JPH09240484A - Moving device capable of ascending/descending stairs - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve operability and stability regarding a traveling mode switching operation within a limited space by preferentially performing, if an inversion mode command is outputted, interruption processing for the command of another mode and automatically returning the processing to an original mode when the outputting of the inversion mode command is stopped. SOLUTION: In a moving device capable of ascending/descending stairs, a mode changing switch 72 is provided in an operation box and a mode command thereby selected is sent to the mode determination processing means of a mode determination control means Z. An inversion command switch 90 is also provided in the operation box and when an inversion command is sent to a mode determination processing means 80, mode determination is performed therein and a determination command is sent to a speed command means 81. But in this case, while the command of an inversion mode is outputted, interruption processing is preferentially performed for another mode command which outputs an inversion speed command so as to perform inversion in a reverse direction. When the outputting of the inversion command is stopped, processing is automatically returned to an original mode.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving device capable of going up and down stairs.

[0002]

2. Description of the Related Art As a moving device capable of going up and down stairs,
For example, as disclosed in Japanese Examined Patent Publication No. 1-17897, there is one having a handle, a luggage loading section, traveling wheels, an electric motor whose rotation direction can be switched, and a speed reducer.

This moving device performs forward and reverse rotations at a constant speed by means of a rotation direction changeover switch, and
It is possible to select two modes of raising the vehicle (raising) and lowering it (falling). In such a single-function vehicle, by installing a seesaw switch in the grip portion, the function of going up and down stairs is satisfied.

[0004]

Such a moving device has an elevating function, but does not have a self-propelled function on a flat ground. By the way, when it is desired to suddenly change the traveling direction while traveling, there is a fear that the changeover switch is erroneously operated due to the surrounding environment, for example, at a landing of a narrow staircase.

The present invention has been made in view of the above point, and makes the operability of the switching operation of the traveling mode associated with the change of the advancing / retreating direction in a limited space simpler and more stable. It is an object of the present invention to provide a moving device that can move up and down stairs.

[0006]

In order to solve the above-mentioned problems and to achieve the object, an invention according to claim 1 is a steering wheel, a vehicle body on which luggage is loaded, and a traveling device for supporting the vehicle body. In a moving device that has a motor capable of driving the wheels of the traveling device to switch the rotation direction, and that can move up and down stairs, mode switching for switching between forward mode, reverse mode, stair climb mode, and stair descent mode Means and
The reversing command means for instructing the reversing mode and the judgment of each of the above-mentioned modes are performed, and while the command of the reversing mode is being output, the interrupt processing is preferentially interrupted with respect to the command of the other mode, and the reverse of the other mode commands. A mode determination control unit that outputs a reversal speed command so as to reverse the direction and automatically returns to the original mode when the output of the reversal mode command is stopped.

No matter which mode the vehicle is traveling in, erroneous operation during an emergency avoiding operation can be prevented by reversing the drive rotation direction only by a command in the reversing mode.
When the output of the reversal mode command is stopped, the original mode can be automatically restored, so that the vehicle's forward and backward movements and forward movements (or vice versa) are continuously linked to each other, enabling quick turnover and effective Is.

In the moving device capable of going up and down the stairs according to the second aspect of the present invention, the mode determination control means issues a slow stop speed command at the start and end of the reversing speed command, and then performs a slow start. It is characterized by issuing a speed command.

Since the deceleration is smoothly performed and the reversal acceleration is continuously performed, the shock is small, and particularly, the shock is small and the effect is great during the ascending and descending of the stairs.

In the moving device capable of ascending and descending stairs according to the third aspect of the present invention, the vehicle speed V1 in the reversal command is │V1│ <│V0 with respect to the pre-reversal vehicle speed V0 by the mode determination control means.
It is characterized in that it is set to be |.

The moving speed should be set within an appropriate range depending on the stairs, level ground, and moving direction.
If the vehicle speed at the time of reversal is simply set to V1 = -V0, the traveling direction and the vehicle speed may not be balanced, and there is a risk of impeding operation. Therefore, the vehicle speed V1 during the reversal command and the vehicle speed V0 before the reversal
Decelerates the vehicle speed at the time of reversal with respect to the mode V0 before the reversal by setting | V1 | <| V0 |, thereby balancing the moving direction and the vehicle speed.

