the link bending / extension driving by the link driving means K is performed when the four link connecting portions are in a linear posture in which the four link connecting portions are arranged in a straight line when viewed in the lateral direction of the vehicle body. The two links located on the front side in the traveling direction and the two links located on the rear side in the traveling direction are bent and stretched in the state centering on the two link connection places that overlap with each other in the middle in the front-rear direction. To operate.

  That is, the first link L1 and the fourth link L4 arranged adjacent to each other and the third link L2 and the third link L3 arranged adjacent to each other are bent and stretched, or the first link L1 arranged adjacent to each other. And the bending operation of the group of the second link L2 and the group of the third link L3 and the fourth link L4 arranged adjacent to each other is performed.

And in this embodiment, as shown in FIG. 3, the wheel drive connection mechanism which the wheel drive means G and the drive means K interlock and connect so that the four wheels W1-W4 may rotate integrally, as mentioned later. R, a pair of differential mechanisms D1 and D2, a pair of electric motors M1 and M2, and a wheel rotation holding brake B as a braking means for preventing the rotation of the four wheels W1 to W4.
Incidentally, in FIG. 3, it is assumed that the pair of electric motors M1, M2 represents the wheel driving means G and the driving means K, and the wheel driving means G and the driving means correspond to the electric motors M1, M2. The sign of K is described.

  The wheel interlocking connection mechanism R is disposed along the first link L1, and includes a first chain interlocking mechanism r1 and a second link that interlockingly connect the axle j1 of the first wheel W1 and the axle j2 of the second wheel W2. The second chain-type interlocking mechanism r2 that is disposed along L2 and interlocks and connects the axle j2 of the second wheel W2 and the axle j3 of the third wheel W3, and the third link L3. And a third chain-type interlocking mechanism r3 for interlockingly connecting the axle j3 of the third wheel W3 and the axle j4 of the fourth wheel W4, and the first to third chain-type interlocking mechanisms r1 to r3 The wheels W1 to W4 are configured to be interlocked so as to rotate together.

  The pair of differential mechanisms D1 and D2 includes a differential frame 4 provided with a ring gear 3 that is driven and rotated by one of the above-described pair of electric motors M1 and M2 in an integrally rotated state. Equipped with a pair of left and right output gears 5, 6 that are rotatable around the rotation axis of the body 4, and a pinion 7 that meshes with the pair of left and right output gears 5, 6 is rotatable to the differential frame 4. It is configured to support.

One of the pair of differential mechanisms D1 and D2 is disposed on the first link L1, and the other is disposed on the third link L3.
One of the pair of left and right output gears 5 and 6 in the differential mechanism D1 (hereinafter referred to as the first differential mechanism) disposed in the first link L1 is interlocked and connected to the first wheel W1, and The other output gear is interlocked and connected to the fourth link L4 so as to swing it.
Further, one of the pair of left and right output gears 5 and 6 in the differential mechanism D2 (hereinafter referred to as the second differential mechanism) disposed in the third link L3 is interlocked and connected to the fourth wheel W4, and The other output gear is interlocked and connected to the fourth link L4 so as to swing it.

One motor M1 (hereinafter referred to as an inner motor) of the pair of electric motors M1 and M2 is mounted on the first link L1 in a state of being located on the front side of the first differential mechanism D1, and the other The motor M2 (hereinafter referred to as the outer motor) is mounted on the third link L3 in a state of being positioned in front of the second differential mechanism D2.
Then, in one of the same direction rotation state where the inner and outer motors M1 and M2 are rotated in the same direction and the reverse direction rotation state where the motors M1 and M2 are rotated in the reverse direction, the four wheels W1 to W4 are propelled and driven in the same direction. In the other of the rotation state and the reverse direction rotation state, link rotation driving is performed.

  That is, when the first differential mechanism D1 and the second differential mechanism D2 are in a state of outputting an output that rotates the four wheels W1 to W4 that are interlocked and connected in the wheel interlocking connection mechanism R in the reverse direction, The first differential mechanism D1 and the second differential mechanism D2 are in a state in which the fourth link L4 is operated in a direction in which the posture of the four-bar linkage mechanism can be changed, and link rotation driving is performed. In addition, when the first differential mechanism D1 and the second differential mechanism D2 are in a state of outputting outputs that rotate the four wheels W1 to W4 that are interlocked and connected in the same direction by the wheel interlocking and connecting mechanism R. The first differential mechanism D1 and the second differential mechanism D2 are in a state of operating the fourth link L4 with the fourth link L4 directed in a direction in which the posture deformation of the four-link mechanism cannot be performed. The propulsion drive of the two wheels W1 to W4 is performed.

