JPH08216892A - Stairway lifting car - Google Patents

Abstract

PURPOSE: To provide a small-sized stairway lifting car that is usable without a helper even in such a stairway as having no rail equipment, and further relatively simple in terms of mechanism. CONSTITUTION: Both front and rear driving wheels 2 and 3 are installed in a car body 1, driving them with a driving means. A central part of a seesaw lever 7 is pivotally supported on this body 1, making it free of rocking motion vertically in a seesaw manner, and rocking it with a rocking means 42. A front leg car 12 and a rear leg car 13 are pivotally supported in front and in the rear of the seesaw lever 7, rotating them with two rotational means 43 and 44. Conjointly with a descent of the seesaw lever 7, these leg cars 12 and 13 are rotated downward, the front or rear driving wheel 2 or 3 is made go up as far as a portion of one step height of a stairway. In addition, each level difference of front stairs of these front and rear driving wheels 2 and 3 is detected by two level difference detecting sensors 28 and 30. Subsequently, a driving wheel driving means 41, the seesaw lever rocking means 42, both the leg car rotational means 43 and 44 are controlled by a control unit 26 on the basis of the detected results of these two sensors 28 and 30.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stair climbing vehicle, particularly front and rear drive wheels, a seesaw rod whose front and rear swing up and down in the middle of the front and rear drive wheels, and a vertical swing before and after the seesaw rod. The present invention relates to a stair climbing vehicle having front and rear casters and capable of smoothly climbing up and down stairs without assistance.

[0002]

2. Description of the Related Art Conventionally, as stair climbing devices, there are known stair climbing devices that are supported by rails provided along the stairs to ascend and descend, and those that run at corners of stairs by crawlers. However, the former cannot be used in the absence of rail facilities, and there is the disadvantage that it costs a great deal to install rails on all stairs, while the latter requires an assistant, and the mechanism is complicated and large. There are difficulties.

[0003]

SUMMARY OF THE INVENTION Therefore, it is an object of the present invention to provide a small stair climbing vehicle which can be used without a helper even on stairs without rail equipment and has a relatively simple mechanism.

[0004]

According to the present invention, in order to solve the above-mentioned problems, a pair of left and right front drive wheels 2 and rear drive wheels 3 are provided in front of and behind the vehicle body 1, respectively, and are driven by drive means 41, The central portion of the seesaw rod 7 is pivotally supported on the central portion of the vehicle body 1 so that the front and rear can be swung up and down in a seesaw manner, and swung by the swinging means 42. The seesaw rod 7 has front and rear portions, respectively. The front end wheels 12 and the rear end wheels 13 are pivotally supported at their base end sides, and auxiliary wheels 16 and 17 are provided at the tip end sides thereof, respectively, and in conjunction with the lowering of the seesaw rod 7, front or rear drive wheels 2, 3 In order to raise the vehicle by one step height of the stairs, the front leg wheel 12 or the rear leg wheel 13 is made rotatable in the vertical direction, which is rotated by the rotating means 43, 44, and the step detecting means 2
8 and 30 are provided so as to detect the steps of the stairs in front of the front drive wheel 2 and the rear drive wheel 3, respectively, and the control means 26 detects the steps of the step means 28 and 30 based on the detection results of the drive means 41 and the shaking. A stair climbing vehicle is constructed by controlling the moving means 42 and the rotating means 43, 44.

[0005]

In the stair climbing vehicle of the present invention, the front and rear drive wheels are driven to drive the vehicle on normal level ground. For example, when the front drive wheel detects a step on the stairs, the front drive wheel is lowered by one step height by lowering the front of the seesaw rod and rotating the front leg wheel downward. In this state, when the rear drive wheel detects a step on the stairs, the rear drive wheel is lowered and the rear caster wheel is rotated downward to raise the rear drive wheel by one step height. . In this manner, the seesaw rod is swung, and the front and rear casters are rotated to lift the front and rear drive wheels, so that the step on the stairs is overcome.

[0006]

An embodiment of the present invention will be described with reference to the drawings. 1 is a schematic front view of a stair lift according to the present invention, FIG. 2 is a schematic plan view of a stair lift according to the present invention, FIG. 3 is an explanatory view of a sensor mounting portion, and FIG. 4 is a stair lift according to the present invention 5 is a control block diagram of the vehicle, and FIGS. 5 to 8 are explanatory views showing operations when the stair climbing vehicle according to the present invention moves up and down the stairs.