In the moving device capable of moving up and down the stairs according to the fourth aspect of the present invention, the reversing command means is composed of a reversing command switch arranged near the grip of the handle, and the reversing command switch is operated. The reversing mode is continuously maintained, and the original mode is automatically restored by opening the reversing command switch.

By arranging the reversal command switch near the grip of the steering wheel, the reversal command switch can be used as a substitute for changing the advancing / retreating direction particularly on the way of the stairs, and it is not necessary to operate the grip of the steering wheel to release the hand. Therefore, the vehicle can be held reliably and the vehicle can be operated smoothly. By pushing the reversing command switch and reversing it, and releasing it automatically, it is possible to effectively turn the vehicle forward and backward and forward (or vice versa) continuously, and quickly change the direction. In addition, the actions operated during this period are only two actions of pushing and releasing, which is very simple.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a moving device capable of ascending and descending stairs according to the present invention will be described below with reference to the drawings.
1 is a side view of a moving device that can move up and down stairs, FIG. 2 is a front view of a moving device that can move up and down stairs, FIG. 3 is a rear view of a moving device that can move up and down stairs, and FIG. 4 is a wheel side of a drive device. Is a cross-sectional view showing a cross-sectional view taken along line IV-IV in FIG.
FIG. 5 is a side view showing the configuration inside the wheel support, FIG. 6 is a control circuit diagram of a moving device that can move up and down stairs, and FIG. 7 is an operation timing chart of the moving device that can move up and down stairs.

The moving device capable of moving up and down the stairs is shown as an example configured as a carriage capable of carrying not only flat roads but also stairs. In these drawings, reference numeral 1 is a trolley according to this embodiment, and the trolley 1 has a structure in which a vehicle body frame 2 carrying a load W is supported by a traveling device 3 so that the trolley 1 is driven by human power or motor drive. I am configuring.

The vehicle body frame 2 is formed by combining tubular bodies, and is composed of a lower frame 4 connected to the traveling device 3 and receiving a load of the luggage W, and a portion of the lower frame 4 on the rear side of the vehicle body. It is composed of a handle support frame 5 extending upward.

The lower frame 4 is formed by providing the main frame 4a with a luggage carrier support frame 4b, an electrical equipment storage box 4c, a front cover 4d, a bumper 4e, etc., and the luggage carrier 6 is placed and fixed on the main frame 4a. ing. The luggage carrier 6 is formed in a box shape that opens upward so that the lower portion of the luggage W can be stored.
It is arranged inside the space surrounded by the luggage carrier support frame 4b. The upper edges of the left and right side plates of the luggage carrier 6 and the left and right side portions of the luggage carrier support frame 4b are respectively inclined rearward and upward so that the luggage W
It is configured so that work can be done easily when putting or lowering.

The front end of the luggage carrier support frame 4b is the main frame 4a.
And the rear end is welded above the main frame weld of the handle support frame 5 welded to the rear end of the main frame 4a. With such a structure, the luggage carrier support frame 4b functions as a reinforcing material, and the joint strength between the main frame 4a and the handle support frame 5 can be increased.

The electrical equipment storage box 4c is formed of a metal material into a box shape that opens upward and is welded to the front side of the main frame 4a. The electrical equipment storage box 4c is shown in FIG.
The battery 7 serving as the power source of the traveling device 3 shown in FIG. 2 and the controller 8 for controlling the traveling device 3 are housed. Also,
On the lower surface of the electrical component storage box 4c, a stand 9 for welding the carriage 1 in a substantially horizontal state on a flat road is welded.

The handle support frame 5 has a support shaft 5a supported at its upper end so that the axis of the handle support frame 5 extends in the left-right direction of the vehicle body, and the handle 10 is swingably mounted in the vehicle body front-rear direction via the support shaft 5a. The handle 10 is attached to both axial ends of the support shaft 5a, and the angle with respect to the handle support frame 5 can be adjusted by a screw lock 11 provided on the shaft end of the support shaft 5a on the right side of the vehicle body. .

