JPH1057419A - Overstepping device for wheel - Google Patents
Overstepping device for wheelInfo
- Publication number
- JPH1057419A JPH1057419A JP8239817A JP23981796A JPH1057419A JP H1057419 A JPH1057419 A JP H1057419A JP 8239817 A JP8239817 A JP 8239817A JP 23981796 A JP23981796 A JP 23981796A JP H1057419 A JPH1057419 A JP H1057419A
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- rotating wheel
- axle
- sector
- shaped
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Handcart (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、回転車輪に付設
することによって、軽い力で段差を乗り越えることがで
きるようにする装置に関するもので、キャスター、車椅
子の前輪、乳母車、手押し台車、歩行補助具、ショッピ
ングカートなどの車輪に装着することにより、これらに
装着されている車輪では乗り越えることが困難であった
段差を、容易に乗り越えることを可能にする技術に関す
るものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device that can be attached to a rotating wheel so as to be able to get over a step with a light force. The present invention relates to a technology that enables a user to easily get over a step which is difficult to get over with wheels mounted on the shopping cart or the like.
【０００２】[0002]
【従来の技術】車椅子の前輪や幼児や高齢者用の歩行補
助具には、比較的小径の車輪が用いられている。また、
乳母車やショッピングカート、手押し台車などにおいて
も、軽量にしたり小さく折り畳むことができるようにす
るためにあるいは荷台を低くするために、小径の車輪が
用いられる傾向にある。車輪は平坦面では走行抵抗が小
さいが、段差を越える能力は低く、特に車輪の径が小さ
いと、わずかな段差であっても乗り越えることが困難に
なる。2. Description of the Related Art Relatively small-diameter wheels are used for front wheels of wheelchairs and walking aids for infants and the elderly. Also,
Even in baby carriages, shopping carts, carts, and the like, small-diameter wheels tend to be used in order to make them lightweight or foldable or to lower the bed. The wheels have low running resistance on a flat surface, but have a low ability to cross a step. Especially when the wheel diameter is small, it is difficult to get over even a small step.
【０００３】車輪が段差を乗り越えられるようにする技
術として、従来種々の技術が提唱されている。よく知ら
れている例は、放射方向の腕を備えたスターホイールの
各腕の先端に車輪を軸着した構造で、車輪が段差に衝突
して停止すると、スターホイールが１ピッチ回転して、
段差を乗り越えるというものがある。[0003] Various techniques have conventionally been proposed as techniques for allowing a wheel to get over a step. A well-known example is a structure in which a wheel is attached to the tip of each arm of a star wheel having a radial arm, and when the wheel collides with a step and stops, the star wheel rotates one pitch,
There are things that get over the steps.
【０００４】[0004]
【発明が解決しようとする課題】しかし従来提唱されて
いる段差越え装置の構造は、構造が複雑で装置が大型に
なるものが多く、小径の従動車輪に適した簡単な構造の
ものがない。近年車椅子などの走行を妨げないように、
地下道にスロープを設けたり、専用の昇降装置を設置す
る例が多いが、車道と歩道との間の段差や、公園内の段
差など、小さな段差が至る所にあり、小径の車輪を装着
した車両の走行の妨げとなっている。However, the structure of the step-over device proposed so far is often complicated in structure and large in size, and there is no simple structure suitable for a small-diameter driven wheel. In recent years, so as not to hinder the running of wheelchairs,
There are many cases where slopes are installed in underpasses or special elevating devices are installed, but there are small steps everywhere, such as steps between the roadway and sidewalk, steps in the park, and vehicles with small diameter wheels mounted It is hindering traveling.
【０００５】この発明は、比較的低い段差ではあるが、
車輪のみでは乗り越えることが困難な段差を容易に乗り
越えることができるようにする、簡単な構造の技術手段
を得ることを課題としており、特に車椅子や歩行補助具
や手押し車などの比較的小径の従動車輪の段差越え性能
を、これらの車両の構造を変更することなく、向上させ
ることができる技術手段を提供することを課題としてい
る。Although the present invention has a relatively low step,
It is an object of the present invention to obtain a technical means having a simple structure that enables a person to easily get over a step that is difficult to get over only with wheels, particularly a driven wheel having a relatively small diameter such as a wheelchair, a walking aid, or a handcart. It is an object of the present invention to provide a technical means capable of improving the performance of overstepping a wheel without changing the structure of these vehicles.
