JPH11157452A - Carriage to go up and down stairs - Google Patents

Abstract

PROBLEM TO BE SOLVED: To establish smooth and certain go-up and go-down motions for stairs by structuring a carriage so that it can easily make the stair go-up and go-down motions and the inclination angle adjusting operation for a load placing part. SOLUTION: A body 1 furnished with a running part 2 for going up and down the stairs is equipped with a load placing part 6 in which the inclining angle to the body 1 is variable. The arrangement includes a handle 7 for the steering input and a control means which operates the running part 2 in compliance with a fore-and-aft force applied to the handle 7 and actuates an angle adjusting part provided for changing the inclining angle of the load placing part 6 to the body 1 in accordance with a plumb directed force applied to the handle 7. If the handle 7 is pulled or pushed in the desired direction, the running motion and the angle adjustment for the load placing part in accordance with the force applied are both performed.

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 A traveling unit for ascending and descending stairs including a motor driven endless track (crawler) is provided on a main body on which luggage is placed.
A transportation vehicle capable of running on stairs is disclosed in JP-A-5-170104. This is an arrangement of endless tracks on the back of the mounting part for loading luggage,
An endless track that rotates while engaging with the corners of the steps of the stairs raises and lowers the mounting section. 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 often hits the ceiling of the staircase. In this case, the luggage is to be laid down on the loading section and raised and lowered, but in this case, when passing through the landing of the narrow stairs, the upper part of the luggage is located even though the lower part of the loading section is still located on the stairs part. Sometimes it hits a wall or the like, making it impossible to change direction at the landing.

[0004] By using a luggage mounting portion having a variable inclination angle, the luggage is laid down while going up and down stairs, and the luggage is erected upright at a landing, so that the luggage hits a ceiling surface or a wall of a landing. It is hard work to lay or wake heavy luggage, and for this reason, if the inclination angle of the luggage mounting part can be changed, for example, electrically, it can be used for climbing stairs. In addition to the driving operation of the traveling unit, the operation of changing the inclination angle of the luggage loading unit must be performed, and when actually moving up and down the stairs, these two operations must be performed simultaneously in parallel. Therefore, it is extremely difficult to operate such that a smooth operation can be obtained.

[0005] The present invention has been made in view of such a point, and it is an object of the present invention to be able to easily perform a stair climbing operation and an inclination angle adjusting operation of a luggage mounting unit.
An object of the present invention is to provide a stair-climbing transport vehicle capable of reliably obtaining a smooth stair-climbing operation.

[0006]

SUMMARY OF THE INVENTION A stair-climbing transport vehicle according to the present invention comprises a main body having a stair-climbing traveling section and a stair-climbing transport having a variable load angle with respect to the main body. A vehicle, a handle for operation input, and a luggage mounting portion for the main body according to a vertical force applied to the handle, and a stair climbing traveling unit operated in accordance with a front-rear force applied to the handle. It is characterized in that it comprises a control means for operating an angle adjustment unit for changing the inclination angle of the control unit. If the handle is pulled or pushed in a desired direction, the traveling operation according to the force and the angle adjustment of the luggage mounting portion are both performed, and therefore, the operation can be easily performed. It does not require skill.

It is preferable that the direction of detecting the force applied to the operation input handle is fixed to the main body irrespective of the value of the inclination angle of the luggage mounting portion with respect to the main body. The operation sensation does not change with the inclination angle. In this case, the handle may be provided in the luggage mounting section via a correction means for correcting the direction of the handle in accordance with the inclination angle of the luggage mounting section. It is possible to suitably use a device that transmits the rotation angle of the handle to the handle support portion of the luggage mounting portion and changes the handle mounting angle with respect to the luggage mounting portion.

The handle for inputting operation may be provided via a parallel link mechanism. A handle for operation input is fixedly provided on the luggage mounting portion, and the control means calculates a front-rear component and a vertical component of the force applied to the handle in accordance with the inclination angle of the luggage mounting portion. It may be. It is also preferable to provide a position adjusting mechanism for relatively shifting the position of the handle for operation input to the upper side of the luggage mounting section in accordance with the inclination angle of the luggage mounting section. When the load is tall, the handle does not become difficult to hold due to the load even if the load mount is tilted.