  By the way, in the present embodiment, the first differential mechanism D1 is provided with the ring gear 3 on the inner side of the inner motor M1, whereas the second differential mechanism D2 is disposed on the outer side of the outer motor M2. 3 when the inner motor M1 and the outer motor M2 are rotated in the same direction, the differential frame 4 of the first differential mechanism D1 and the differential of the second differential mechanism D2 The frame 4 rotates in the opposite direction.

  Further, of the left and right output gears 5 and 6 of the first differential mechanism D1, the output gear 5 on the inner side in the lateral direction of the vehicle body is connected to the axle j1 of the first wheel W1 via the speed reducer 8. Out of the output gears 5 and 6, the gear 6 on the outer side in the lateral direction of the vehicle body is connected to one end of the fourth link L <b> 4 via the speed reducer 9.

  Further, of the left and right output gears 5 and 6 of the second differential mechanism D2, the output gear 5 on the outer side in the lateral direction of the vehicle body is connected to the axle of the fourth wheel W4 via the belt transmission mechanism 10 and the speed reducer 11. of the output gears 5 and 6 is connected to the one end portion of the fourth link L4 via the spur gear transmission mechanism 12 and the speed reducer 13 for interlocking with the reverse rotation. It is connected.

Therefore, in the case of the present embodiment, when the internal and external motors M1 and M2 are rotated counterclockwise in the front view of the stair lift vehicle, when the internal and external motors M1 and M2 are rotated forward, As shown in the table of FIG. 5, by controlling the rotation direction of the inner and outer motors M1 and M2, forward, backward, right turn on the spot, left turn on the spot can be performed, and link rotation drive is performed. It is configured to do so.
That is, in the reverse rotation state where the inner and outer motors M1 and M2 are rotated in the reverse direction, the four wheels W1 to W4 are propelled and driven, and the inner and outer motors M1 and M2 are rotated in the same direction. It is comprised so that rotation drive may be performed.

  Furthermore, in the reverse direction rotation state, the forward and reverse directions can be selected by switching the rotation direction of the inner and outer motors M1, M2 to forward and reverse. In the same direction rotation state, the rotation direction of the inner and outer motors M1, M2 can be selected. By switching between forward and reverse, it is possible to select a link rotation drive in which the link on the rear side of the vehicle body is moved to the front side of the vehicle body and a link rotation drive in which the link on the front side of the vehicle body is moved to the rear side of the vehicle body. It is configured.

In this embodiment, the wheel rotation holding brake B that prevents the rotation of the four wheels W1 to W4 is relative to the input shaft 10A of the belt transmission mechanism 10 driven by the output gear 5 of the second differential mechanism D2. In a state of braking action, the third link L3 is provided.
The wheel rotation holding brake B is configured using an electromagnetic brake that is urged to return to the brake release side and enters a braking state when energized.

In this embodiment, the first differential mechanism D1 of the pair of differential mechanisms D1 and D2 is configured to swing the fourth link L4 in order to perform link bending / extension driving.
In other words, in a state in which the wheel rotation holding brake B is in a braking state, the inner motor M1 that operates the first differential mechanism D1 is operated and the outer motor M2 with respect to the second differential mechanism D2 is brought into a free state to link. It is configured to bend and stretch.

In addition, a joint rotation holding brake E (see FIG. 4) for braking so as to prevent the posture deformation operation of the first to fourth links L1 to L4 is provided, and forward, reverse, right turn on the spot, When there is no need for joint operation such as turning left on the spot, the joint rotation holding brake E is operated to reduce the output torque of the internal and external motors M1 and M2.
Incidentally, the joint rotation holding brake E is configured by using an electromagnetic brake that is urged to return to the braking action state side, and is energized to switch to the braking release state when performing link rotation driving and link bending extension driving. It will be.