【０００６】[0006]
【課題を解決するための手段】請求項１記載の車輪の段
差越え装置は、回転車輪４の近傍に当該回転車輪の車軸
８と平行な揺動軸１２まわりに揺動自在に設けられた扇
形車輪１３と、この扇形車輪を前記揺動軸まわりの定常
位置に復帰させる復帰手段１８、２３とを備え、前記扇
形車輪１３は回転車輪の回転半径ｒより大きな回転半径
Ｒと回転車輪の外周縁１６より曲率の小さな外周円弧１
７とを備え、その外周円弧１７を回転車輪４の進行方向
に張り出しかつ外周円弧の最下端が回転車輪の最下端１
６ａよりわずかに高い位置にして回転車輪４の車軸８よ
り高い位置に設けた揺動軸１２まわりに揺動自在に装着
されていることを特徴とするものである。According to a first aspect of the present invention, there is provided a wheel step-over device which is provided in the vicinity of a rotating wheel so as to be swingable about a swing shaft parallel to an axle of the rotating wheel. A wheel 13 and return means 18 and 23 for returning the sector wheel to a steady position around the pivot axis, wherein the sector wheel 13 has a turning radius R larger than the turning radius r of the rotating wheel and an outer peripheral edge of the rotating wheel. Outer circumference arc 1 with smaller curvature than 16
7, the outer circumferential arc 17 of which is extended in the traveling direction of the rotating wheel 4 and the lowermost end of the outer circumferential arc is the lowermost end 1 of the rotating wheel.
6a, and is mounted so as to be swingable around a swing shaft 12 provided at a position slightly higher than the axle 8 of the rotating wheel 4 at a position slightly higher than 6a.
【０００７】請求項２記載の発明は、請求項１記載の車
輪の段差越え装置において、車両の前後動に伴って正逆
両方向に回転する回転車輪４の近傍に設けられる車輪の
段差越え装置において、扇形車輪の揺動軸１２は回転車
輪の車軸８の直上部に位置しており、扇形車輪の外周円
弧１７は回転車輪４の走行方向前後両側に張り出してお
り、扇形車輪の回転半径Ｒが回転車輪の回転半径ｒの略
２倍であることを特徴とするものである。According to a second aspect of the present invention, there is provided a wheel overstepping device according to the first aspect, wherein the wheeling overstepping device is provided in the vicinity of a rotating wheel 4 which rotates in both forward and reverse directions as the vehicle moves forward and backward. The swinging shaft 12 of the fan wheel is located immediately above the axle 8 of the rotating wheel, and the outer circumferential arc 17 of the fan wheel projects on both front and rear sides in the running direction of the rotating wheel 4. It is characterized by being approximately twice the radius of rotation r of the rotating wheel.
【０００８】請求項３記載の発明は、請求項１記載の車
輪の段差越え装置において、車両の方向変換及び前後動
に伴って回転車輪が首振り運動し、回転車輪それ自体は
一方向にのみ回転する回転車輪４の近傍に設けられた車
輪の段差越え装置において、扇形車輪の揺動軸１２が回
転車輪の車軸８に対して当該車輪の進行方向側に偏倚さ
せて装着されていることを特徴とするものである。According to a third aspect of the present invention, there is provided the wheel overstep device according to the first aspect, wherein the rotating wheel swings with the change of direction and forward / backward movement of the vehicle, and the rotating wheel itself is moved in only one direction. In a device for overstepping a wheel provided near the rotating rotating wheel 4, it is assumed that the swing shaft 12 of the sector wheel is mounted so as to be deviated in the traveling direction of the wheel with respect to the axle 8 of the rotating wheel. It is a feature.
【０００９】請求項４記載の発明は、請求項１または３
記載の車輪の段差越え装置において、台車の方向転換及
び前後動に伴って首振り運動し、車輪自体は一方向にの
み回転する二重回転車輪４、４の近傍に設けられた車輪
の段差越え装置において、扇形車輪１３が二重回転車輪
を構成する２個の車輪４、４の中間に配置され、当該扇
形車輪１３には回転車輪の車軸８が貫通する円弧状の貫
通孔２２が設けられていることを特徴とするものであ
る。The invention described in claim 4 is the first or third invention.
In the wheel stepping device described above, the bogie oscillates with the direction change and forward / backward movement of the bogie, and the wheels themselves rotate in only one direction. In the apparatus, a sector wheel 13 is arranged between two wheels 4 and 4 constituting a double rotating wheel, and the sector wheel 13 is provided with an arc-shaped through hole 22 through which the axle 8 of the rotating wheel passes. It is characterized by having.
