JPH10258781A - Carriage ascending and descending stairs - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the ascending and descending of the stairs without hindrance even if a tall load is carried. SOLUTION: This carriage includes a main body 1 having crawlers, a loading part 6 provided on the main body 1, a driving part for each crawler, an inclined angle control part 3 for changing the inclined angle of the loading part 6 to the main body and an instructing part 7.5 for giving operation instructions to the driving part and the inclined angle control part 3. When ascending or descending the stairs, a load is inclined and when reaching the landing or finishing ascending or descending, the load is made upright, so that the load can be prevented from hitting against the wall surface of a stair room or a ceiling surface.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stair-climbing transport vehicle for raising and lowering stairs, and more particularly to a stair-climbing transport vehicle that can be suitably used for a cart carrying tall luggage.

[0002]

2. Description of the Related Art Japanese Unexamined Patent Publication (Kokai) No. 5-170104 discloses a transport vehicle in which a motor-driven endless track (crawler) is provided on a main body on which goods are loaded so that the vehicle can run on stairs. This is an arrangement in which an endless track is arranged on the back side of a mounting portion for loading luggage, and the endless track rotating while engaging with corners of a plurality of steps of the stairs raises and lowers the mounting portion. With such a transport vehicle, the stairs can be easily moved up and down even when heavy luggage is loaded.

[0003]

SUMMARY OF THE INVENTION
The luggage loaded on the mounting part is, for example, a tall refrigerator (180c
m or more), the luggage will be laid on the loading section and raised and lowered. In this case, when passing through the landing of narrow stairs, the lower part of the loading section is still located on the stairs. Nevertheless, the upper part of the luggage may hit a wall or the like, making it impossible to change directions at the landing. If the loading section is provided on the endless track in an inclined state in advance and the luggage loaded on the mounting section is upright when moving up and down the stairs on the endless track, the landing should be changed when turning at the landing. The luggage can be prevented from hitting the surrounding wall. However, if the tall luggage is moved up and down the stairs in an upright state, the upper end of the luggage often hits the ceiling surface of the staircase.

[0004] The present invention has been made in view of such a point, and an object of the present invention is to provide a stair climbing and lowering vehicle capable of moving up and down stairs without any trouble even when tall articles are loaded. It is in.

[0005]

SUMMARY OF THE INVENTION Accordingly, the present invention provides a main body having an endless track, a luggage mounting section provided on the main body, a driving section for the endless track, and a luggage mounting section for the main body. The present invention is characterized in that it comprises a tilt angle control unit that changes the tilt angle of the package and sets the luggage mounting unit in a non-horizontal state, and an instruction unit that gives an operation instruction to the driving unit and the tilt angle control unit. The baggage can be prevented from hitting the wall surface or ceiling of the staircase by tilting the baggage when going up and down the stairs, and standing upright after reaching the landing or after finishing the climbing.

The endless track may be divided into two systems in the traveling direction, and the angle between one endless track and the other endless track may be variable. It is possible to stabilize the posture at both the beginning and end of the stair climbing and to prevent the baggage loading unit from falling due to a shift in the center of gravity when the baggage loading unit is in a non-horizontal state. Also, if the endless track is divided into three systems in the running direction and the angle between the endless track at both ends and the center endless track is made variable, the posture at the beginning and end of stairs ascent and descent is further stabilized. be able to.

In order to divide the endless track, a plurality of independent endless tracks may be used, or a part of a single endless track may be bent and the bent state may be held by a pressing roller.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the drawing, reference numeral 1 denotes a main body in which a traveling means 2 is disposed on a lower surface and a mounting portion 6 for placing a load 9 on an upper surface is disposed. The vicinity of the connection point between the vertical frame 60 and the horizontal frame 61 is connected to the main body 1 by the shaft 10, and the L-shaped mounting portion 6 is made rotatable around the shaft 10. A linear actuator 3 for changing the inclination angle of the mounting portion 6 with respect to the main body 1 is provided between the main body 1 and the mounting portion 6. A handle 7 extends from the bent upper end of the vertical frame 60 of the mounting section 6, and the handle 7 is provided with a force sensor 71 as an indicating section and a tilt angle adjustment switch 75.