The wheelchair 1 is supported using a rod-shaped leg 14 with respect to the frame 2 connected to the first link L1.
That is, the lower end portion of the leg 14 is pivotally supported so as to be swingable forward and backward with respect to the frame body 2, and the wheelchair 1 is pivotally supported by the upper end portion of the leg 14 so that the inclination of the front and rear can be changed.
Incidentally, in this embodiment, the pivotal support part with respect to the frame 2 at the lower end of the leg 14 is called an ankle joint, and the pivotal support part of the wheelchair 1 with respect to the upper part of the leg 14 is called a hip joint.
As shown in FIG. 3, the electric foot joint motor MA that swings the leg 14 back and forth with respect to the frame body 2, and the electric hip joint motor that tilts the wheelchair 1 back and forth with respect to the leg 14. MK is equipped and it is comprised so that the position in the front-back direction and the inclination of the front-back of the wheelchair 1 can be adjusted.

That is, when raising and lowering the stairs, the center of gravity of the wheelchair 1 is positioned at an appropriate position in the front-rear direction of the vehicle body, and the position of the wheelchair 1 in the front-rear direction and the tilt in the front-rear direction are maintained in order to maintain the wheelchair 1 in a horizontal posture. It is configured to be able to adjust.
By the way, in the present embodiment, among the four links L1 to L4 in the left and right wheel supports SL and SR, the reference link when performing link rotation driving or a parallel posture with respect to the link is maintained. Support means for supporting the wheelchair 1 in the front-rear direction and the tilt in the front-rear direction is configured by the leg 14 with respect to the first link L1 functioning as a link, and the leg 14 The seat driving means that adjusts the position in the front-rear direction and the tilt in the front-rear direction of the wheelchair 1 supported by the foot is constituted by the ankle joint motor MA and the hip joint motor MK.

As shown in FIG. 4, a hip joint holding brake FK that holds the hip joint and an ankle holding brake FA that holds the ankle joint are provided. When the hip joint and the ankle joint are not operated, these brakes FK and FA are It is comprised so that the wheelchair 1 can be hold | maintained correctly by operating.
Incidentally, the hip joint holding brake FK and the ankle joint holding brake FA are configured by using an electromagnetic brake that is biased back to the braking action state side. When the hip joint and the ankle joint are operated, they are energized to switch to the brake release state. Will be.

  As shown in FIG. 4, a control unit H having a computer as a main part is provided as drive control means, and this control unit H is provided with an inner motor M1, an outer motor M2, and wheel rotation in the left and right wheel supports SL and SR. The holding brake B, the joint rotation holding brake E, and the operation of actuators including the ankle joint motor MA, the hip joint motor MK, the hip joint holding brake FK, and the ankle joint holding brake FA are controlled. .

That is, a manually operated command operation unit Q that commands the control unit H is provided.
The command operation unit Q is configured to command a forward command, a reverse command, a spot right turn command, a spot left turn command, a stair descent command, a stair rise command, and the like.
Then, when the control unit H issues a forward command, a reverse command, an in-situ right turn command, and an in-situ left turn command in the command operation unit Q, based on those commands, FIG. As shown in FIG. 6, the actuators are configured to move forward, backward, turn right on the spot, and turn left on the spot by operating the actuators.

Further, when the stair climbing command is commanded, that is, when the stair descent command and the stair climb command are commanded by the command operating unit Q, the control unit H, as shown in FIG. 5 and FIG. The link driving means operates the inner motor M1, the outer motor M2, the wheel rotation holding brake B, and the joint rotation holding brake E in the left and right wheel supports SL, SR with a preset link driving setting pattern. In synchronism with the operation, the electric motor MA for the ankle joint and the electric motor MK for the hip joint as the seat driving means are operated according to the setting pattern for seat operation. It is configured.
When the electric motor MA for the ankle joint and the electric motor MK for the hip joint are operated with the seat operation setting pattern, the hip joint holding brake FK and the ankle joint holding brake FA are braked. It will be actuated to the release state.

In the present embodiment, the descent and rise of the stairs are set so that the link driving setting pattern and the seat operation setting pattern are set in order to lower and raise the stairs whose specifications such as the inclination and the number of steps are known. It is configured.
Specifically, the target rotation amount (rotation angle) with the passage of time of the inner motor M1 and the outer motor M2 after the stairs lowering command or the stairs raising command is commanded, the wheel rotation holding brake The control timing associated with the passage of time of B and the joint rotation holding brake E is set as a link driving setting pattern. Similarly, after the stairs lowering command is issued or the stairs raising command is issued, The target rotation amount (rotation angle) with the passage of time of the joint motor MA and the hip joint motor MK and the control timing with the passage of time of the hip joint holding brake FK and the ankle joint holding brake FA are set as the setting pattern for seat operation. Yes.