【００１０】[0010]
【作用】図７（ａ）、（ｂ）は半径ｒの回転車輪４が高
さｈの段差に衝突したときの抵抗Ｆを示したものであ
る。摩擦抵抗を無視すれば、段差越え抵抗Ｆは、車軸８
にかかっている自重をＷとして、Ｆ＝Ｗｔａｎθで与え
られる。ここでｈ＝ｒ（１−ｃｏｓθ）である。図８の
コサインカーブとタンゼントカーブで示すように、ｈ／
ｒが大きくなると、θが大きくなり、段差越え抵抗Ｆは
急激に大きくなる（図７（ｂ））。FIGS. 7A and 7B show the resistance F when the rotating wheel 4 having a radius r collides with a step having a height h. If the frictional resistance is neglected, the step-over resistance F is calculated by the axle 8
Is given by F = Wtanθ, where W is the weight of the object. Here, h = r (1−cos θ). As shown by the cosine curve and the tangent curve in FIG.
When r increases, θ increases, and the resistance F across the step rapidly increases (FIG. 7B).
【００１１】ここで図９に示すように、回転車輪の車軸
８の直上部に軸支されたこの発明の扇形車輪１３を設け
たときは、図７（ｂ）と同じ高さの段差に衝突したと
き、この段差は回転車輪４に当接する前に、扇形車輪１
３の外周円弧１７に当接する。扇形車輪の半径Ｒは、回
転車輪の半径ｒより大きいので、段差の高さｈが同じで
あっても、ｈ／Ｒは小さくなり、従ってθ1 及びｔａｎ
θ1 が小さくなる。特に段差の高さｈが回転車輪の半径
ｒに近い高さの場合には、ｔａｎθ1 の減少率が非常に
大きく、段差越え性能は著しく改善される。そして半径
の大きな扇形車輪が段差を乗り越えた後、回転車輪４に
段差が当接するが、このときは回転車輪４が持ち上げら
れているので、回転車輪４に当接するときの段差の見掛
け上の高さＨは、同図（ｂ）に示すように小さくなって
おり、このときの段差越え抵抗Ｆ2も小さくなる。Here, as shown in FIG. 9, when the fan-shaped wheel 13 of the present invention is provided just above the axle 8 of the rotating wheel, it collides with a step having the same height as that shown in FIG. When this step is made, the stepped portion is brought into contact with the rotating wheel 4 before the sector wheel 1
3 is in contact with the outer peripheral arc 17. Since the radius R of the sector wheel is larger than the radius r of the rotating wheel, h / R is small even if the height h of the step is the same, and therefore θ 1 and tan
θ 1 becomes smaller. In particular, when the height h of the step is close to the radius r of the rotating wheel, the reduction rate of tan θ 1 is very large, and the performance over the step is significantly improved. After the fan wheel having a large radius gets over the step, the step comes into contact with the rotating wheel 4. At this time, since the rotating wheel 4 is lifted, the apparent height of the step at the time of contact with the rotating wheel 4 is increased. The height H is reduced as shown in FIG. 4B, and the step-over resistance F 2 at this time is also reduced.
【００１２】すなわちこの発明の段差越え装置によれ
ば、１個の段差をあたかも高さが半分の２個の段差を越
えるようにして乗り越えていくので、車輪の段差越え機
能が改善され、特に回転車輪４の半径ｒに近い高さの段
差の越え機能が大幅に改善され、回転車輪４のみでは到
底乗り越えることができない回転車輪の半径ｒに近い高
さの段差を容易に乗り越えることができるようになる。That is, according to the step-over device of the present invention, the vehicle travels over one step as if it exceeds two steps having a height of half. The function of climbing over a step having a height close to the radius r of the wheel 4 is greatly improved, and a step having a height close to the radius r of the rotating wheel, which cannot be overcome by the rotating wheel 4 alone, can be easily overcome. Become.