The traveling means 2 arranged on the lower surface of the main body 1 comprises a drive motor 21 and a pair of endless tracks 20a and 20b driven by the drive motor 21.
The endless track 20a on the rear side is located on the lower surface of the main body 1, whereas the endless track 20b on the front side (the handle 7 side) is provided so as to rise obliquely upward. 22 in the figure
Is a power transmission gear portion, 23 is a drive wheel for the rear endless track 20a, 24 is a drive wheel for the front endless track 20b provided on a shaft of a driven wheel for the rear endless track 20a, and 25 is a front side. Reference numeral 26 denotes a driven wheel for the endless track 20b, and reference numeral 26 denotes a backup plate disposed on each inner peripheral side of the endless track 20 (20a, 20b). The drive motor 21 drives the rear endless track 20a and also drives the front endless track 20b at the same speed via the endless track 20a.

The linear actuator 3 includes a tilt angle control motor 30 and a shaft 3 that moves in the axial direction by rotation of the motor 30.
The motor 30 is pivotally supported by the fulcrum 11 on the main body 1, and the tip of the shaft 31 is pivotally supported by the fulcrum 62 on the lower surface of the horizontal frame 61 of the mounting portion 6. With the change in the distance between the two fulcrums 11, 62, the inclination angle of the mounting portion 6 with respect to the main body 1 changes. When the linear actuator 3 is contracted, the horizontal frame 61 of the mounting portion 6 is parallel to the main body 1 and the vertical frame 60 is in an upright state. When the linear actuator 3 is extended, the vertical frame 61 is
The mounting portion 6 is tilted about the shaft 10 so that is tilted forward.

When the mounting portion 6 is upright, the casters 65 for traveling on level ground provided on the horizontal frame 61 of the mounting portion 6 project below the lower surface of the endless track 20a. 20b is not grounded. However, if the mounting portion 6 is tilted as described above, the casters 65 move upward from the lower surfaces of the endless tracks 20a, 20b, and thus can travel on the endless tracks 20a, 20b.

As shown in FIG. 5, the handle 7 is attached to the mounting portion 6 via two leaf springs 72, 72. A force sensor 71 is provided on the handle 7 in a direction opposite to the force for lifting the stairs. Leaf spring 72 when a directional force is applied
, And detects the force applied to the handle 7 from the amount of deflection and the spring constant of the leaf spring 72. The drive motor 21 is controlled in accordance with the external force detected by the force sensor 71. The current control including the rotation direction control of the motor 21 is performed in accordance with the value and direction of the force detected by the force sensor 71 and the assist gain, that is, the larger the detected force value, the larger the output torque. Is controlled.

The tilt angle adjusting switch 75 provided on the handle 7 is connected to the motor 30 of the linear actuator 3.
It has two operating parts 75a and 75b. When the operating part 75a is depressed when trying to pull up the handle 7, the linear actuator 3 is extended. Tilt the mounting part 6 and handle 7
If the operation unit 75b is pressed when pushing back the linear actuator 3, the linear actuator 3 is contracted and the mounting unit 6 is erected.

FIG. 4 shows a circuit diagram. In the figure, 74 is a main switch, 77 is a control circuit for controlling the drive motor 21 in accordance with the external force detected by the force sensor 71, and 78 is a current driver for the motor 21. The control circuit 77
The motor 21 is controlled so that the output torque obtained by multiplying the detected external force by the assist gain is output. At this time, as shown in FIG. In the case where the detected value is in the range of -1 kgf to 1 kgf), the power assist is not operated. The control circuit 77 and a battery 79 as a power supply are housed in a control box 65 provided in the vertical frame 60 of the mounting section 6 as shown in FIG.