  Incidentally, although not illustrated in FIG. 4, a rotation angle sensor that detects the rotation amounts (rotation angles) of the inner motor M1 and the outer motor M2, and the rotation amounts (rotation angles) of the ankle motor MA and the hip motor MK are detected. A rotation angle sensor is provided, and the control unit H uses the detection information of the rotation angle sensor as feedback information so that the target rotation amount (rotation angle) is reached as time elapses. M2 and the foot joint motor MA and the hip joint motor MK are operated.

In addition to the above-described various commands, the command operation unit Q sets the left and right wheel supports SL and SR in a straight posture and lowers the position and inclination of the wheelchair 1 as a preparation stage when commanding a stair descent command. As a preparation stage when commanding a descent preparation command or a stair climbing command to make a preparation form, the left and right wheel supports SL, SR are set to a stair climb start posture and the position and inclination of the wheelchair 1 are set to a rise preparation form. In addition, the command operation unit Q sets the left and right wheel supports SL and SR to the reference posture for the flat ground traveling, and sets the position and inclination of the wheelchair 1 to the flat ground traveling form. It is comprised so that the command for driving | running | working to make can be commanded.
And the control means H is comprised so that the preparations for stairs descent, the preparation for stairs rise, and the preparation for a flat ground run may be performed by operating actuators based on those instructions.
In addition, adjustment of the inclination of the wheelchair 1 is adjustment for making the wheelchair 1 into a horizontal posture.

Next, a case where the stairs are lowered from a state of traveling on a flat ground will be described with reference to FIG. In addition, FIG. 7 illustrates the case where the stairs are lowered in the forward state in which the wheelchair 1 is facing forward, and in the following description, the forward direction is the traveling direction.
That is, when descending the stairs from a state where the vehicle travels on a flat ground, a command for preparing to descend is commanded by the command operation unit Q, and the left and right wheel supports SL, SR are brought into a straight posture as shown in FIG. And the position and inclination of the wheelchair 1 are made into a descent preparation form. In addition, the command operation unit Q is operated so as to be stopped at a position before the stairs.
In this state, the weight of the wheelchair 1 is such that the wheels W2 and W4 equipped at the two link connection locations that overlap and are positioned in the middle in the front-rear direction among the four link connection locations of the wheel supports SL and SR. And the front-back position of the wheelchair 1 is adjusted so that it may act on the wheel W1 equipped in the link connection location of the advancing direction back side.

  As described above, when the command operation unit Q commands the stair descent command in a state where it stops at the front of the staircase, the actuators are operated with the link drive setting pattern and the seat operation setting pattern. Then, the stair lift type moving vehicle descends the stairs.

  That is, first, in the linear posture described above, the two links L2 and L3 positioned on the front side in the traveling direction are rotated downward by the bending and stretching drive with respect to the two links L1 and L4 positioned on the rear side in the traveling direction. Let the wheels W2 and W4 and the link connection on the rear side in the traveling direction that are provided at the two link connection points that overlap with each other between the four link connection points in the wheel supports SL and SR. The wheel W1 equipped at the location is in contact with the running surface corresponding to the flat ground, and the wheel W3 equipped at the link connection location on the front side in the traveling direction is in contact with the first step surface on the stairs (see FIG. 7 (c)).

Next, the wheels W2, W4, and the traveling direction, which are equipped at the two link connection points, the entire weight of which is overlapped in the middle in the front-rear direction among the four link connection points in the wheel supports SL, SR. The front-rear position of the wheelchair 1 is adjusted so as to act on the wheel W3 equipped at the link connection portion on the front side, and the tilt in the front-rear direction of the wheelchair 1 is adjusted so that the wheelchair 1 maintains a horizontal posture. The
Then, by bending and extending, the two links L1 and L4 positioned on the rear side in the moving direction are rotated upward with respect to the two links L2 and L3 positioned on the front side in the moving direction so as to return to the linear posture. (See FIG. 7D).
In this state, the wheels W2 and W4 equipped at the two link connection locations located in the middle in the front-rear direction among the four link connection locations, and the wheels equipped at the link connection locations on the front side in the traveling direction. W3 comes into contact with the ground, and the wheel W1 equipped at the link connecting point on the rear side in the traveling direction enters a state of rising.