As the position adjusting mechanism, a slide mechanism for sliding the luggage mounting portion in accordance with the inclination angle of the luggage mounting portion, and a telescopic mechanism for expanding and contracting the handle support member in accordance with the inclination angle of the luggage mounting portion are preferably used. Can be. And the handle for operation input is a one-handed operation type handle,
If the device is provided with means for detecting the front and rear and vertical forces applied to the handle, the handle can be operated with one hand. In this case, a joystick can be suitably used as the handle and the detection means, Are attached to a movable body supported via two different pairs of parallel leaf springs, and the detecting means detects the force in each direction from the amount of deflection of the two pairs of leaf springs and the spring constant of the leaf springs. Can be suitably used.

[0010] In addition to providing two left and right one-hand operation type handles, a means for detecting front and rear and vertical forces applied to both handles may be provided. In this case, the operation can be performed with either the left or right hand. Also in this case, a joystick can be suitably used as each handle and the detecting means. It is also possible to provide two left and right one-hand operation type handles, and to provide means for detecting the force in the front-rear direction applied to one handle and means for detecting the force in the vertical direction applied to both handles.

[0011] Further, two left and right one-hand operation type handles are provided, and a means for detecting a longitudinal force applied to one handle and a means for detecting a vertical force applied to the other handle are provided. It may be. Further, a brake means for constantly applying a brake to the operation and a brake release switch for releasing the braking by the brake means may be provided, and the brake release switch may be provided on the steering wheel. Safety can be improved.

[0012]

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 L-shaped mounting portion 6 is formed by connecting the vicinity of a connection point between the vertical frame 60 and the horizontal frame 61 to an upper end of a support frame 11 projecting from the upper surface of the main body 1 by a shaft 10. The mounting unit 6 is rotatable around the mounting unit. The main body 1 and the mounting section 6
A linear actuator 3 for changing the inclination angle of the mounting section 6 with respect to the main body 1 is provided between the linear actuator 3 and the main body 1. The handle 7 is provided via a parallel link mechanism (parallel crank mechanism) P in which the vertical frame 60 of the mounting portion 6 is one of the links and the shaft 10 is one of the rotation points C1, C2, C3, and C4. The handle 7 is provided with a force sensor 71 for the front-rear direction (left-right direction in FIG. 1) and a force sensor 72 for the up-down direction. These force sensors 71 and 72 detect an external force applied to the handle 7.

The traveling means 2 disposed on the lower surface of the main body 1 comprises a drive motor 21, a main endless track 20a and a sub-endless track 20b driven by the drive motor 21, and a main endless track 20a on the rear side. Is located on the lower surface of the main body 1, whereas the sub-endless track 20b on the front side (the handle 7 side) is provided so as to rise obliquely upward.
Note that the main endless orbit 20a and the sub endless orbit 20 here are
b means that a roller 29a and a pressing roller 29b are arranged in the middle of a single endless track 20, and these rollers 29a, 2b
By bending the endless track 20 at the portion 9b, two systems are provided, a front endless track 20b and a rear endless track 20a. In the figure, reference numeral 23 denotes a drive wheel for the endless track 20; 25, a driven wheel for the endless track 20;
(20a, 20b) are backup plates arranged on each inner peripheral side.

The linear actuator 3 is composed of a motor 30 and a shaft 31 that moves in the axial direction by rotation of the motor 30. The motor 30 is pivotally supported by the main body 1, and the tip of the shaft 31 is located on the side of the mounting portion 6. The tilt angle of the mounting portion 6 with respect to the main body 1 is changed by the operation (expansion and contraction) of the linear actuator 3 which is pivotally supported on the lower surface of the frame 61. 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 tilted forward. The mounting part 6 is inclined about the center.

When the mounting portion 6 is in the upright position, 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 main endless track 20a. , 20b are not grounded. But,
If the mounting part 6 is tilted as described above, the casters 65
Moves upward from the lower surfaces of the endless tracks 20a and 20b, so that traveling by the endless tracks 20a and 20b becomes possible.

