JPH023578A - Traveling device using leg wheel - Google Patents

Abstract

PURPOSE:To enable to perform the movement on the stairs speedily and securely by providing a traveling device main body with a ground plane to be grounded on the stair tread and moving simultaneously the front and back leg wheels with joints under its ground condition. CONSTITUTION:In climbing stairs, first of all, approaching the periphery of the stair with one's back toward the stair, the supporting base bottom part 7 of a main body is grounded turning slightly a first and third joints 12, 32. Secondly, a brace 20 is grounded turning the first and second joints 12, 15 so as to raise a front wheel 16 as well as turning the third and fourth joints 32, 35 so as to place a back wheel 41 on the first step of the stair tread. Thirdly, the main body 1 is drawn to the stair, the back wheel 41 is placed on the second tread, and the main body 1 is placed on the first tread being supported by the back wheel 41 and the brace 20. Lastly, the back wheel 41 is placed on the third tread, and the main body 1 is placed on the second tread being supported by the back wheel 41 and the brace 20. This action is successively repeated to climb the stairs.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a traveling device for transporting wheelchairs and heavy objects, and in particular, the present invention relates to a traveling device for transporting wheelchairs and heavy objects, and in particular, the present invention relates to a traveling device for transporting wheelchairs and heavy objects, and in particular, the present invention relates to a traveling device for transporting wheelchairs and heavy objects, and in particular, it can be used to transport wheelchairs and other heavy objects, and in particular, to transport wheelchairs and other heavy objects. The present invention relates to a traveling device using leg wheels that can be driven to move in a stable posture.

[Conventional technology]

A conventional traveling device using leg wheels has a configuration as shown in FIGS. 17 and 18. In the figure, 111.12
1,131,141 is the upper leg, 112°122.132,
142 is the lower leg, 113, 123°, 133, 143 are auxiliary wheels, 14X, 14Y are driving wheels, and 151 is the main body.

On flat ground, the driving wheels 14X and 14Y of the main body 151 and the auxiliary wheel 1
13, 123, 133, and 143 while supporting the main body 151 while moving up and down the stairs, as shown in FIG. Raise the right front leg and left hind leg training wheels 133, 123 to the tread level one step higher at the same time, and then raise the left front leg and right hind leg training wheels 113 with the right front leg and left hind leg training wheels 133, 123 in contact with the ground. , 143 are raised one step at the same time. Alternatively, with the left front leg, left hind leg, and the main body on the ground, raise the right front leg and right hind leg one step at the same time, then raise the left front leg and left hind leg at the same time with the right front leg, right hind leg, and the main body on the ground. Go up and down the stairs by one step.

In addition, in order to travel on uneven ground, the main body is supported by three of the four false legs, the angle of the bile joint is adjusted, and the training wheels at the tip are moved one leg at a time according to the unevenness to straddle the unevenness. It is progressing.

As described above, the conventional traveling device moves the main body by moving one or two of the plurality of legs alternately from side to side or back and forth when going up and down stairs or over uneven surfaces.

[Problem to be solved by the invention]

However, a traveling device using such leg wheels is
Depending on the depth of the stair treads and the unevenness of the uneven ground, the wheels attached to the main unit are operated to maintain stability when they touch the ground by lifting them forward, backward, left and right, or one leg at a time, but the contact area of the wheels is small. Therefore, even if the brakes are applied to the wheels, the stability is poor. In other words, if the depth of the stair tread is deeper than the center of gravity and the center of gravity is above the ground plane of the main body, as shown in Figure 19 (a), it is a counterfeit item. If it is stable even when lifted, but the depth of the stair tread is narrower than the ground plane of the main body, and the center of gravity of the main body is not on the ground plane, then
As shown in (c), part of the main body is placed on the ground and the legs are moved one leg at a time or two legs at a time, so the lifting speed is slow. The same goes for movement on uneven ground, as the tips of the legs serve as wheels.
The need for braking and the need to choose a stable place for the feet to touch the ground slows down the speed.

The present invention is intended to solve the above-mentioned problems.By utilizing the flat bottom surface of the main body, it is possible to move stably and at high speed on stairs and uneven ground, and by the rotation of the joint part. It is an object of the present invention to provide a traveling device using leg wheels that can be selected from either wheels or non-slip wheels and can run stably and smoothly over rough terrain.