Next, two links L1 positioned on the rear side in the traveling direction with reference to the third link L3, which is one of the two links L2 and L3 positioned on the front side in the traveling direction, by link rotation driving. , L4, the first link L1 that maintains the parallel posture with respect to the reference link L3 is turned upward and then turned forward to operate in a linear posture (FIG. 7). (See (e) and (f)).
In this state, the wheels W1 and W3 equipped at the two link connection locations that overlap with the middle in the front-rear direction among the four link connection locations of the wheel supports SL and SR, the link connection on the rear side in the traveling direction. The wheel W4 equipped at the location and the wheel W2 equipped at the link connection location on the front side in the traveling direction are in a grounded state.

  Moreover, when performing the link rotation drive of FIG.7 (d)-(f) mentioned above, the front-back position of the wheelchair 1 is adjusted so that the whole weight may act on the wheels W3 and W4 which continue a grounding state. And the inclination in the front-back direction of the wheelchair 1 is adjusted so that the wheelchair 1 may maintain a horizontal attitude | position.

Then, by repeating such link rotation drive, the stairs are lowered as shown in FIGS.
By the way, in the link rotation drive when descending to the flat ground from the last step of the stairs, the link rotation drive is stopped when the state is in front of the linear posture (FIG. 7 (l )reference).

  Next, a case where the stairs are raised from a state of traveling on a flat ground will be described with reference to FIG. In addition, FIG. 7 illustrates the case where the wheelchair 1 is facing backward and ascending the stairs. In the following description, the backward direction is the traveling direction.

When ascending the stairs from a state of traveling on flat ground, the command operation unit Q commands the ascending preparation command, and the left and right wheel supports SL, SR are set to the stair ascending start posture as shown in FIG. And the position and inclination of the wheelchair 1 are made into a rising preparation form.
The stairs rising start posture of the wheel supports SL and SR is a posture corresponding to a state in which the link rotation driving is stopped when the stairs are lowered to the flat ground from the last step of the stairs. This is a posture in which, when descending the stairs, the wheel W1 on the rear side is slightly raised from the state where the link rotation drive is stopped when descending to the flat ground from the last step of the stairs.

  By the way, an example of the operation to the stair climb start posture will be described. On a flat ground, first, the posture shown in FIG. The wheelchair 1 is moved in the front-rear direction so as to be positioned between W3 and the posture shown in FIG. 7D or FIG. 7H. Thereafter, the link L4 is translated while controlling the position of the wheelchair 1 in the front-rear direction so as not to move the position of the center of gravity of the entire vehicle body in the front-rear direction, and the posture shown in FIG. Subsequently, the position in the longitudinal direction of the center of gravity of the entire vehicle body is translated downward from the wheelchair 1 within a range that does not come out between the wheel W2 and the wheel W3, and the posture shown in FIG.

  As described above, after the stair climb start posture and the ascending preparation form, the vehicle is moved backward so that the wheel W1 provided at the link connecting position ahead of the travel is positioned above the tread of the first step of the stair. Thereafter, link rotation driving is performed so that the wheel W1 is brought into contact with the tread of the first step of the staircase (see FIG. 7L).

Next, two links L2 positioned on the rear side in the traveling direction with reference to the first link L1 which is one of the two links L1 and L4 positioned on the front side in the traveling direction by link rotation driving, Of the L3, the third link L3, which maintains a parallel posture with respect to the first link L1, is rotated upward and then rotated forward to be in a linear posture (FIG. 7 (k)). (See (j)).
And when performing link rotation drive of Drawing 7 (l)-(j) in this way, the back-and-forth position of wheelchair 1 is so that the weight of wheelchair 1 may act on wheels W1 and W2 which continue a grounding state. The tilt in the front-rear direction of the wheelchair 1 is adjusted so that the wheelchair 1 is maintained in a horizontal posture.

After this, as shown in FIGS. 7 (i) to (d), the link rotation drive is repeatedly performed, and when moving from the last step of the stairs to the running surface, Will perform the reverse procedure.
That is, in the state of the straight posture (see FIG. 7 (d)), the two links L1 and L3 positioned on the front side in the traveling direction with respect to the two links L2 and L3 positioned on the rear side in the traveling direction by bending and stretching driving. Rotate L4 downward, and then adjust the front-rear position of the wheelchair 1 so that the weight of the entire vehicle body acting on the wheels W2, W3 acts on W1, W2, and the wheelchair 1 maintains a horizontal posture Thus, the inclination of the wheelchair 1 in the front-rear direction is adjusted (see FIG. 7C). Next, the two links L2 and L3 located on the rear side in the traveling direction are rotated upward with respect to the two links L1 and L4 located on the front side in the traveling direction by the bending and stretching drive to return to the linear posture. (Refer FIG.7 (b)).