The illustrated stair climbing vehicle has a pair of front drive wheels 2 and rear drive wheels 3 which are provided on the left and right sides of the front and rear of the vehicle body 1, respectively. A front axle 4 connecting the left and right front drive wheels 2 and a rear axle 5 connecting the left and right rear drive wheels 3 are connected to a drive motor 6 to drive the front and rear drive wheels 2, 3. The axles 4, 5 and the drive motor 6 constitute the front-rear drive wheel drive unit 41. As the transmission mechanism in the drive wheel drive unit 41, other equivalent mechanisms such as chains and belts can be adopted instead of gears.

At the center of the vehicle body 1, the center of the seesaw rod 7 in the front-rear direction is pivotally supported by a pivot 8. The seesaw rod 7 can swing up and down like a seesaw in the front and back. A gear 9 is fixed to a central pivot 8 fixed to the seesaw rod 7, and a gear 11 connected to a servomotor 10 meshes with the gear 9. Axis 8, gear 9,
The servo motor 10 and the gear 11 constitute a seesaw rod drive unit 42. As the transmission mechanism in the seesaw rod drive unit 42, other equivalent mechanisms such as chains and belts can be adopted instead of gears.

At the front part of the seesaw rod 7, a front leg wheel 12 is provided.
In the rear part, rear casters 13 are pivotally supported by pivots 14 and 15 on the base end side, respectively. Front and rear castors 12,13
Are equipped with auxiliary wheels 16 and 17 on the tip side, respectively. Gears 18 and 19 are fixed to pivots 14 and 15 fixed to the casters 12 and 13, respectively, and gears 22 and 23 connected to servomotors 20 and 21 mesh with the gears 18 and 19, respectively. There is. The pivots 14 and 15, the gears 18 and 19, the servomotors 20 and 21, and the gears 22 and 23 constitute front and rear leg drive units 43 and 44. The casters 12, 13 cooperate with the lowering of the seesaw rod 7 to raise the drive wheels 2, 3 in front of or behind the vehicle body 1 by one step height of the stairs.
By the servomotors 20 and 21, it is possible to rotate downward to stand upright, and to rotate upward to restore. The servomotors 20 and 21 are controlled by the controller 26 based on information from the tilt sensor 27 attached to the vehicle body 1 so that the casters 12 and 13 are always rotated to the vertical position regardless of the tilt angle of the vehicle body 1. To be done.

A horizontal frame 24 is provided on the vehicle body 1, and a seat and a bed (not shown) are mounted on the horizontal frame 24. The horizontal frame 24 is supported by the vehicle body 1 via a link mechanism 25. The link mechanism 25 is controlled by the control device 26 based on the information from the tilt sensor 27 attached to the vehicle body 1, and operates so as to always maintain the horizontal of the horizontal frame 24.

A front step detecting sensor 28 for detecting a step on the stairs in front of the front drive wheels 2 and a front tread detecting sensor 29 for detecting the tread of the stairs are provided at the front of the vehicle body 1 at the rear. Is a rear step detection sensor 30 for detecting the step of the stairs in front of the rear drive wheel 3, a rear tread sensor 31 for detecting the tread of the stairs, and an end of the tread of the stairs when descending. Pre-reading sensors 32 are attached respectively. As shown in FIG. 3, these sensors 28, 29, 3
The mounting seats 33 and 34 of 0, 31, and 32 are controlled so that they are always kept horizontal or vertical. That is, the mounting seats 33 and 34 are connected to the pivots 35 and 36, the link mechanism 37, and the mounting seat drive portion 39 such as the servomotor 38. The mounting seat drive unit 39 is controlled by the control device 26 based on the information from the tilt sensor 27,
The fixed postures of the mounting seats 33 and 34 are always maintained.

The control device 26 is provided with a microcomputer, and as shown in FIG. 4, an inclination sensor 27, a front step detecting sensor 28, a front tread detecting sensor 29, a rear step detecting sensor 30, a rear tread detecting sensor 31, Pre-reading sensor 32,
The input / output unit 40 is connected. The front and rear step detection sensors 27, 29 detect that the front or rear drive wheels 2, 3 approach a step of the stairs by a predetermined distance when climbing the stairs,
The front and rear tread detecting sensors 28 and 30 detect that the front and rear drive wheels 2 and 3 have respectively deviated from the tread of the stairs when descending the stairs, and the look-ahead sensor 32 detects the time when the stairs descend. It is for detecting the distance to the end of the tread of the stairs.

Further, the control device 26 includes sensors 27, 2
Mounting seat drive part 39 for driving the mounting seats 33, 34 of 8, 29, 30, 31, 32, front and rear drive wheels 2, 3
A drive wheel drive unit 41 for driving the vehicle, a seesaw rod drive unit 42 for driving the seesaw rod 7, a front leg drive unit 43 for driving the front leg vehicle 12, and a rear leg for driving the rear leg vehicle 13. A vehicle drive unit 44 and a link drive unit 45 for driving the link mechanism 25 are connected.