Of the two force sensors 71, 72 provided on the handle 7, the force sensor 71 detects a force applied in the front-rear direction of the handle 7, and the driving motor 21 in the traveling means 2 It 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 according to the force value (including the direction) Fb detected by the force sensor 71 and the assist gain, that is, the larger the force detection value Fb is, the larger the current control becomes. Motor 2 so that the output torque
1 is controlled.

The other force sensor 72 detects the force applied to the handle 7 in the vertical direction, and the motor 30 in the linear actuator 3 is controlled according to the external force detected by the force sensor 72. The current control including the rotation direction control of the motor 30 is performed according to the force value (including the direction) Fa detected by the force sensor 72 and the assist gain, and the larger the detected force Fa is, the larger the current control becomes. The motor 30 is controlled so that the output torque is obtained.
When the motor 30 rotates in one direction, the linear actuator 3 extends and inclines the mounting part 6, and when the tilt angle control motor 30 rotates in the opposite direction, the linear actuator 3 rotates.
Is shrunk to make the mounting portion 6 stand upright.

Although specific examples of the force sensors 71 and 72 will be described later, those which detect the amount of deflection of the spring (the amount of movement of the handle 7) when a force is applied to the handle 7 suspended and supported by the spring are used. In this case, the value of the external force is obtained by calculation from the amount of deflection and the spring constant of the spring. In FIG. 3, reference numeral 77 denotes the force sensor 7 of the drive motor 21.
Control circuits 78 a and 78 b for performing control in accordance with the external force detected by the motors 1 and 72 are drivers for the motors 21 and 30. The control circuit 77 controls the motor 2 so that an output torque obtained by multiplying the detected external force by the assist gain is output.
The power assist is performed by controlling the power steering units 1 and 30, and when a light force is applied to the steering wheel 7, the traveling with several times the power and the inclination adjustment of the mounting unit 6 are performed. Control circuit 7
Devices such as 7 and a battery as a power supply are housed in a control box 66 provided in a vertical frame 60 of the mounting section 6.

When the load 9 is placed on the loading section 6 of the stairs ascending and descending stairs, the load 9 is placed on the upright (horizontal) loading section 6 and the handle 7 is pulled. When the power is turned on and the handle 7 is pulled down while pulling the handle 7 downward, the linear actuator 3 according to the vertical external force applied to the handle 7 is turned on. At the same time as the mounting portion 6 is tilted by the extension, the traveling is performed by driving the endless tracks 20a and 20b by the driving motor 21 in accordance with the external force in the front-rear direction applied to the handle 7 and the sub-portion rising obliquely upward. The endless track 20b starts climbing up the stairs from the position where it has engaged with the stairs. After that, while applying downward force to the handle 7 in order to prevent the upper end of the luggage 9 from hitting the ceiling surface, the handle 7 is continuously pulled toward the front, so that the stairs can be moved while the mounting portion 6 is inclined. Going up.

When the vehicle reaches the landing or reaches the end of the stairs, the handle 7 is pulled slowly while pulling up, so that the linear actuator 3 contracts in accordance with the external force in the vertical direction at this time and the external force in the front-rear direction is reduced. In response, the endless track 20 is activated, so that the loading section 6 and the load 9 finish climbing the stairs while gradually rising, and when no force is applied to the handle 7, the endless track 20 and the linear actuator 3 perform their operations. And the casters 65 touch the ground again to float the main endless tracks 20a and 20b, so that the state can be changed easily. When going down the stairs, the reverse operation described above may be added with the luggage 9 side preceding.

Even for a tall luggage 9, the loading section 6 is tilted so that the luggage 9 can be laid obliquely up and down stairs.
The upper end of the luggage 9 does not hit the ceiling of the staircase, and at the time of reaching the landing or reaching the end of the stairs, the luggage 9 laid diagonally is gradually raised by the angle control of the mounting section 6 Therefore, the tip of the package 9 does not hit the wall.