When the load 9 is placed on the loading section 6 of the stairs ascending and descending stairs, as shown in FIG. 7, the loading 9 is placed on the loading section 6 in an upright state (horizontal state). After the handle 7 is pulled and the caster 65 is moved to the position just before the stairs by running on level ground by the caster 65, the main switch 74 is turned on, and the mounting section 6 is tilted by operating the tilt angle adjustment switch 75 to move the endless track 20a, 20b
Is grounded, a force is applied to the handle 7 to lift it. Due to the addition of this external force, the endless tracks 20a, 20
Endless track 20 that rotates and rises obliquely upward
b engages the stairs and begins to climb the stairs as shown in FIG. 8 and, as shown in FIG.
If a engages with the stairs, thereafter, the stairs are ascended by the rotation of the endless track 20a.

As shown in FIG. 10, when the vehicle reaches the landing or reaches the end of the stairs, as shown in FIG. 11, the steering wheel 7 is pulled up to continue driving the endless tracks 20a and 20b, and the inclination angle is increased. By operating the adjustment switch 75, the inclination angle of the mounting portion 6 with respect to the main body 1 is adjusted, and the mounting portion 6 and the baggage 9 are gradually erected. After climbing the stairs, as shown in FIG. 11, the casters 65 touch the ground again to float the endless tracks 20a and 20b, so that the direction can be easily changed. When descending the stairs, the luggage 9 is moved ahead and the handle 7 is pushed down, and in this case, the angle control of the mounting section 6 may be performed in the same manner as in the above-described climb.

Even with tall luggage 9, the loading section 6 is placed in a non-horizontal state and the luggage 9 is moved up and down the stairs while being slanted, so that the upper end of the luggage 9 does not hit the ceiling of the staircase. Moreover, when the vehicle reaches the landing or reaches the end of the stairs, the luggage 9 laid obliquely is gradually raised by the angle control of the mounting portion 6, so that the tip of the luggage 9 does not hit the wall. is there.

FIG. 13 and FIG. 14 show the endless orbits 20a and 20b, which were divided into the front and rear two systems in the above embodiment, are replaced by one endless orbit 20. In order to cope with the start of climbing the stairs, one end of the endless track 20 must be raised diagonally upward,
In the case of one endless track 20, in order to avoid the endless track, the position of the mounting section 6 must be raised in the illustrated one, and in terms of lowering the floor, the above two independent front and rear endless tracks 20 are required.
Although the use of a and 20b can provide more preferable results, the structure is simple and the manufacturing cost can be reduced.

When the system is divided into two front and rear systems, if the angle of the endless track 20b with respect to the endless track 20a in order to cope with the start of climbing the stairs is made variable, the end of the stairs climbing, the approaching landing, and the descent start. At the time, that is, when the inclination angle of the mounting portion 6 shown in FIG. 11 is changed, the posture can be stabilized. This point will be described in detail in the following three cases.

FIGS. 15 to 17 show three independent endless tracks 20a, 20b, and 20c, which are provided in parallel with the main body 1. The angle of the endless track 20b is variable between a state in which the endless track 20a faces obliquely downward and a state in which the endless track 20b rises obliquely upward, and a damper 27 that exhibits viscous resistance is provided between the endless track 20b and the mounting portion 6. I have. The angle of the endless track 20c is variable between a state parallel to the endless track 20a and a state where the rear end thereof is obliquely lowered, and a damper 28 exhibiting a viscous resistance is provided between the mounting section 6 and the endless track 20c. I have.

In this system, when the vehicle is on flat ground, as shown in FIG. 18, three endless tracks 20a, 20b, 20
Although c is parallel, as shown in FIG. 19, the endless orbit 20b at the front end rises at the start of the ascending of the stairs, and when the endless orbit 20a reaches the stairs, as shown in FIGS. 20b returns to a state parallel to the endless track 20a.