Next, the operation of the stair climbing vehicle will be described with reference to FIGS. When the main switch of the input / output unit 40 is turned on and the initial setting is performed, the normal traveling mode is set,
The seesaw rod 7 is horizontal, and the front and rear casters 12, 13 are pulled up to the seesaw rod 7 side. When the normal traveling mode is designated, the front and rear driving wheels 2 and 3 rotate in this state, and the stair climbing vehicle travels on a flat ground. The description of the steering will be omitted.

When the stair climbing mode is designated, the front and rear drive wheels 2 and 3 rotate and move forward to reach the position shown in FIG. 5A, and when the front step detecting sensor 28 detects the step of the stairs. Through the control device 26, the drive wheel drive unit 41 is stopped, the seesaw rod drive unit 42 is operated, the front leg drive unit 43 is operated, and the front of the seesaw rod 7 is lowered by a predetermined angle and the front leg drive unit is driven. 12 rotates clockwise by a predetermined angle to raise the front drive wheel 2 by one step height of the stairs (FIG. 5 (b)). When the ascending operation is completed, the drive wheel drive unit 41 operates again to move forward to reach the position shown in FIG.
When the front tread detecting sensor 29 detects that the front drive wheel 2 is completely placed on the tread of the stairs, the front of the seesaw rod 7 is raised by a predetermined angle, and the front leg wheel 12 is rotated counterclockwise by a predetermined angle. The front caster 12 is arranged at a position where it does not collide with the stairs, and the front drive wheels 2 contact the tread of the stairs.
(D). After that, the drive wheel drive unit 41 operates again to move forward, and when the front step detection sensor 28 detects the next step of the stairs, the series of operations described above are repeated, and the seesaw rod 7 and the nose gear 12 move forward. The driving wheels 2 are placed on the upper part of the stairs one after another. Then, when the rear drive wheels 3 come to the position shown in FIG. 6A and the rear step detection sensor 30 detects the step of the stairs, the drive wheel drive section 41 is stopped via the control device 26, and the seesaw is stopped. The lever drive unit 42 operates, the rear leg drive unit 44 operates, the rear of the seesaw rod 7 descends by a predetermined angle, and the rear leg wheel 13 pivots counterclockwise downward by a predetermined angle to rear drive. The wheel 3 is raised by one step height of the stairs (FIG. 6 (b)). When the ascending operation is completed, the drive wheel drive unit 41 operates again to move forward, reach the position shown in FIG. 5 (c), and confirm that the rear drive wheel 3 is completely on the tread surface of the stairs. Is detected, the rear part of the seesaw rod 7 is raised by a predetermined angle, the rear caster wheel 13 is rotated clockwise by a predetermined angle, and the rear caster wheel 13 is arranged at a position where it does not collide with stairs. Touches the tread of the stairs Fig. 6
(D). After that, the drive wheel drive unit 41 operates again to move forward, and when the rear step detection sensor 30 detects the next step of the stairs, the series of operations described above is repeated, and the seesaw rod 7 and the rear caster wheel 13 The rear drive wheels 3 are placed on the upper part of the stairs one after another. Thus, the stair climber climbs the stairs.

When descending the stairs, the stairs descending mode is designated, and the front and rear driving wheels 2 and 3 are rotated in the opposite direction to the upward direction and are retracted. 7A, when the look-ahead sensor 32 detects the end of the stairs, the drive wheels 2 and 3 stop, the rear part of the seesaw rod 7 descends, and the rear caster 13 descends. The rear drive wheels 3 are lifted, and the vehicle body 1 is supported by the front drive wheels 2 and the rear leg wheels 13 (FIG. 7B). Then, the drive wheels 2 and 3 rotate again and move backward, and when the drive wheels 2 and 3 rotate a predetermined number of times after the rear tread detecting sensor 30 detects the end of the stairs, the drive wheels 2 and 3 stop. At this time, the rear drive wheel 3 is located above the upper tread surface and above the lower tread surface (FIG. 7C). Next, the rear portion of the seesaw rod 7 rises and the rear caster wheel 13 also rises to ground the rear drive wheels 3 on the lower tread surface. When the drive wheels 2 and 3 rotate and the look-ahead sensor 32 detects the end of the stairs, the series of operations described above are repeated, and the rear drive wheels 3 descend the stairs one after another. Then, when the front drive wheel 2 comes to the position of FIG. 8A and the front tread detection sensor 29 detects the end of the tread, the drive wheels 2 and 3 stop and the front part of the seesaw rod 7 descends. At the same time, the nose gear 12 descends and the front drive wheels 2 rise,
The vehicle body 1 is supported by the rear drive wheels 3 and the front leg wheels 12 (see FIG. 8).
(B)). Next, the drive wheels 2 and 3 rotate again and retreat, and when the drive wheels 2 and 3 rotate a predetermined number of times after the front tread detecting sensor 29 detects the end of the stairs, the drive wheels 2 and 3 stop (Fig. 8 (c)). Next, the front portion of the seesaw rod 7 rises, and the front leg wheel 12 also rises to ground the front drive wheels 2 on the lower tread surface (FIG. 8 (d)). Then, when the drive wheels 2 and 3 rotate and the front tread detecting sensor 29 detects the end of the stairs, the above series of operations are repeated and the front drive wheels 2 descend the stairs one after another.