In addition, the mounting portion 6 can be tilted or the endless track 20 can be actuated by slightly applying a force for causing the mounting portion 6 to lie down on the handle 7 and a force in the running direction (front-back direction). There is no need to operate while thinking about each movement individually, and it is possible to perform the desired movement. Although the output is also a force in response to a force input, the output may be a speed or an acceleration.

Further, in this case, the handle 7 is attached via the parallel link mechanism P as described above. For this reason, even though the handle 7 is provided on the mounting portion 6 whose inclination angle changes, FIG. As shown in the figure, the direction of the handle 7 with respect to the main body 1 is constant. That is, even if the mounting portion 6 is tilted with respect to the main body 1, the direction of the handle 7 with respect to the main body 1 does not change, so that the direction of the force detected by the force sensors 71 and 72 changes depending on the tilt angle of the mounting portion 6. Therefore, from the viewpoint of the user, the direction of the force applied to the handle 7 does not change depending on the inclination angle of the mounting portion 6, and the direction of the force to be applied is changed. It does not cause erroneous operation.

The constant orientation of the handle 7 irrespective of the value of the inclination angle of the mounting portion 6 with respect to the main body 1 can be obtained by a structure other than the parallel link mechanism P. For example, in the configuration shown in FIG.
A sprocket 80 is fixed to the handle 7 rotatably provided on the sprocket 80, and a sprocket 81 is fixed to the support frame 11 provided with the shaft 10, and a chain 82 is fixed between the sprockets 80 and 81.
It is spanning. Also in this case, regardless of the value of the inclination angle of the mounting portion 6, the handle 7 is oriented in the front-rear direction parallel to the main body 1.

As shown in FIGS. 6 and 7, the handle 7 is attached to the mounting portion 6 via a handle angle control motor 83, and a position detector 84 (FIG. 6) for detecting the inclination angle of the mounting portion 6. (Not shown in the figure), and the handle 7 may always be directed in a fixed direction by moving the handle angle control motor 83 according to the output of the position detector 84.

In relation to electrically controlling the inclination of the mounting section 6,
As shown in FIG. 8, the handle 7 can be attached to the main body 1 which is not affected by the inclination of the mounting section 6, and in this case,
Although this is the simplest configuration, depending on the position of the handle 7, a large restriction is imposed on the inclination angle of the mounting portion 6. Therefore, when attaching to the main body 1, it is preferable to attach via the parallel link mechanism P as shown in FIG.

When the handle 7 is provided on the mounting portion 6, the direction of the handle 7 is not made constant regardless of the inclination angle of the mounting portion 6, but the force sensor 71 is provided in accordance with the inclination angle of the mounting portion 6. , 72 can be dealt with by performing the following operation. That is, FIG.
As shown in FIG. 10, the force F applied to the handle 7 at a certain inclination θw is detected as forces Fa and Fb by the force sensors 71 and 72. At this time, as shown in FIG. The length La is simultaneously detected from the length detector, and the inclination angle θw is obtained from the length La by the calculation f (La), and is geometrically obtained from (Fa, Fb) (F, θf). Fh = F * cos (θf−θw) Fv = F * sin (θf−θw) from the inclination angle θw and the motor 2 based on the values of Fh and Fv.
The control of 1, 30 is performed. Even in this case,
Control that is not affected by the direction of the handle 7 due to the inclination angle θw of the mounting section 6 can be performed.

By the way, when the luggage 9 to be loaded on the loading portion 6 is tall and the loading portion 6 and the luggage 9 are laid down, as shown in FIG. In this regard, as shown in FIGS. 11 to 15 or FIGS. 16 to 18, the position of the handle 7 is changed according to the inclination angle of the mounting portion 6. This can be dealt with by providing a position adjustment mechanism for relatively displacing the upper side.