【００１３】図５の構造（請求項２の構造）は、図の左
右どちら側の方向に車輪が移動しても、扇形車輪１３は
段差に対して同じ動作をするから、両方向に走行する車
輪に設けるのに都合が良い。しかし扇形車輪１３の最下
端１６ａが回転車輪４の内側に入ってしまうため、扇形
車輪１３での持ち上げ高さが図９（ｂ）でΔｈで示す分
だけ少なくなる。もし回転車輪４がキャスターのように
首振り自在に装着されていれば、回転車輪４の走行方向
は一方向に限定されるから、図３（ｂ）に示すように、
扇形車輪１３の揺動軸１２を回転車輪の車軸８より走行
方向前方に偏倚させて設けることにより、扇形車輪の外
周円弧の最下端を回転車輪４の手前側に位置させること
ができる。このようにすれば、同図（ｂ）で示すよう
に、扇形車輪１３で持ち上げられた回転車輪４が段差に
衝突するときの見掛け上の段差の高さＨをより小さくす
ることができる。In the structure shown in FIG. 5 (the structure of claim 2), the fan-shaped wheel 13 performs the same operation on a step even if the wheel moves in the left or right direction in the figure. It is convenient to provide. However, since the lowermost end 16a of the sector-shaped wheel 13 enters the inside of the rotating wheel 4, the lifting height of the sector-shaped wheel 13 is reduced by Δh in FIG. 9B. If the rotating wheel 4 is mounted to swing freely like a caster, the traveling direction of the rotating wheel 4 is limited to one direction, and as shown in FIG.
By providing the swing shaft 12 of the fan wheel 13 so as to be deviated forward of the axle 8 of the rotating wheel in the running direction, the lowermost end of the outer circumferential arc of the fan wheel can be located on the front side of the rotating wheel 4. This makes it possible to further reduce the apparent height H of the step when the rotating wheel 4 lifted by the sector wheel 13 collides with the step, as shown in FIG.
【００１４】なお扇形車輪の外周円弧の最下端は、平坦
路において扇形車輪が回動しないように回転車輪４の最
下端１６ａより高くする必要があるが、低くしすぎる
と、扇形車輪が段差を越えるときの抵抗を増大させ、ま
た高くしすぎると、扇形車輪で持ち上げられた後、回転
車輪が段差を越えるときの抵抗を増大させるので、段差
を越えるときの抵抗がバランス良く分配されるように、
扇形車輪の外周円弧の高さを設定すべきである。また、
段差の越え抵抗を小さくするには、扇形車輪の半径Ｒを
大きくするのが有効であるが、従来採用されている回転
車輪４の装着構造を変えないで扇形車輪１３を装着する
には、扇形車輪の回転半径を回転車輪の回転半径の約２
倍とするのが限度である。回転車輪が首振り車輪の場合
には、車輪と車両のフレームとの間に首振り機構が設け
られるので、その構造によっては扇形車輪の半径をより
大きくすることが可能である。Note that the lowermost end of the arc of the fan wheel must be higher than the lowermost end 16a of the rotating wheel 4 so that the fan wheel does not rotate on a flat road. Increase the resistance when crossing, and if it is too high, after the wheel is lifted by the sector wheel, the resistance when the rotating wheel crosses the step increases, so that the resistance when crossing the step is distributed in a balanced manner. ,
The height of the arc around the fan wheel should be set. Also,
To reduce the resistance over the step, it is effective to increase the radius R of the fan-shaped wheel. However, in order to mount the fan-shaped wheel 13 without changing the mounting structure of the rotating wheel 4 which has been conventionally used, the fan-shaped wheel 13 is required. The turning radius of the wheel is about 2 times the turning radius of the rotating wheel.
The limit is to double. When the rotating wheel is a swing wheel, a swing mechanism is provided between the wheel and the frame of the vehicle, so that the radius of the sector wheel can be made larger depending on the structure.
【００１５】回転車輪が首振り型の二重車輪であるとき
は、図６に示すように、車輪が段差１９に斜めに衝突し
たとき、車軸が振られて段差越え時の方向性が不安定に
なる。この場合にこの発明の扇形車輪１３を二つの車輪
４、４の中間に配置することにより、段差がまず扇形車
輪１３に当接して、車軸の方向が規制されるので、段差
をより円滑に乗り越えることができる。この構造におい
て、図６に示すように、扇形車輪１３に回転車輪４の車
軸が貫通する円弧状の貫通孔２２を設けておけば、回転
車輪の車軸８が扇形車輪１３で分断されることもなくな
るから、好都合である。When the rotating wheel is a swing type double wheel, as shown in FIG. 6, when the wheel collides with the step 19 obliquely, the axle is swung and the directionality at the time of going over the step is unstable. become. In this case, by disposing the sector-shaped wheel 13 of the present invention between the two wheels 4 and 4, the step first comes into contact with the sector-shaped wheel 13 and the direction of the axle is regulated, so that the step is more smoothly overcome. be able to. In this structure, as shown in FIG. 6, if an arc-shaped through hole 22 through which the axle of the rotating wheel 4 penetrates is provided in the sector wheel 13, the axle 8 of the rotating wheel may be divided by the sector wheel 13. It is convenient because it disappears.