[Means to solve the problem□]

To this end, the traveling device using leg wheels of the present invention is a traveling device that drives a plurality of multi-jointed leg wheels, and includes a main body having a ground contact surface and a main body rotatably attached to the left and right sides of the main body. The front and rear wheels are equipped with front and rear wheels and a rear wheel joint drive means, and one of the front and rear wheels is equipped with a wheel that can touch the ground at the joint, and a tip of the leg that can be rotated by the leg wheel joint drive means. The vehicle is characterized in that it has a non-slip attached to the vehicle, and the vehicle travels by selecting either the grounding of the wheels or the non-slip as necessary.

[Action and effect of the invention]

When driving on level ground, use the wheels, and when going up and down stairs or on uneven ground, place the ground contact surface on the stair treads, etc., and move the front and rear leg wheels simultaneously or one set each. This reduces travel time when going up and down stairs and on uneven terrain.

Moreover, depending on the condition of the place where it touches the ground, you can select either the wheels at the joint or the non-slip at the tip, and if the non-slip makes contact with the ground, you can move stably without the need for brakes, etc. This allows you to move from flat terrain to uneven terrain with a stable posture.

Furthermore, if the height of the main body from the ground surface can be changed freely, it becomes possible to move smoothly parallel to the slope of the stairs without moving the center of gravity up or down when going up or down stairs.

Furthermore, by providing a non-slip device at the tip and wheels at the joints, it is possible to reduce the number of wheels, eliminate the need for a wheel storage mechanism, and make it possible to rotate on the spot.

〔Example〕

Examples will be described below with reference to the drawings.

Fig. 1 is a side view of a first embodiment of a traveling device using ahva of the present invention, Fig. 2 is a cross-sectional view taken along Fig. 1 A-A', and Fig. 3 is Fig. 2 B-B'. Figures 4 (a), (b), and (c) are exploded perspective views of Figure 1 (a).
5 is a diagram showing the main body, (B) the front leg wheels, (C) the rear leg wheels, and FIG. 5 showing the stair running of the embodiment of FIG. 1.

In the figure, 1 is the main body, 2 is the seat, 3 is the backrest, 4 is the armrest, 5 is the footrest, 6 is the main body support, 7 is the bottom of the support, 8 is the control switch, 11 is the rotation axis, 12 is the 1 joint, 13 is the first joint motor, 14 is the leg, 15 is the second joint, 16 is the front wheel, 18 is the second joint motor, 1
9 is a leg, 20 is a non-slip, 31 is a rotating shaft, 32 is a third joint, 33 is a motor for the third joint, 34 is a leg, 35 is a fourth joint, 38 is a fourth joint motor, 39 40 is a steering motor, 41 is a rear wheel, and 42 is a drive motor.

Roughly speaking, the traveling device using leg wheels of the present invention includes a main body 1 equipped with a seat, a cargo platform, a movable workbench, etc. for transporting large or large cargo, and a pair of multi-purpose wheels provided on the left and right sides of the main body 1. It consists of a front leg wheel with joints and a pair of rear leg wheels with multiple joints provided on both left and right sides of the main body 1. The main body 1 is supported by front leg wheels and rear leg wheels.
When going up and down the stairs shown in the figure, the main body support stand 6 is placed on the stair tread.
To allow a main body 1 to land stably without falling over even when the front and rear leg wheels are lifted and moved at the same time.

The front leg wheels are provided on the main body support base 6 via the first joint 12, the front wheel 16 is provided on the second joint 15, and a non-slip member 20 is provided on the tip of the leg 19. 4(b)), the first joint 12 is rotationally driven by a first joint motor 13, and the second joint 15 is rotationally driven by a second joint motor 18. When driving on level ground, the front wheels 16 touch the ground and rotate freely as shown in Fig. 1, and the anti-slip 20 provided at the tip of X119 is held in a position where it does not touch the ground. second joint 1
2. Rotate 15 to change the angle of leg 14.19, and set front wheel 1.
6 and the grounding position of the anti-slip 20, and the fifth
As shown in Figure 2, the main body 1 can be lifted up. Note that when each joint motor rotates the joints, a reduction gear (not shown) is used and the control switch 8 provided on the armrest 4 is operated.