By loosening the screw lock 11,
By swinging the handle 10 around the support shaft 5a, the angle of the handle 10 can be changed according to the physique of the driver or the topography of the work site (for example, the inclination angle of stairs). Further, by swinging the handle 10 toward the rear side of the vehicle body as indicated by a chain double-dashed line A in FIG. 1, the trolley 1 can be loaded into an automobile or the like while the luggage W is loaded. Luggage W
In the state where the vehicle is not loaded, the handle 10 is swung to the front side of the vehicle body as shown by the chain double-dashed line B in FIG.
This dolly 1 can be loaded into an automobile or the like with the occupied space as narrow as possible.

A grip 10a held by the driver is provided at the ends of the pair of left and right handles 10, and the handle 10 located on the right side of the vehicle body is connected to the accelerator lever 12 and the accelerator lever 12 via a wire 12a. A controlled variable output device 13 is attached. Control output device 1
3 has a structure in which the mechanical operation amount of the accelerator lever 12 is converted into an electric signal by the potentiometer 13a shown in FIG. A reversing command switch 90 is attached near the grip 10a of the handlebar 10 located on the left side of the vehicle body. As described above, the reversal command means X is composed of the reversal command switch 90 arranged near the grip 10 a of the handle 10.

The main switch 14 and the clutch lever 1 for operating the clutch are provided near the swing shaft of the handle 10, that is, at the upper end of the handle support frame 5.
The operation box 16 including 5 and 5 is fixed. The lead wire 14a connected to the main switch 14 and the controlled variable output device 13
As shown in FIG. 3, the lead wire 13b connected to the tubular body 5 is located on the right side of the vehicle body in the handle support frame 5.
It is guided to the b side and is guided to the lower part of the vehicle body through the inside of the hollow portion of the tube body 5b. As shown in FIG. 3, the lead wire 90a connected to the inversion command switch 90 is led to the side of the tubular body 5c located on the left side of the vehicle body in the handle support frame 5, and guided to the lower portion of the vehicle body through the hollow portion of the tubular body 5c. There is.

Further, the lead wires 13b led to the lower part of the vehicle body,
14a and 90a extend to the front side of the vehicle body along the main frame 4a and are connected to the controller 8. The clutch wire 15a connected to the clutch lever 15 is the operation box 1
6 extends substantially right below and is supported by the axle portion of the traveling device 3 as shown in FIG.

The traveling device 3 of the trolley 1 has a traveling device main body 23 in which the left and right axle portions 21 and the front portion 22 are connected to the main frame 4a and three wheels 24 rotatably supported by the axle portion 21. It is composed of a pair of left and right wheel supports 25 rotatably provided with respect to each other, an electric motor 26 attached to the front part of the traveling device body 23, and the like. The traveling device main body 23 is configured by accommodating a speed reducer 27 having a clutch connected to the left and right axle portions 21, a differential device 28 having a limiting mechanism, and a pair of left and right axles 29. The speed reducer 27 having a clutch and the differential device 28 having a limiting mechanism are conventionally well-known devices, and a description thereof will be omitted.

In the connecting structure of the axle portion 21, the connecting member 32 is fitted on the outer peripheral portion of the axle portion 21, and the upper end portion of the connecting member 32 is screwed to the support bracket 33 extending downward from the main frame 4a. I have stopped. In the connecting structure at the front portion 22, the connecting bolt 35 is inserted into the support bracket 34 extending downward from the main frame 4a.

As shown in FIG. 1, the axle support 25 has a housing 39 formed in a substantially triangular shape in a side view, in which the three wheels 24 are rotatably mounted at the top of the triangle, and the inside of the housing 39. As shown in FIGS. 4 and 5, the structure is such that power is transmitted from the axle 29 to the wheels 24 via the first to third gears 40 to 42 having different diameters provided. The largest diameter first gear 40 is spline-fitted to the axle 29, and the housing 39 is rotatably supported by the boss portion of the first gear 40 via a bearing 43. The second gear 41 is rotatably supported by a support shaft 44 sandwiched in the housing 39 via a bearing 45. Third gear 42
Forms a shaft portion projecting from the housing 39 on itself, supports the shaft portion on the housing 39 by means of a rudder 46, and screw-fastens the wheel 24 to the projecting end portion of the shaft portion by spline fitting. are doing. With this configuration, the wheels 24 are attached to the wheel support 25.
Three pieces will be provided at equal intervals around 9.