【００１６】[0016]
【発明の実施の形態】図１及び図２は本発明の段差越え
装置を車椅子の前車輪に設けたものである。車椅子１は
座席および背もたれを支持するためのフレーム２を備え
ており、このフレームの前脚３に小径の前車輪４が設け
られ、後脚５に大径の後車輪６が設けられている。前車
輪４は、キャスター形の構造を有しており、二股に分岐
したブラケット７の先端に装架された車軸８に軸支され
ている。ブラケット７の基端には垂直軸９が立設されて
おり、この垂直軸がフレーム２の前脚３に設けられた筒
状のホルダ１１に回動自在かつ軸方向移動不能に装着さ
れている。垂直軸の下方には車軸８と平行な水平軸１２
が固着されており、この水平軸１２に扇形車輪１３が揺
動自在に設けられている。扇形車輪１３は、図１に示す
ように、分岐したブラケット７の両外側に位置する２枚
の板材１４の前隅を繋ぎ材１５で連結した構造である。
板材１４は前車輪４の回転半径ｒより大きな回転半径Ｒ
を有しており、更に前車輪の外周縁１６より曲率の小さ
な外周円弧１７を有している。水平軸１２にはコイルバ
ネ１８が巻回されており、その一端は水平軸１２に係止
され、他端は一方の板材１４に係着されている。コイル
バネ１８は扇形車輪１３を水平軸１２まわりの進行方向
に張り出した位置に保持している。1 and 2 show a step-over device according to the present invention provided on a front wheel of a wheelchair. The wheelchair 1 includes a frame 2 for supporting a seat and a backrest. The front leg 3 of the frame is provided with a small-diameter front wheel 4 and the rear leg 5 is provided with a large-diameter rear wheel 6. The front wheel 4 has a caster-type structure, and is pivotally supported by an axle 8 mounted on the tip of a bifurcated bracket 7. A vertical shaft 9 is provided upright at the base end of the bracket 7, and the vertical shaft 9 is mounted on a cylindrical holder 11 provided on the front leg 3 of the frame 2 so as to be rotatable and immovable in the axial direction. Below the vertical axis is a horizontal axis 12 parallel to the axle 8.
A fan-shaped wheel 13 is provided on the horizontal shaft 12 so as to be swingable. As shown in FIG. 1, the fan-shaped wheel 13 has a structure in which front corners of two plate members 14 located on both outer sides of the branched bracket 7 are connected by a connecting member 15.
The plate member 14 has a turning radius R larger than the turning radius r of the front wheel 4.
And an outer peripheral arc 17 having a smaller curvature than the outer peripheral edge 16 of the front wheel. A coil spring 18 is wound around the horizontal shaft 12, one end of which is locked by the horizontal shaft 12, and the other end of which is fixed to one plate 14. The coil spring 18 holds the fan wheel 13 at a position protruding in the traveling direction around the horizontal axis 12.
【００１７】図３は本発明の段差越え装置の動作説明図
である。車椅子の前車輪４が路面の段差１９に近づく
と、前車輪の更に前方に張り出した扇形車輪１３の外周
円弧１７が段差１９に当接する（図３（ａ）参照）。こ
の状態で車椅子を前進させると、当接部２１を中心とし
て扇形車輪１３が図上左回動して水平軸１２を斜め上方
に移動させて前車輪４を浮き上げ、そのまま平行移動さ
せて段差１９を前車輪４の外周縁１６に当接させる（図
３（ｂ）参照）。更に車椅子を前進させると前車輪４が
段差に乗り上げ、同時に扇形車輪１３が離れてコイルバ
ネ１８の作用により元の位置に戻る。後車輪６は大径な
のでこの程度の段差を越える際には支障を生じない。FIG. 3 is a diagram for explaining the operation of the step-over device according to the present invention. When the front wheel 4 of the wheelchair approaches the step 19 on the road surface, the outer circumferential arc 17 of the fan-shaped wheel 13 projecting further forward of the front wheel comes into contact with the step 19 (see FIG. 3A). When the wheelchair is moved forward in this state, the fan-shaped wheel 13 rotates leftward in the figure around the contact portion 21 to move the horizontal shaft 12 obliquely upward, lift the front wheel 4 and move it in parallel to move the step. 19 is brought into contact with the outer peripheral edge 16 of the front wheel 4 (see FIG. 3B). When the wheelchair is further advanced, the front wheel 4 rides on the step, and at the same time, the sector wheel 13 separates and returns to the original position by the action of the coil spring 18. Since the rear wheel 6 has a large diameter, no trouble occurs when the rear wheel 6 exceeds this level difference.