At the end of the landing or the stairs, as shown in FIG. 22, the damper 27 first pushes down the endless track 20b because the mounting portion 6 is tilted. Bends downward gradually, and the tip is grounded. Further, if the mounting portion 6 is raised while continuing the climb, the sudden change in posture will not be caused even when the endless track 20a climbs the stairs. In addition, the endless track 20c bends downward to prevent it from falling backward.

When descending the stairs, as shown in FIG. 24, the caster 65 is raised by tilting the mounting portion 6 within the permissible range to ground the endless tracks 20a, 20b, 20c, and then the handle 2 is pushed. When retracted, Figure 2
As shown in FIG. 5, first, the endless track 20c gradually bends downward so that its end contacts the corner of the stairs.
Is stable when the center of gravity G passes through the uppermost corner of the stairs. Since the end of the endless track 20c moves after reaching the end of the stairs, the endless track 20b bends upward. Therefore, as shown in FIG. 28 and FIG. If so, the loading section 6 is raised and the luggage 9 is erected.

By dividing the endless track 20 into a plurality of systems in the front and rear and varying the angle, the corner can be passed in a stable posture when the stairs have been ascended or started to descend. In particular, since the viscous resistance acts on the angle change using the dampers 27, 28, etc., a sudden change in the posture can be avoided.
The operation of adjusting the inclination angle of the mounting section 6 by the inclination angle adjustment switch 75 is facilitated. Endless track 20 shown in FIG.
And an endless track 20c shown in FIG. It is possible to stabilize the posture at the beginning of descent, which uses the most nerves. In the case where the endless track is divided into a plurality of systems in the front and rear and the angle is variable, the mounting unit 6
Can be prevented from falling due to the movement of the center of gravity when tilted. In other words, even if the position of the center of gravity is beyond the range of the endless track 20a, the fall can be prevented by grounding the endless track 20b.

Dividing the endless track 20 into a plurality of front and rear systems and making the angle variable between the systems is a single endless track 2.
A value using 0 is also possible. FIG. 30 shows an example of this case.
9a and a pressing roller 29b,
By bending the endless track 20 at the portions 9a and 29b, the front endless track 20b and the rear endless track 20a are bent.
And two systems. The change of the angle of the endless track 20b with respect to the endless track 20a can employ the same configuration as that described above including the independent multiple endless tracks.

When the pressing roller 29b is used as described above, unlike the ones shown in FIGS. 13 and 14, since the pressing roller 29b is present, the floor of the mounting section 6 can be simultaneously lowered. Also. The pressing roller 29b also functions as a tension roller that prevents the endless track 20 from becoming loose when the angle is changed. Single endless orbit 2
Of course, it is also possible to divide 0 into three systems before and after.

The inclination angle of the mounting section 6 is also adjusted by the endless track 2.
The operation becomes easy even when the linear actuator 3 is actuated in response to the force for raising the mounting unit 6 or the force for tilting, which is detected by the force sensor, similarly to the instruction unit for zero. In addition, the driving motor 2 based on the external force
In the first control, the control of a current which is substantially proportional to the output torque of the drive motor 21 with respect to the force detected by the force sensor 71 has been described. Power assist may be performed by speed control or rotational acceleration control. Further, although the operability is deteriorated, a switch for turning on and off the drive motor 21 may be used as the instruction unit.

[0028]

As described above, according to the present invention, the inclination angle control unit for changing the inclination angle of the luggage mounting unit with respect to the body having the endless track is provided, and the operation is performed by the instruction unit. Because the angle of inclination can be adjusted, luggage is tilted when going up and down the stairs, and when it reaches the landing or elevates the luggage upright, the luggage can be moved to the wall of the staircase. It can be prevented from hitting the ceiling or the ceiling surface, and the narrow stairs can be moved up and down with no tall luggage.