11 to 15 are provided with a slide mechanism for sliding the mounting portion 6 rearward in accordance with the inclination angle of the mounting portion 6. A support section 11 to which the mounting section 6 is connected by a shaft 10 is provided on the main body 1 so as to be rotatable back and forth. Sprocket 13,1
3 is provided and a chain 14 is put between the sprockets 13 and 13. In the figure, reference numeral 15 denotes a motor for driving a chain. A roller 68 is provided at the front end of the mounting portion 6 along the slide rail 12, and the mounting portion 6 is connected to the chain 14.

Further, a vertical slide rail 64 is provided on the vertical frame 60 of the mounting portion 6, and rollers 63 provided on the parallel link mechanism P connecting the handle 7 to the main body 1 are engaged with the slide rail 64. . By driving the chain drive motor 15 according to the inclination of the mounting portion 6, the mounting portion 6 slides rearward as the mounting portion 6 is laid down, as shown in FIGS. To
This prevents the handle 7 from getting under the load 9.

FIGS. 16 to 18 show an arrangement in which the position of the handle 7 is adjusted by providing a telescopic mechanism for expanding and contracting the handle support member in accordance with the inclination angle of the mounting part 6. A slide guide 41 is provided on the upper link 40 of the parallel link mechanism P having the vertical frame 60 as one link, and the rollers 43 of the slide block 42 to which the handle 7 is attached are received by the slide guide 41, and the mounting section 6 is further mounted. The upper end of the vertical frame 60 and the connecting portion 44 of the slide block 42 are connected by a link 45.

When the mounting portion 6 is laid down, the direction (angle γ) of the handle 7 does not change due to the parallel link mechanism P. In addition, the slide block 42 is pushed by the link 45 as the mounting portion 6 is laid down. As shown in FIG. 18, the slide block 42 slides with respect to the link 40, so that the handle 7 does not fall under the load 9.

Handle 7 provided with force sensors 71 and 72
Various types of joysticks can be used, but a commercially available two-axis detection type joystick as shown in FIG. 19 is used as a type capable of detecting the forces applied in the front-rear direction and the vertical direction, respectively. Is the most advantageous in terms of cost, in which case it can be operated with only one hand.
With one that can be operated with only one hand, the open hand can be used to carry another luggage, or the open hand can be used for emergency response.

FIGS. 20 and 21 show an example which can be operated with only one hand, and a pair of upper and lower parallel leaf springs 74,
An intermediate member 75 is attached via the intermediate member 75, and a movable member 77 is attached to the intermediate member 75 via a pair of parallel leaf springs 76, 76 facing the front and rear, which are different from the leaf spring 74 by 90 degrees. The movable member 77 has a handle 7
Is installed. Further, as the force sensors 71 and 72, linear potentiometers for detecting the displacement amounts of the leaf springs 74 and 76 are used. In the figure, 78 is the handle support 7
3 is a fixed handle provided in FIG.

If the handle 7 is moved back and forth, FIG.
As shown in FIG. 21A, the force applied in the front-rear direction can be detected from the displacement amount at this time, and the leaf spring 76 can be detected by moving the handle 7 up and down as shown in FIG. , And the force applied in the vertical direction can be detected from the displacement at this time. Since the movement of the handle 7 is parallel movement, it is possible to match the direction of operation and the direction of movement of the handle 7 to obtain a sensory and easy-to-understand one. In addition, since there is no backlash and a high rigidity can be obtained, a product having a small distortion and a good operational feeling can be obtained.

If the handles 7, 7 are attached to both the left and right sides of the movable plate 77, respectively, as shown in FIGS. 22 and 23, the force applied when the left or right handle 7, 7 is operated can be detected. It is possible to operate either the left or right without an operator in front of the handle 7. In this case, it is needless to say that a force can be applied to both handles 7, 7 at the same time.

FIG. 24 shows another example of a structure which can be operated by one hand or both hands. A movable member 77 is mounted between the distal ends of a pair of front and rear parallel leaf springs 76 suspended from the handle support portion 73, and the handle 7 rotatable about a shaft 78 is mounted on the movable member 77. The movable member 77 is provided with a pair of upper and lower arms 85, 85 rotatable about the shaft 78, and a tension spring 86 is bridged between the arms 85, 85. Further, the handle 7 is provided with a pin 87 located between both arms 85, 85, and an arm 88 extending from the force sensor 72, which is a rotary potentiometer, is connected to the pin 87. The upper and lower arms 85, 85 are restricted in the rotation direction by the movable member 77 located therebetween.