【００１８】図４及び図５は運搬台車の車輪に本発明の
段差越え装置を設けたものである。図４に示すものはベ
アリングで回転自在に支持されたブラケット７の基部の
両側に車軸８と平行な水平軸１２を設け、この水平軸に
三日月形の板材１４の基端を軸支するとともに、先端相
互を繋ぎ材１５で連結して扇形車輪を形成したものであ
る。三日月形の板材１４の段差当接部にはゴムパッド２
４が固着されている。板材１４とブラケット７はコイル
バネ１８で繋がれており、扇形車輪１３を車輪の前方の
張り出した位置に保持している。FIG. 4 and FIG. 5 show an example in which a step-over device according to the present invention is provided on wheels of a transport vehicle. The one shown in FIG. 4 is provided with a horizontal shaft 12 parallel to the axle 8 on both sides of the base of the bracket 7 rotatably supported by bearings, and supports the base end of the crescent plate 14 on this horizontal shaft. The ends are connected to each other by a connecting member 15 to form a sector wheel. A rubber pad 2 is provided at the step contact portion of the crescent-shaped plate 14.
4 is fixed. The plate member 14 and the bracket 7 are connected by a coil spring 18 and hold the fan-shaped wheel 13 at a position in front of the wheel in a protruding position.
【００１９】図５に示すものは、固定のブラケット７の
近傍に設けた支持板２５にいかり形の板材１４を軸支し
て扇形車輪１３を形成している。扇形車輪１３は、車輪
４の前後に張り出しており、その外周円弧１７にはゴム
パッド２４が固着されている。コイルバネ１８は扇形車
輪の前後両側に設けられており、前後どちらから乗り上
げても扇形車輪を元の位置に戻すことができるようにな
っている。In FIG. 5, a fan-shaped wheel 13 is formed by pivotally supporting an irrigated plate 14 on a support plate 25 provided near a fixed bracket 7. The fan-shaped wheel 13 projects in front of and behind the wheel 4, and a rubber pad 24 is fixed to an outer circumferential arc 17 thereof. The coil springs 18 are provided on both front and rear sides of the fan-shaped wheel, so that the fan-shaped wheel can be returned to the original position regardless of whether the rider rides from either front or rear.
【００２０】図６は首振り型の二重車輪に本発明の段差
越え装置を設けたものである。垂直軸９回りに回転自在
に設けたブラケット７の下端には、車輪の進行方向と直
交する方向に延びる車軸８が設けられており、車軸８の
両端に車輪４がそれぞれ設けられている。手前側の車輪
４とブラケット７との間には間隙が設けられており、こ
の間隙に扇形車輪１３が介装されている。扇形車輪は、
一枚の板材１４からなっており、扇の要の位置で車軸と
平行な水平軸１２により揺動自在に軸支されている。扇
形車輪１３は、後車輪の回転半径ｒより大きな回転半径
Ｒを有しており、更に車輪４の外周縁１６より曲率の小
さな外周円弧１７を有している。扇形車輪１３には車軸
８との干渉を避けるための円弧形の貫通孔２２が設けら
れている。ブラケット７に固着されたへ字形の板バネ２
３はその角隅が扇板の稜線部にそれぞれ当接して、扇形
車輪が車輪の前後に等しい量だけ張り出すように保持し
ている。FIG. 6 shows a swing type double wheel provided with a step-over device according to the present invention. An axle 8 is provided at a lower end of a bracket 7 rotatably provided around a vertical axis 9 and extends in a direction perpendicular to the traveling direction of the wheels. Wheels 4 are provided at both ends of the axle 8, respectively. A gap is provided between the front wheel 4 and the bracket 7, and a fan-shaped wheel 13 is interposed in the gap. The fan wheel is
It is made of a single plate member 14 and is pivotally supported at a pivotal position by a horizontal shaft 12 parallel to the axle. The fan wheel 13 has a turning radius R larger than the turning radius r of the rear wheel, and further has an outer peripheral arc 17 having a smaller curvature than the outer peripheral edge 16 of the wheel 4. The fan-shaped wheel 13 is provided with an arc-shaped through hole 22 for avoiding interference with the axle 8. Elliptical leaf spring 2 fixed to bracket 7
3 is held so that the corners thereof respectively abut against the ridges of the fan plate, and the fan-shaped wheels protrude an equal amount before and after the wheels.