If the endless track is divided into two systems in the traveling direction and the angle between one endless track and the other endless track is made variable, the posture at the beginning and end of stairs ascent and descent is stabilized. To prevent the vehicle from tipping over when it is tilted or the mounting part is tilted.
If the angle is formed between the endless track at both ends and the center endless track by dividing the system into systems, the posture at both the beginning and end of the stair climbing can be further stabilized.

If the endless track is divided not by using a plurality of independent endless tracks but by bending the middle of a single endless track and holding the bent state by a pressing roller, the structure can be simplified. This can be achieved while keeping the mounting section low.

[Brief description of the drawings]

FIG. 1 is a side view showing an example of an embodiment of the present invention.

FIG. 2 is a front view in which one side of the same front endless track is omitted.

FIG. 3 is a bottom view of the same.

FIG. 4 is a block circuit diagram of the same.

FIG. 5 is an explanatory diagram of the same force sensor.

FIG. 6 is an explanatory diagram of an assist gain for the drive motor of the above.

FIG. 7 is an operation explanatory diagram of the above.

FIG. 8 is an operation explanatory view of the above.

FIG. 9 is an operation explanatory view of the above.

FIG. 10 is an operation explanatory view of the above.

FIG. 11 is an operation explanatory diagram of the above.

FIG. 12 is an operation explanatory view of the above.

FIG. 13 is a side view of another example.

FIG. 14 is a bottom view of the above.

FIG. 15 is a side view of an example of another embodiment.

FIG. 16 is a front view of the same.

FIG. 17 is a bottom view of the above.

FIG. 18 is an explanatory diagram of an operation at the time of ascending in the above.

FIG. 19 is an explanatory diagram of the operation when ascending in the above.

FIG. 20 is an explanatory diagram of the operation at the time of ascending.

FIG. 21 is an explanatory diagram of the operation when the vehicle is ascending.

FIG. 22 is an explanatory diagram of an operation when the vehicle is ascended.

FIG. 23 is an explanatory diagram of the operation at the time of ascending in the above.

FIG. 24 is an explanatory diagram of an operation at the time of a downward movement of the above.

FIG. 25 is an explanatory diagram of an operation at the time of descending of the above.

FIG. 26 is an explanatory diagram of an operation at the time of a downward movement of the above.

FIG. 27 is an explanatory diagram of an operation at the time of a downgrade of the above.

FIG. 28 is an explanatory diagram of the operation at the time of the same downlink.

FIG. 29 is an explanatory diagram of an operation at the time of descending of the above.

30 shows an example of another embodiment, in which (a) is a partial side view, and (b) is a sectional view taken along line XX. FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 2 Running means 3 Linear actuator for inclination angle adjustment 6 Mounting part 20 Endless track 71 Force sensor 75 Inclination angle adjustment switch

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[Procedure amendment]

[Submission date] March 2, 1998

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0005

[Correction method] Change

[Correction contents]

[0005]

SUMMARY OF THE INVENTION Accordingly, the present invention provides a staircase
A body having a use traveling section, and luggage mounting portion provided on the body, a drive unit for the stairs travel portion, a luggage mounting portion by changing the inclination angle of the luggage mounting portion relative to the body non It is characterized in that it comprises a tilt angle control unit for bringing the camera into a horizontal state, and an instruction unit for giving an operation instruction to the drive unit and the tilt angle control unit. The baggage can be tilted when going up and down the stairs, and the baggage can be prevented from hitting the wall or ceiling of the staircase by reaching the landing or erecting the baggage when the climbing is completed.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0006

[Correction method] Change

[Correction contents]

When the stairway traveling section is an endless track, the endless track may be divided into two systems in the traveling direction, and the angle between one endless track and the other endless track may be variable. It is possible to stabilize the posture at both the beginning and end of the stair climbing and to prevent the baggage loading unit from falling due to a shift in the center of gravity when the baggage loading unit is in a non-horizontal state. Also, if the endless track is divided into three systems in the running direction and the angle between the endless track at both ends and the center endless track is made variable, the posture at the beginning and end of stairs ascent and descent is further stabilized. be able to.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0010