  As described above, when ascending / descending the stairs, the state where two of the four wheels W1 to W4 are separated from each other in the front-rear direction is maintained in contact with the traveling surface and the tread surface of the stairs, and then grounded. While supporting the vehicle body with the two wheels that maintain the state, the remaining two wheels are moved forward in the traveling direction of the grounded wheel. It becomes possible to achieve stabilization.

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the above-described embodiment, the case where one staircase whose specifications such as the inclination and the number of steps are known is raised and lowered is exemplified, but in correspondence with each of the plurality of stairs whose specifications such as the inclination and the number of steps are known, The link drive setting pattern and the seat operation setting pattern are stored, and the stored setting pattern is selected in accordance with the ascending / descending stairs, so that the moving vehicle is moved up and down with respect to a plurality of stairs. It can be carried out in the form to be performed.

(2) In the above embodiment, the case where the lengths of the four links in the wheel support body are constant is illustrated, but the length of the link can be changed and adjusted according to the length in the front-rear direction of the tread surface of the stairs. If comprised in this way, the stairs from which the length of the tread surface differs in the front-back direction can also be raised / lowered.
Incidentally, in the above embodiment, the case where the stairs are raised and lowered by one step by one link rotation drive is illustrated, but the length of the link is set so that the stairs are raised and lowered by a plurality of steps by one link rotation drive. You may decide.

(3) In the above embodiment, the case where the leg that supports the wheelchair as the seat for seating is configured to have a certain length is exemplified. However, the seat for seating is provided with driving means for changing and adjusting the length of the leg. When adjusting the position and inclination in the front-rear direction, the leg length may be changed and adjusted so that the change in the height of the seating seat is reduced.

(4) In the above embodiment, using the legs swinging back and forth with respect to the wheel support as the support means, the position of the wheelchair as the seat for seating in the front-rear direction and the tilt in the front-rear direction are adjusted. However, as support means, there are slider support means for slidably supporting the seating seat in the front-rear direction, and inclination changing means for changing the front-back inclination of the seating seat with respect to the slider support means. You may implement with the form which adjusts the position in the front-back direction of a wheelchair, and the inclination in the front-back direction by the form to provide.

(5) In the above embodiment, the case where a pair of left and right wheel supports is provided is illustrated, but it is not always necessary to provide the left and right wheel supports.
For example, it can be implemented in a form in which one wheel support is provided by providing each of four link connection locations in one wheel support in a state in which a plurality of wheels are arranged along the lateral width direction of the vehicle body.

(6) In the above embodiment, the stair lift type moving vehicle that supports the wheelchair as the seat for seating by the wheel support is illustrated, but the transporting stair that supports the loading platform on which the load is placed by the wheel support. An elevating mobile vehicle may be configured.
In this case, the wheel support can be provided on the front and rear of the vehicle body, and the loading platform can be supported by the front and rear wheel supports.

(7) In the above embodiment, the case where the straight staircase is moved up and down is illustrated, but in the case of a staircase in which there is a landing in the middle of the staircase, the staircase portion below the landing and the landing By considering the upper staircase portion as the staircase in the above embodiment, it can be raised and lowered in the same manner as in the above embodiment.
In this case, the landing area can be advanced manually, but instead of this, a sensor such as a sensor for detecting the traveling distance or a gyro sensor for detecting the inclination of the vehicle body in plan view is provided. You may advance in the form which makes a part run automatically.
In addition, the form which makes automatic driving | running | working is applicable also in the curved staircase used as the path | route which a landing part bends.

(8) In the above embodiment, the wheel driving means and the link driving means are exemplified by the wheel interlocking connection mechanism, the pair of differential mechanisms, the pair of electric motors, and the braking means. And an electric motor that performs link rotation driving and an electric motor that performs link bending / extension driving may be separately provided as link driving means.