【図１】本発明の段差越え装置を設けて示す車椅子の前
輪の斜視図FIG. 1 is a perspective view of a front wheel of a wheelchair provided with a step-over device according to the present invention.
【図２】車椅子の側面図FIG. 2 is a side view of a wheelchair.
【図３】車椅子の前輪の段差越え動作を示す模式図FIG. 3 is a schematic diagram showing an operation of overstepping a front wheel of a wheelchair.
【図４】本発明の段差越え装置を設けて示す台車の前輪
の斜視図FIG. 4 is a perspective view of a front wheel of a bogie provided with the step-over device according to the present invention.
【図５】本発明の段差越え装置を設けて示す台車の後輪
の斜視図FIG. 5 is a perspective view of a rear wheel of a bogie provided with the step-over device according to the present invention.
【図６】本発明の段差越え装置を設けて示す首振り型の
二重車輪の斜視図FIG. 6 is a perspective view of a swing type double wheel provided with the step-over device according to the present invention.
【図７】段差の高さと抵抗との関係を示す模式図FIG. 7 is a schematic diagram showing the relationship between the height of the step and the resistance.
【図８】中心角θと段差越え抵抗の関係を示す図FIG. 8 is a diagram showing a relationship between a center angle θ and a resistance over a step;
【図９】段差越え動作の説明図FIG. 9 is an explanatory diagram of a step-over operation.
４ 前車輪 ８ 車軸 12 水平軸 13 扇形車輪 16 前車輪の外周縁 16a 最下端 17 外周円弧 18 コイルバネ 23 板バネ 4 Front wheel 8 Axle 12 Horizontal axis 13 Fan wheel 16 Outer edge of front wheel 16a Lowermost end 17 Outer circumference arc 18 Coil spring 23 Leaf spring
Claims (4)
軸(8) と平行な揺動軸(12)まわりに揺動自在に設けられ
た扇形車輪(13)と、この扇形車輪を前記揺動軸まわりの
定常位置に復帰させる復帰手段(18,23) とを備え、前記
扇形車輪(13)は、回転車輪の回転半径(r) より大きな回
転半径(R) と回転車輪の外周縁(16)より曲率の小さな外
周円弧(17)とを備え、その外周円弧(17)を回転車輪(4)
の進行方向に張り出しかつ回転車輪の最下端(16a) より
高い位置にして前記揺動軸(12)に軸支されていることを
特徴とする、車輪の段差越え装置。1. A fan-shaped wheel (13) provided in the vicinity of a rotating wheel (4) so as to be swingable around a swing shaft (12) parallel to an axle (8) of the rotating wheel; Return means (18, 23) for returning to a steady position around the pivot axis, wherein the sector-shaped wheel (13) is provided with a turning radius (R) larger than the turning radius (r) of the rotating wheel and an outside of the rotating wheel. An outer peripheral arc (17) having a smaller curvature than the peripheral edge (16), and the outer peripheral arc (17) is
A stepped-over device for a wheel, characterized in that it is extended in the traveling direction and is supported at a position higher than the lowermost end (16a) of the rotating wheel by the swing shaft (12).
する回転車輪(4) の近傍に設けられる請求項１記載の段
差越え装置において、扇形車輪の揺動軸(12)が回転車輪
の車軸(8) の直上部に位置しており、扇形車輪の外周円
弧(17)は回転車輪(4) の走行方向前後両側に張り出して
おり、扇形車輪の回転半径(R) が回転車輪の回転半径
(r) の略２倍であることを特徴とする、請求項１記載の
車輪の段差越え装置。2. The step-over device according to claim 1, wherein the swing shaft of the sector-shaped wheel is provided near the rotating wheel that rotates in both forward and reverse directions as the vehicle moves back and forth. The axle (8) is located directly above the axle (8), and the outer circular arc (17) of the sector wheel projects on both front and rear sides in the traveling direction of the rotating wheel (4), and the turning radius (R) of the sector wheel is Turning radius