The rear leg wheels are attached to the main body support 6 via a third joint 32, and a rear wheel 41 is attached to the tip of the leg 39 via a fourth joint 35 (see Fig. 4(c)). ). The third joint 32 is connected to the fourth joint 35 by the motor 33 of the third joint.
are rotated by the fourth joint motor 38, and are kept in the position shown in FIG. 1 when running on flat ground, but the ground contact position of the rear wheels 41 can be selected when going up or down stairs, etc. . Further, the legs 39 are provided with a steering motor 40 that changes the direction of the rear wheels 41 when traveling on flat ground, and a drive motor 42 that drives the rear wheels 41.

Next, the stair ascending/descending operation of the above embodiment will be explained. 6th
The figure shows the beginning of climbing the stairs in the above embodiment. First, approach the edge of the stairs backwards (■), rotate the first joint 12 and the third joint 32 a little, and move the support base of the main body 1. The bottom part 7 is grounded, the first and second joints 12.15 are rotated to raise the front wheel 16, the anti-slip 20 is grounded, and the third and fourth joints 32.35 are rotated to raise the rear wheel. 41 on the first step of the stair tread (■), then pull the main body 1 close to the stairs (■), place the rear wheel 41 on the second step tread (■), and then attach the rear wheel 41 to the non-slip Place the main body l on the first tread while supporting it with the 20 (■). Next, place the rear wheel 41 on the third stage (■), pull the anti-slip 20, and place the main body 1 on the second stage in the same manner as in (■). After that, you can climb the stairs by repeating this action one after another. Then, when you finish going down the stairs, you can do the opposite (■-■).

Next, the operation at the end of climbing the stairs will be explained.

FIG. 7 is a diagram showing the end of the staircase in the above embodiment,
After the rear wheel 41 reaches the landing and the anti-slip 20 reaches the third tread from the top (■), and after placing the main body 1 on the first tread from the top (■), remove the rear wheel 41 from the edge of the stairs. and ground it on the landing (■), and then raise the main body 1 onto the landing (■). Then, the rear wheel 41 is moved, the anti-slip 20 is brought into contact with the first tread from above (■), and the main body 1 is further moved to a position where the front wheel 16 rests on the top of the stairs (■), and then the first and The second joint is rotated to ground the front wheel 16 on the landing and hold the anti-slip 20 in place on the side.

After that, the main body 1 is lifted up using the front wheels 16 and the rear wheels 41, and the bottom part 7 of the support platform is lifted off the floor to move to flat ground running (■). Note that this operation is reversed (■→■) when starting to descend the stairs. All you have to do is

FIG. 8 shows the operation of climbing over a step.

When reaching the step (■), the bottom part 7 of the support platform is grounded, and the first and second joints 122.15 are rotated to prevent slipping 2.
0 on the step (■), lift the main body 1 with the non-slip 20 and rear wheels 41, and place the footrest 5 on the step (■) Next, place the front wheel 16 on the ground instead of the non-slip 20. ■), use the front wheels 16 and rear wheels 41 to lift the main body 1 a little and move it to the top of the step.
1 is also placed on the step (■), and the front wheel 16 and rear wheel 41
Lift the main body 1 and drive on level ground (■).

In addition, when descending from a place with steps, do the opposite of this (■-■
), but it can also be done while moving forward (not shown).

Figure 9 shows the movement of overcoming the groove. When it reaches the groove (■), rotate the first and second joints 12.15 to place the non-slip 20 on the other side of the groove (■), and move the main body 1 around the non-slip 20 and the rear wheel 4I as fulcrums. advance onto the groove (
■). After that, the front wheel 16 is also grounded with the anti-slip 20.
), lift the main body 1 with the front wheels 16 and rear wheels 41 (■), drive forward until the rear wheels 41 reach the front of the groove (■), then let the main body 1 straddle the groove and touch the ground, Rotate the first and second joints 12.15 to raise the front wheel 16 and touch the cleat 20 to the ground (■).Then, the rear wheel 41 also straddles the groove and makes contact with the ground (■), and then raises the cleat 20. , front wheel 1
(■
).

10 to 13 are side views showing a second embodiment of the present invention.