In the wheel support 25 thus constructed,
When the first gear 40 rotates together with the axle 29, the rotational torque is transmitted to the three third gears 42 through the three second gears 41, and the rotation torque is transmitted to the three third gears 42 together.
All the individual wheels 24 rotate in the same direction as the axle 29. At this time, when the wheel 24 located on the lower left side of the three wheels 24 shown in FIG. 5 comes into contact with the vertical surface (kicking surface) V of the stairs and rotation is restricted, the axle 29 and the first gear 40 are rotated. If the direction of rotation of is the direction indicated by arrow r in the figure, the housing 3
9 rotates relative to the first gear 40 by the driving force and rotates around the axis of the wheel 24 fixed in the direction indicated by arrow R in the figure. By rotating the housing 39 in this manner, the wheels 24 located on the upper side in FIG. 5 are transferred onto the horizontal surface (step surface) H of the stairs. This trolley 1 is configured to go up and down stairs by using the above-mentioned phenomenon.

The trolley 1 having the above-described structure is provided with the traveling device 3
The heavy object is arranged so that the center of gravity in the state where the body frame 2 is connected to the vehicle body 2 and the luggage W is loaded on the luggage carrier 6 is the position indicated by the symbol G in FIG.

In order to drive the carriage 1 on the road surface L, the traveling device main body 23 is rotated clockwise around the axle 29 together with the vehicle body frame 2 with respect to the wheel support 25 from the horizontal state, and the stand 9 is moved on the road surface. It is performed apart from L. At this time, since a moment around the axle acts on the handle 10 due to the inclination of the vehicle body and the luggage W, in the trolley 1, the wheel support 25 is attached to the vehicle body frame 2 by the stopper 51 provided at the lower portion on the rear side of the vehicle body. Is rigidly connected and has a structure that offsets this moment.

The stopper 51 is, as shown in FIG.
The engagement plate 52 is formed by welding to the tip of the metal case of the book, and is attached to both axial ends of the swing shaft 53 supported in the left and right direction of the vehicle body at the lower rear part of the handle support frame 5. And the engaging plates 52 are fixed so as to be positioned near the rear of the axle 29. The engagement protrusions 47 of the wheel support 25 are engaged with the engagement plate 52 from the opening toward the rear side of the vehicle body.

Of these left and right stoppers 51, a stopper 51 located on the right side of the vehicle body is welded with an operation lever 56 for swinging these stoppers 51 in the longitudinal direction of the vehicle body about a swing shaft 53. is there. The operation lever 56 is provided with a holding mechanism for holding the operation lever 56 at the non-engagement position or the engagement position, and has a structure for holding the left and right stoppers 51 together with the operation lever 56 at a desired position.

Next, in this state, the handle 10 is pulled rearward of the vehicle body, and the vehicle body frame 2 is swung around the axle with respect to the wheel support 25 so that the stand 9 at the front end is separated from the road surface L. With this configuration, the engagement plate 52 of the stopper 51 slides on the engagement protrusion 47 while being pressed against the engagement protrusion 47 by gravity, and thereafter, an engagement groove (not shown) connected to the upper side of the engagement plate 52 is formed. It engages with the engagement protrusion 47.

Since the stopper 51 is positioned at the engaging position in this way, the vehicle body frame 2 is rigidly connected to the wheel support 25 via the stopper 51, so that the stand 9 is separated from the road surface L. The vehicle body frame 2 cannot rotate about the axle 29 even in the separated state.

The carriage 1 can carry the luggage W by traveling on a flat road surface L in an inclined state.
When traveling, by manipulating the clutch lever 15 and disconnecting the dog clutch of the speed reducer 27 having the clutch, the human can manually move forward, reverse and turn left and right while the left and right four wheels are grounded. You can At this time, the two wheels 24, 2 on one side installed on the road surface L
4 rotate with respect to the wheel support 25 and the axle 29 rotates. Since the left and right axles 29, 29 are connected via the differential device 28 having a limiting mechanism, they are less susceptible to the influence of the inner wheel difference when turning in the left and right directions.