[0017]

As described above, according to the present invention, a pair of left and right front drive wheels 2 and rear drive wheels 3 are provided in front of and behind the vehicle body 1, respectively, and are driven by the drive means 41 so as to be located at the center of the vehicle body 1. , The center portion of the seesaw rod 7 is pivotally supported so that the front and rear can be freely swung up and down in a seesaw manner, and is swung by the swinging means 42, and the front and rear wheels 12 are respectively attached to the front and rear portions of the seesaw rod 7.
Also, the base end side of the rear caster wheel 13 is pivotally supported, and auxiliary wheels 16 and 17 are provided on the tip end side thereof, respectively, and in conjunction with the lowering of the seesaw rod 7, the front and rear drive wheels 2 and 3 are connected to the stairs. In order to raise the height by one step, the front leg wheel 12 or the rear leg wheel 13 is made rotatable in the vertical direction, and is rotated by the rotating means 43, 44, and the step detecting means 28, 30 are provided in front. The steps of the stairs in front of the drive wheels 2 and the rear drive wheels 3 are detected, and the control means 26 causes the step detection means 28, 30.
Since the stair climbing vehicle is configured so as to control the driving means 41, the swinging means 42, and the rotating means 43, 44 based on the detection result of No. 1, it is possible to use the stairs without rail equipment without an assistant, and the mechanisms are compared. It is possible to provide a simple stair climbing car.

[Brief description of drawings]

FIG. 1 is a schematic front view of a stair climbing vehicle according to the present invention.

FIG. 2 is a schematic plan view of a stair climbing vehicle according to the present invention.

FIG. 3 is an explanatory view of a sensor mounting portion of a stair climbing vehicle according to the present invention.

FIG. 4 is a control block diagram of a stair climbing vehicle according to the present invention.

FIG. 5 is an explanatory diagram showing the operation of the stair climbing car according to the present invention when climbing the stairs step by step.

FIG. 6 is an explanatory diagram showing the operation of the stair climbing car according to the present invention when climbing the stairs step by step.

FIG. 7 is an explanatory diagram sequentially showing an operation of the stair climbing vehicle according to the present invention when going down the stairs.

FIG. 8 is an explanatory diagram sequentially showing the operation of the stair climber according to the present invention when descending stairs.

[Explanation of symbols]

 1 vehicle body 2 front drive wheel 3 rear drive wheel 7 seesaw rod 12 front leg vehicle 13 rear leg vehicle 16 auxiliary wheel 17 auxiliary wheel 26 control means (control device) 28 step detecting means (step detecting sensor) 30 step detecting means (step detecting sensor) ) 41 driving means (driving wheel driving portion) 42 swinging means (seesaw rod driving portion) 43 turning means (front leg vehicle driving portion) 44 turning means (rear leg driving portion)

Claims (1)

[Claims] 1. A front drive wheel and a rear drive wheel, which are respectively provided on the left and right sides of the front and rear of the vehicle body, and a center portion in the front-rear direction is pivotally supported by the center portion of the vehicle body, and the front and rear swing up and down in a seesaw manner. A seesaw rod, and a base end side of each of the front and rear portions of the seesaw rod is pivotally supported, and an auxiliary wheel is provided on each of the front end sides of the seesaw rod. A front leg wheel and a rear leg wheel that are rotatable in the vertical direction so as to raise one step height of the stairs; drive means that drives the front and rear drive wheels; and swing means that swings the seesaw rod. A rotating means for rotating the front and rear leg wheels, a step detecting means for detecting a step on the front stairs of the front driving wheel and the rear driving wheel, respectively, and a detection result of the step detecting means. Based on the control means for controlling the drive means, the swing means, and the rotation means. Stairs vehicle characterized by comprising a means.