In the figure, 51 is the main body, 52 is the seat, 53 is the main body support, 54 is the ball screw, 55 is the flange, 56 is the reducer,
57 is a motor, 61 is a first joint, 62 is a second joint,
63 is a front wheel, 64 is a non-slip, 65.66 is a leg, 71 is a third joint, 72 is a fourth joint, 73 is a rear wheel, 74 is a non-slip, and 75.76 is a leg.

In this embodiment, the rear leg wheels have the same structure as the front leg wheels, and a rear wheel 73 is provided at the fourth joint 72, and a non-slip 74 is also provided at the tip of the leg 76 extending from the fourth joint 72. has been established. The first Ω diagram is a diagram showing running on a flat ground, in which the main body 51 is supported by front wheels 63 and rear wheels 73, and the wheels are rotated by a drive means (not shown) provided on either one of them to run on a flat ground. At this time, the polygonal front and rear anti-slips 64 and 74 touch one side of each other to keep the front and rear legs and the front and rear wheels 63 and 73 in stable positions.

Further, the bottom surface of the main body support base 53 is made horizontal and includes the center of gravity of the main body 51 as in the previous embodiment, and
It is provided so as to be movable up and down with respect to 2. In this example, a ball screw 54 is rotationally driven by a motor 57 via a speed reducer 56 to enable the seat 52 to move up and down. 11th
In the figure, the main body 51 is supported by the main body support stand 53, and the first to fourth
The joints 61, 62, 72, 73 are rotated by rotating means (not shown).
FIG.

Figure 12 shows the case when the main body is on the rise, and the ball screw 5
4 to change the distance between the main body 51 and the main body support 53, the height from the rise to the seat 52 can be lowered, and the height of the seat 52 can be kept the same as when it is on a flat surface. This ensures that the height does not change even if there is a step on the floor. In this embodiment, if the main body 51 can be turned by a drive means (not shown), it is possible to eliminate the need for a steering device.

Next, the operation of going up and down stairs in the second embodiment will be explained based on FIG. 14. Normally, when the main body support stand 53 is on the ground, the ball screw 54 is in an extended state as shown in ■, and when lifting the main body 51 using the front and rear non-slips 64, 74, first keep the center of gravity at the same location. While doing so, retract the ball screw 54 and raise the bottom of the main body support 53 slightly higher than the stair tread one step above (■), and then lower the 1st to 4th joints 61, 7.
1.62.72 to move the main body 51 forward and gradually extend the ball screw 54 (■).

At this time, while adjusting the rotation of the ball screw 54, move it to the back of the stair tread so that the center of gravity moves on a line l parallel to the slope 10 of the stairs (■), and while maintaining the same center of gravity position, turn the ball screw 54 slightly. Stretch it out and ground the main body support base 53 on the stair tread (■). Next, the main body 51 is supported by the main body support stand 53, the front and rear legs are lifted to the tread one step above, and the non-slip pads 64 and 74 are brought into contact with the ground (■). Repeat this and go up the stairs. When going down the stairs, do the opposite (■-■
) can be repeated.

FIG. 15 is a diagram showing the movement of the center of gravity, and FIG. 15(a) shows the case of the first embodiment of the present invention, and FIG. 15(b) shows the case of the second embodiment.

In the first embodiment, the center of gravity moves in a stepwise manner, but in the second embodiment, the main body support base can be moved up and down with respect to the main body, so that it can move up and down in a straight line with the same inclination as the staircase. I can do it.

In addition, for operations such as starting and finishing climbing stairs, climbing over ditches, etc., the grounding positions of the front and rear wheels and the non-slip are selected using the front and rear two joints, as in the first embodiment.
Raise and lower the seat by moving it up and down as necessary.

FIG. 16 shows the leg portion of the third embodiment, and FIG. 16(a) shows when the non-slip is in contact with the ground, and FIG. 16(b) shows when the i-wheel is in contact with the ground. In the figure, 81, 82, 83 are the rotating shafts of the connecting part with the main body, 84, 86 are the telescopic arms, and 8
5.87 is a ball screw, 88 is an L-shaped leg, 89 is a tip, 90.91 is a connecting leg, 92 is a wheel, 93 is a non-slip,
94 is a joint.