When the dog clutch is disengaged during such manual driving, the rotation of the axle 29 is not transmitted to the electric motor 26 and the reduction gear group in the vicinity of the electric motor 26, so that the load during traveling becomes unnecessarily large. Can be prevented.

The trolley 1 can be driven by the electric motor 26 in addition to being driven by the human power described above. When the electric motor 26 is driven, the dog clutch is engaged and the main switch 14 provided on the operation box 16
The accelerator lever 12 is operated in the state where is turned on.
When the accelerator lever 12 is operated, the controller 8 drives the electric motor 26 based on the output from the potentiometer of the controlled variable output device 13. At this time, the rotation of the electric motor 26 is transmitted from the dog clutch to the differential device 28 having the limiting mechanism, further from the differential device 28 to the left and right axles 29, and further transmitted to the wheels 24 via the power transmission system. .

The motor drive circuit of the controller 8 is constructed as shown in FIGS. The operation box 16 is provided with a mode changeover switch 72 which constitutes a mode changeover means Y for changing over between a forward mode, a reverse mode, a stair climb mode and a stair descent mode.
The mode switching is performed according to the selection position of 2, and FIG.
As shown in (a), a mode command selected from the forward mode, the reverse mode, the stair climb mode, and the stair descent mode is sent to the mode determination control means Z. The mode determination control means Z has a mode determination processing means 80 and a speed command means 81, and the mode command is input to the mode determination processing means 80.

Further, from the reversing command switch 90 constituting the reversing command means X for commanding the reversing mode, FIG.
As shown in (b), the inversion command indicates the mode determination processing means 80.
Sent to The mode judgment processing means 80 judges the mode and sends a judgment command to the speed command means 81.
As shown in (c), while the inversion mode command is being output, interrupt processing is preferentially interrupted with respect to the commands in other modes, and the inversion speed command is output so as to invert in the direction opposite to the other mode commands. , When the output of the reverse mode command is stopped, the original mode is automatically restored.

Therefore, no matter which mode the vehicle is traveling in, the drive rotation direction can be reversed only by the command of the reversing mode, so that an erroneous operation during an emergency avoiding operation can be prevented. In addition, when the output of the reversal mode command is stopped, the original mode can be automatically restored, so that the vehicle's turn-back operation for forward, backward, forward (or vice versa) is continuously connected, enabling quick turnaround. It is effective.

The reversal command means X is a reversal command switch 9 arranged near the grip 10a of the handle 10.
0, the reversal command switch 90 enters the reversal mode while the switch 90 is continuously operated, and when the reversal command switch 90 is opened, the original mode is automatically restored. By arranging the reversal command switch 90 near the grip 10a of the handle 10, the reversal command switch 90 can be used as a substitute for changing the advancing / retreating direction particularly in the middle of stairs.
Since it is not necessary to operate the grip 10a by releasing the hand, the vehicle can be held reliably and the vehicle can be operated smoothly. By pushing the reversal command switch 90 and reversing it and releasing it automatically, the turning operation of the vehicle for forward movement, backward movement, forward movement (or vice versa) is continuously connected, and the direction can be quickly changed, which is effective. In addition, the actions operated during this period are only two actions of pushing and releasing, which is very simple.

In the speed command means 81, the controlled variable output device 1
The speed command is issued based on the output from the potentiometer 13a of No. 3. Further, the speed command means 81 gives a slow stop speed command at the start and end of the reversal speed command, and thereafter gives a slow start speed command. As a result, the deceleration is smoothly performed and the reversal acceleration is continuously performed, so that the shock is small, and in particular, the shock is small while the stairs are going up and down, and the effect is great.