[Correction method] Change

[Correction contents]

The linear actuator 3 includes a tilt angle control motor 30 and a shaft 3 that moves in the axial direction by rotation of the motor 30.
The motor 30 is pivotally supported by the fulcrum 11 on the main body 1, and the tip of the shaft 31 is pivotally supported by the fulcrum 62 on the lower surface of the horizontal frame 61 of the mounting portion 6. With the change in the distance between the two fulcrums 11, 62, the inclination angle of the mounting portion 6 with respect to the main body 1 changes. When the linear actuator 3 is contracted, the horizontal frame 61 of the mounting portion 6 is parallel to the main body 1 and the vertical frame 60 is in an upright state. When the linear actuator 3 is extended, the vertical frame 60 is
The mounting portion 6 is tilted about the shaft 10 so that is tilted forward.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0016

[Correction method] Change

[Correction contents]

As shown in FIG. 10, when the vehicle reaches the landing or the end of the stairs is reached, as shown in FIG. 11, the handle 7 is pulled up to continue driving the endless tracks 20a and 20b, and the inclination angle is increased. By operating the adjustment switch 75, the inclination angle of the mounting portion 6 with respect to the main body 1 is adjusted, and the mounting portion 6 and the baggage 9 are gradually erected. After climbing the stairs, as shown in FIG. 12 , the casters 65 come into contact with the ground again to float the endless tracks 20a and 20b, so that the direction can be easily changed. When descending the stairs, the luggage 9 is moved ahead and the handle 7 is pushed to descend the stairs. In this case as well, the angle control of the mounting portion 6 may be performed in the same manner as in the case of the above-described climb.

[Procedure amendment 6]

[Document name to be amended] Statement

[Correction target item name] 0028

[Correction method] Change

[Correction contents]

[0028]

As described above, according to the present invention, for stairs,
A tilt angle control unit for changing the tilt angle of the luggage mounting unit with respect to the main body including the traveling unit is provided so that the tilt angle of the mounting unit can be adjusted by an operation instruction of the tilt angle control unit by the instruction unit. For this reason, it is possible to prevent luggage from hitting the wall or ceiling of the staircase by tilting the luggage when going up and down the stairs, and erecting the luggage when reaching the landing or after completing the ascent / descent And
This makes it possible to move up and down narrow stairs with tall luggage loaded thereon without any trouble.

[Procedure amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0029

[Correction method] Change

[Correction contents]

A traveling section for stairs is constituted by an endless track.
In this case, if the endless track is divided into two systems in the running direction and the angle between one endless track and the other endless track is made variable, the posture at both the beginning and end of stairs climbing will be stabilized. If the endless track can be prevented from overturning, and the endless track is divided into three systems in the running direction and the angle between the endless track at both ends and the center endless track can be changed, respectively, It is possible to further stabilize the posture at both the beginning and end of the stair climbing.

Claims (4)

[Claims] 1. A body provided with an endless track, a luggage mounting part provided on the body, a driving part for the endless track, and a luggage mounting part by changing an inclination angle of the luggage mounting part with respect to the main body. A stair climbing and lowering vehicle, comprising: a tilt angle control unit for setting the vehicle to a non-horizontal state; 2. The staircase according to claim 1, wherein the endless track is divided into two systems in the traveling direction, and an angle between one endless track and the other endless track is variable. Elevating carrier. 3. The endless track according to claim 1, wherein the endless track is divided into three systems in the traveling direction, and the angle between the endless track at both ends and the center endless track is variable. Stair climbing carrier. 4. The stairs ascending / descending transport according to claim 2, wherein the endless track of a plurality of systems is formed by bending a part of a single endless track and holding the bent state by a pressing roller. car.