In this embodiment, a wheel 92 is attached to the joint 94 at the tip of the L-shaped leg 88.
A non-slip member 93 is provided at the tip of the tip portion 89, and a connecting layer 90.9 connects the L-shaped leg 88 and the tip portion 89.
By rotationally driving the ball screws 85, 87 of the telescopic arms 84, 86, either the wheels 92 or the anti-slip 93 are brought into contact with the ground. Generally, the wheels 92 are used when traveling on flat ground, the non-slip 93 are used when going up and down stairs, and the r4 parts of the wheels 92 and non-slip 93 are used when walking over uneven parts or grooves, and their movements are the same as in the previous embodiment.

Although the above embodiment has been explained in the case of a wheelchair, it goes without saying that it can also be used in a traveling device such as a mobile robot for transportation.

As described above, according to the present invention, it is possible to shorten the travel time when going up and down stairs or on uneven ground, and to move from running on flat ground to uneven ground in a stable posture.

Furthermore, when going up and down stairs, it is possible to move smoothly parallel to the slope of the stairs without moving the center of gravity up or down.

Furthermore, by providing a non-slip device at the tip and wheels at the joints, it is possible to reduce the number of wheels, eliminate the need for a wheel storage mechanism, and make it possible to rotate on the spot.

[Brief explanation of the drawing]

Fig. 1 is a side view of the second embodiment of the traveling device using leg wheels of the present invention, Fig. 2 is a cross-sectional view taken along Fig. 1 A-A', and Fig. 3 is Fig. 2 B-B. Longitudinal sectional view at ', 4th
The figure is an exploded perspective view of the device shown in FIG. 1, FIG. 5 is a diagram showing the first embodiment going up and down the stairs, FIG. 6 is a diagram explaining the operation of the first embodiment at the beginning of going up the stairs, Figure 7 is a diagram explaining the operation at the end of climbing stairs in the first embodiment, Figure 8 is a diagram explaining the operation of climbing over a step, Figure 9 is a diagram explaining the operation of climbing over a groove, Figures 10, Figure 11, Figure 12, 1st
3 is a side view showing the second embodiment, FIG. 14 is a diagram explaining the stair climbing operation of the second embodiment, FIG. 15 is a diagram explaining the movement of the center of gravity, and FIG. 16 is a diagram illustrating the movement of the center of gravity. 17 is a perspective view of a conventional traveling device, FIG. 18 is a diagram illustrating how the conventional traveling device goes up and down stairs, and FIG. 19 is a diagram showing movement of the center of gravity of the conventional traveling device. FIG. 1...Main body, 2...Seat, 5...Foot rest, 6...
- Main body support base, 7... Support base bottom, 12... First joint, 13... First joint motor, 14.19...
Leg, 15...Second joint, 16...Front wheel, 18...
・Second joint motor, 20... anti-slip, 32...
Third joint, 33...Third joint motor, 34.39
...Leg, 35... Fourth joint, 38... Fourth joint motor, 40... Steering motor, 41... Rear wheel,
42... Drive motor, 51... Main body, 53...
Main body support stand, 54... ball screw, 63... front wheel,
73... Rear wheel, 64.74... Anti-slip, 92...
・Front wheel, 93...Non-slip. Figure 3 ■ Figure 5 ■ ■ Figure 4 (a) Figure 6 Atsushi Figure 8 Figure 7 Figure 17 Figure 18

Claims (4)

[Claims] (1) A traveling device that travels by driving a plurality of multi-jointed leg wheels, including a main body having a ground surface, front and rear leg wheels and leg wheel joint drive means that are rotatably attached to the left and right sides of the main body. At least one of the front and rear leg wheels has a wheel provided at the joint so as to be able to touch the ground, and a non-slip attached to the tip of the leg rotatable by the leg wheel joint drive means, and at least one of the front and rear leg wheels has a 1. A traveling device using leg wheels, characterized in that the vehicle travels by selecting either the wheels or the non-slip ground contact depending on the conditions. (2) The traveling device using leg wheels according to claim 1, wherein the other set of the leg wheels is attached to the main body via a multi-joint and has a driving means. (3) The leg wheels according to claim 1, wherein both front and rear sets of the leg wheels include wheels that are provided so as to be able to touch the ground at the joint portions, and anti-slips that are attached to the tips of the legs that are rotatable by joint drive means. A traveling device using (4) The traveling device using leg wheels according to any one of claims 1 to 3, wherein the main body is supported by a main body support portion having vertical movement adjustment means, and the center of gravity position of the main body can be adjusted. .