Further, in the speed command means 81, the vehicle speed V1 in the reverse command is │V1│ <│V0 with respect to the vehicle speed V0 before the reverse.
It is set to be |. The traveling speed should be set within an appropriate range depending on the stairs, the level ground, and the traveling direction. However, if the vehicle speed at the time of reversal is simply set to V1 = -V0, the traveling direction and the vehicle speed will not be balanced and operation will be impaired. It may cause trouble. Therefore, the vehicle speed V1 during the reversal command
Then, the vehicle speed before reversal V0 is set to | V1 | <| V0 | to reduce the vehicle speed during reversal with respect to the mode V0 before reversal,
Balance the moving direction and the vehicle speed.

Encoder 7 provided at the shaft end of electric motor 26
For the output of No. 1, the frequency signal is converted into a voltage through the discriminating means 82 and the FV converting means 83, and this output is combined with the output from the speed commanding means 81, and the current commanding means 85 is supplied through the PI controller 84. Send to. In the current command means 85, the target current value iα is set based on the selected position of the mode changeover switch 72 or the position of the inversion command switch 90,
The structure is such that the value of the current flowing to the electric motor 26 is increased or decreased so that the feedback current value i _FB detected by the electric motor side current detector 73 matches the target current value iα.

As shown in FIG. 7D, the mode changeover switch 72 has a structure capable of switching between forward and reverse and setting the maximum speed, and is attached to the operation box 16. . A standby lamp indicated by reference numeral 74 in FIG. 6 is also attached to the operation box 16. Also,
In FIG. 6, reference numeral 75 is an H bridge driver for setting the rotation direction of the electric motor 26, and 76 is a main relay.
When a control signal from the controlled variable output device 13 is input in the N state, the positive electrode side contact R1 of the electric motor 26 is connected to the battery side contact R2 to supply power to the electric motor 26.

In this main relay 76, even when the main switch 14 is in the ON state, when the accelerator lever 14 is returned to the initial position, the contact R1 on the positive electrode side is the motor 26.
Connected to the negative contact R3 of
(In FIG. 6, reference characters a, b, c, d are shown around the electric motor 26.
Is shown) is turned off. That is,
By returning the accelerator lever 14 during traveling, a braking force can be obtained due to the electric power generated by the electric motor 26. Therefore, when the descent of the hill or stairs, the vehicle 1 is decelerated and stopped by the braking force. You can Therefore, the burden on the driver is small.

Next, when driving up the stairs by driving the electric motor 26, the accelerator lever 12 is operated with the mode changeover switch 72 set to move backward at a low speed. When going up manually, pull the handle 10 upward. By doing so, the wheel support 25 rotates about the axle 29 with respect to the vehicle body frame 2, and the wheel 2 located on the upper side is rotated.
4 moves on the tread H of the second step. Then, the wheels on the second step roll on the tread surface H, and the wheels 24 on the road surface L roll on the kick surface V so as to crawl on this surface, whereby the vehicle body moves to the second step. It will be noticeable.

When one of the left and right wheels 24 comes into contact first when the wheel 24 comes into contact with the second stepping surface V, a differential device having a limiting mechanism provided in the traveling device 3 is provided. Two
Although the wheel 24 that was previously abutted by the differential mechanism portion of 8 stops, the other wheel 24 continues to rotate.
Then, when both the left and right wheels contact the kicking surface V, the left and right wheel supports 25 start to rotate at substantially the same time.
That is, even when the traveling direction of the vehicle body is inclined with respect to the extending direction of the stairs, the stairs can be climbed while correcting this. Hereinafter, the above-described operation can be repeated to reach the uppermost stage.

When going down the stairs, the carriage 1 is advanced in the same direction as when going up. Wheel 24 on the front side in the traveling direction
When the vehicle descends from the road surface L to the first step on the down side, the wheel support 25 rotates in the direction opposite to that at the time of uphill, and the wheels 24 on the front side roll down along the driving surface V on the first step. . Then, when the wheel 24 is placed on the tread surface H of the first step, the wheel support 25 rotates in the direction and the next wheel 24 is moved to the first step. By repeating this operation, it is possible to descend the stairs to the lowest stage.

Further, in this embodiment, an example in which the multi-wheel revolving type moving device according to the present invention is applied to the truck 1 is shown, but the present invention is not limited to the truck and goes up and down stairs. Any device can be applied.