DESCRIPTION OF SYMBOLS 1 Seat for seat 3 Ring gear 4 Differential frame 5, 6 Output gear 7 Pinion 14 Leg B Brake means D1, D2 Differential mechanism G Wheel drive means K Link drive means L1 Link L2 Link L3 Link L4 Link MA, MK Seat Drive means R Wheel interlocking connection mechanism SL, SR Wheel support W1 Wheel W2 Wheel W3 Wheel W4 Wheel

Claims (5)

It is a stair-climbing type moving vehicle that is equipped with traveling wheels and configured to be able to go up and down stairs,
Around the axis along the direction of the relative rotational axis where the adjacent ones of the four links rotate relative to each other at each of the four link connecting points in the four-link mechanism type wheel support with the same length of the four links. The wheel is equipped with freely rotating,
Wheel driving means for propulsion driving the wheel, and link driving means for driving the wheel support to change its posture are provided,
The link driving means;
One of the two links located on the front side in the traveling direction of the four links when the four link connecting portions are linearly arranged in a vehicle body width direction view along the relative rotational axis direction. The link rotation drive for rotating the link that maintains the parallel posture with respect to the link to the upper side and then rotating the link to the front side to operate in the linear posture,
In the vehicle body width direction view, when the four link connecting portions are in a straight line posture, the two link connecting portions located in the middle in the front-rear direction among the four link connecting portions are centered. In this state, a stair-climbing type moving vehicle configured to perform link bending / extension driving for bending and extending two links positioned on the front side in the traveling direction and two links positioned on the rear side in the traveling direction. A pair of left and right wheel supports are provided;
The stair-climbing movable vehicle according to claim 1, wherein the wheel driving means and the link driving means are provided separately for each of the left and right wheel supports. Among the four links in the wheel support, the seating seat is positioned in the front-rear direction with respect to a link that is a reference when performing link rotation driving or a link that maintains a parallel posture with respect to the link. And a support means for variably supporting the tilt in the front-rear direction, and a seat drive means for adjusting the position in the front-rear direction and the tilt in the front-rear direction of the seat for seat supported by the support means Provided,
When a stair lift command is issued, the link driving means is operated with a preset link driving setting pattern, and the seat driving means is set to a seat operating setting pattern in synchronization with the operation. The stair-climbing mobile vehicle according to claim 1, further comprising drive control means for operating the vehicle.   Of the four links in the wheel support, the lower end pivotally supports the link serving as a reference when the link rotation drive is performed or the link maintaining a parallel posture with respect to the link so as to be swingable back and forth. The stair lift type mobile vehicle according to claim 3, wherein a leg is provided as the support means, and the seat for seating is pivotally supported at an upper end portion of the leg so as to be able to change the inclination of the front and rear. A wheel interlocking connection mechanism is provided for interlockingly connecting the four wheels provided at each of the four link connecting portions so as to rotate integrally,
A differential frame equipped with a ring gear driven and rotated by an electric motor in an integrally rotated state is equipped with a pair of left and right output gears that can rotate around the rotation axis of the differential frame, and A pair of differential mechanisms configured to rotatably support a pinion meshing with the pair of left and right output gears on the differential frame body;
One of the pair of differential mechanisms interlocks one of the pair of left and right output gears with one of the four wheels, and the other output gear is one of the four links. Arranged in one of the four links in a state of interlocking connection so as to swing it with respect to one; and
The other differential mechanism interlocks and connects one of the pair of left and right output gears to one of the four wheels that is different from the wheel connected to the one differential mechanism, and the other output. One of the four links is connected in a state where the gear is interlocked so as to swing with respect to one of the four links different from the link swinged by the one differential mechanism. Arranged in one
Propulsion driving the four wheels in one of a same direction rotation state in which a pair of electric motors for the pair of differential mechanisms are rotated in the same direction and a reverse direction rotation state in which the pair of differential motors are rotated in the reverse direction; and In the other of the same direction rotation state and the reverse direction rotation state, it is configured to perform the link rotation drive,
Braking means for preventing rotation of the four wheels is provided;
Any one of the pair of differential mechanisms is equipped to swing the link to perform the link bending and extending drive,
With the braking means in a braking state, the electric motor that drives the differential mechanism that performs the link bending / extension driving of the pair of differential mechanisms is operated and the electric motor with respect to the other differential mechanism is free. By being in a state, it is configured to perform the link bending and extending drive,
The wheel drive means and the link drive means are configured by the wheel interlocking connection mechanism, the pair of differential mechanisms, the pair of electric motors, and the braking means. The stair-climbing mobile vehicle described in 1.

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