2. The step-over device for a wheel according to claim 1, wherein the difference is approximately twice as large as (r).
車輪が首振り運動し、回転車輪それ自体は一方向にのみ
回転する回転車輪(4) の近傍に設けられる請求項１記載
の段差越え装置において、扇形車輪の揺動軸(12)が回転
車輪の車軸(8) に対して当該車輪の進行方向側に偏倚し
て装着されていることを特徴とする、請求項１記載の車
輪の段差越え装置。3. The step according to claim 1, wherein the rotating wheel swings in accordance with the direction change and the back and forth movement of the vehicle, and the rotating wheel itself is provided near the rotating wheel (4) which rotates only in one direction. 2. The wheel according to claim 1, wherein the swinging shaft of the fan wheel is mounted on the axle of the rotating wheel so as to be deviated in the traveling direction of the wheel. Stepping over device.
車輪が首振り運動し、回転車輪それ自体は一方向にのみ
回転する二重回転車輪(4,4) の近傍に設けられた請求項
１または３記載の段差越え装置において、扇形車輪(13)
が二重回転車輪を構成する２個の車輪(4,4) の中間に配
置され、当該扇形車輪(13)には回転車輪の車軸(8) が貫
通する円弧状の貫通孔(22)が設けられていることを特徴
とする、請求項１または３記載の車輪の段差越え装置。4. The vehicle according to claim 1, wherein the rotating wheel swings in accordance with the change of direction and the back and forth movement of the vehicle, and the rotating wheel itself is provided near the dual rotating wheel (4, 4) which rotates only in one direction. Item 3. The step-over device according to item 1 or 3, wherein the sector-shaped wheel (13)
Is disposed in the middle of the two wheels (4, 4) constituting the double rotating wheel, and the sector wheel (13) has an arc-shaped through hole (22) through which the axle (8) of the rotating wheel passes. 4. The device for overstepping a wheel according to claim 1, wherein the device is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8239817A JPH1057419A (en) | 1996-08-21 | 1996-08-21 | Overstepping device for wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8239817A JPH1057419A (en) | 1996-08-21 | 1996-08-21 | Overstepping device for wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH1057419A true JPH1057419A (en) | 1998-03-03 |
Family
ID=17050295
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8239817A Pending JPH1057419A (en) | 1996-08-21 | 1996-08-21 | Overstepping device for wheel |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH1057419A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007137305A (en) * | 2005-11-21 | 2007-06-07 | Sawada:Kk | Auxiliary wheel for caster |
| JP2013523528A (en) * | 2010-04-07 | 2013-06-17 | アルコン リサーチ， リミテッド | System and method for a caster to respond to an obstacle |
| US9937750B1 (en) * | 2017-02-14 | 2018-04-10 | Chris Nelson | Caster wheel tilt bar |
| US20210061042A1 (en) * | 2019-08-29 | 2021-03-04 | Samsung Electronics Co., Ltd. | Caster device, robot having the same, and method for driving robot |
| US20230056845A1 (en) * | 2021-08-23 | 2023-02-23 | Fujifilm Business Innovation Corp. | Apparatus equipped with moving tool |
-
1996
- 1996-08-21 JP JP8239817A patent/JPH1057419A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007137305A (en) * | 2005-11-21 | 2007-06-07 | Sawada:Kk | Auxiliary wheel for caster |
| JP2013523528A (en) * | 2010-04-07 | 2013-06-17 | アルコン リサーチ， リミテッド | System and method for a caster to respond to an obstacle |
| US8910344B2 (en) | 2010-04-07 | 2014-12-16 | Alcon Research, Ltd. | Systems and methods for caster obstacle management |
| US9937750B1 (en) * | 2017-02-14 | 2018-04-10 | Chris Nelson | Caster wheel tilt bar |
| US20210061042A1 (en) * | 2019-08-29 | 2021-03-04 | Samsung Electronics Co., Ltd. | Caster device, robot having the same, and method for driving robot |
| US11701941B2 (en) * | 2019-08-29 | 2023-07-18 | Samsung Electronics Co., Ltd. | Caster device, robot having the same, and method for driving robot |
| US20230056845A1 (en) * | 2021-08-23 | 2023-02-23 | Fujifilm Business Innovation Corp. | Apparatus equipped with moving tool |
| US11801713B2 (en) * | 2021-08-23 | 2023-10-31 | Fujifilm Business Innovation Corp. | Apparatus equipped with moving tool |
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