[0051]

As described above, according to the invention of claim 1, no matter which mode the vehicle is traveling in, the drive rotation direction can be reversed only by the command of the reversing mode, so that the emergency avoidance operation can be performed. It is possible to prevent erroneous operation. When the output of the reversal mode command is stopped, the original mode can be automatically restored, so that the vehicle's forward and backward movements and forward movements (or vice versa) are continuously linked to each other, enabling quick turnover and effective Is.

According to the second aspect of the present invention, the slow stop speed command is issued at the start and end of the reversal speed command, and the slow start speed command is thereafter issued, so that the speed is smoothly decelerated and the reverse acceleration is continuously performed. Therefore, there is little shock, and in particular, there is little shock during the ascending and descending of stairs, and the effect is great.

According to the third aspect of the present invention, the moving speed should be set in an appropriate range depending on the stairs, the level ground, and the moving direction. However, the vehicle speed V1 during the reversal command and the vehicle speed V0 before the reversal are: If the vehicle speed at the time of reversal is simply set to V1 = -V0, the traveling direction and the vehicle speed may not be balanced, which may impair operation. However, | V1 | <| V0 | is reversed from the mode V0 before the reversal. By reducing the hourly vehicle speed, the moving direction and the vehicle speed are balanced.

According to the fourth aspect of the present invention, since the reversal command switch is arranged in the vicinity of the handle grip, the reversal command switch can be used as a substitute for changing the advancing / retreating direction particularly on the way of the stairs. Since there is no need to separate and operate the vehicle, the vehicle can be held securely and the vehicle can be operated smoothly. By pushing the switch for reversing command, reversing it, and releasing it automatically, you can move forward, backward, forward (or vice versa).
It is effective because the turning operation of the vehicle is continuously connected to change the direction quickly. In addition, the actions operated during this period are only two actions of pushing and releasing, which is very simple.

[Brief description of drawings]

[0055]

FIG. 1 is a side view of a moving device that can move up and down stairs.

[0056]

FIG. 2 is a front view of a moving device that can move up and down stairs.

[0057]

FIG. 3 is a rear view of a moving device that can move up and down stairs.

[0058]

FIG. 4 is a cross-sectional view showing a wheel side of the drive device, which is a cross-sectional view taken along line IV-IV in FIG.

[0059]

FIG. 5 is a side view showing a configuration inside a wheel support body.

[0060]

FIG. 6 is a control circuit diagram of a moving device that can move up and down stairs.

[0061]

FIG. 7 is an operation timing chart of a moving device that can move up and down stairs.

[0062]

[Explanation of symbols]

 1 bogie 2 body frame 3 traveling device 10 handle 26 electric motor 27 speed reducer W luggage X inversion command means Y mode switching means Z mode determination control means

Claims (4)

[Claims] 1. A stirrer having a steering wheel, a vehicle body on which luggage is loaded, a traveling device supporting the vehicle body, and an electric motor for driving the wheels of the traveling device to switch the rotation direction, and capable of going up and down stairs. In such a moving device, a mode switching means for switching between a forward mode, a reverse mode, a stair climb mode, and a stair descent mode, a reversal command means for commanding a reversal mode, and a reversal mode command for judging each mode. While outputting, the interrupt processing is given priority to other mode commands, the reverse speed command is output so as to reverse in the direction opposite to the other mode commands, and the output of the reverse mode command is stopped. And a mode determination control unit that automatically returns to the original mode, a moving device capable of moving up and down stairs. 2. The stairs according to claim 1, wherein the mode determination control means issues a slow stop speed instruction at the start and end of the reversal speed instruction, and then issues a slow start speed instruction. A moving device that can move up and down. 3. The mode judgment control means is arranged such that the vehicle speed V1 in the reversing command is | V1 | <| V with respect to the vehicle speed V0 before reversing.
The moving device capable of moving up and down the stairs according to claim 1 or 2, wherein the moving device is set to 0 |. 4. The reversing command means is composed of a reversing command switch arranged near the grip of the handle, and the reversing mode is set while the reversing command switch is continuously operated. The moving device capable of moving up and down stairs according to any one of claims 1 to 3, wherein the original mode is automatically restored by opening the door.