When the leaf spring 76 is bent by the force in the front-rear direction applied to the handle 7, the amount of the bending is detected by a force sensor 71 which is a linear potentiometer, and any one of the forces is applied by the vertical force applied to the handle 7. Arm 85
Handle 7 when rotating the spring against the tension spring 86
Is detected by the force sensor 72. As shown in FIG. 25, two-axis joystick-type handles 7 can be used as a pair of left and right, and outputs Fvl, Fhl, and Fvl, Fhl, of force sensors 71, 72 for each handle 7, 7 can be operated with both hands or one hand. Synthesize Fvr and Fhr (Fvl +
Fvr, Fhl, Fhr) can also be used.

A pair of left and right handles 7, 7 may be provided so as to detect a force in the front-rear direction from one handle 7 and a force in the up-down direction from the other handle 7. FIG. 26 shows a handle block that can be suitably used in this case.
It is turned around 0 degrees and attached. Since the configuration of the handle block is the same as that shown in FIG. 24, the description will be omitted. Two one-axis joysticks may be attached by changing the direction by 90 degrees on the left and right.

FIGS. 27 and 28 show other examples. A movable member 77 is attached to the handle support 73 via a pair of upper and lower parallel leaf springs 74, 74.
The right handle 7 rotatable about a vertical shaft 78 is attached to the left handle 7 and the left handle 7 is fixed.
The movable member 77 is provided with a pair of front and rear arms 85, 85 rotatable about the shaft 78, and a tension spring 86 is bridged between the arms 85, 85. Further, the handle support portion 73 is provided with a pair of arms 90, 90 that one of which rotates up and down following the up and down movement of the movable member 77, and a tension spring 91 between both arms 90, 90. It is spanning.

When the right handle 7 in the figure is moved in the front-rear direction, the handle 7 about the shaft 78 rotates one of the arms 85 against the tension spring 86. Is detected by a force sensor 71 which is a rotary potentiometer connected via a pin 87 and an arm 88. Since the left handle 7 cannot be moved back and forth, the front handle can be operated only with the right handle 7 in the front-rear direction.

On the other hand, if the right handle 7 and / or the left handle 7 is moved up and down, the movable member 7 moves up and down against the leaf spring 74 and the tension spring 91. The moving amount is detected by a force sensor 72 which is a linear potentiometer. Regarding the up-down direction of the mounting section 6, the left and right handles 7, 7 can be operated, so that it is easy to deal with danger avoidance.

A switch S provided on the right handle 7 is used to release an electromagnetic brake provided in the power transmission system from the drive motor 21 to the endless track 20. The switch S is pressed. Only at that time, the electromagnetic brake is released and power is transmitted to the endless track 20. If the electromagnetic brake is not released,
Since the vehicle does not travel even if a force in the front-rear direction is applied to the handle 7, the handle 7 does not start moving due to hitting anything.

When the switch S is depressed and the brake is released without going down the stairs, it is possible to go down by gravity without going down the stairs. Anyway, the stair climbing carrier can be lowered and returned to level ground. The brake may be provided not only on the traveling section 2 but also on the linear actuator 3 for adjusting the angle of the mounting section 6.

[0045]

As described above, in the present invention, when the handle is pulled or pushed in a desired direction, the traveling operation according to the force and the angle adjustment of the luggage mounting portion are both performed. It is not necessary to control the traveling and the angle adjustment by individual operations. Therefore, the operability is extremely good, and no skill is required, and the operation obtained is smooth.

The direction in which the force applied to the operation input handle is detected in a fixed direction with respect to the main body regardless of the value of the inclination angle of the luggage mounting portion with respect to the main body. Since the operation feeling does not change due to the inclination angle of, an even better operation feeling can be obtained. In the case where the handle is provided on the luggage mounting portion, the handle may be provided on the luggage mounting portion via correction means for correcting the direction of the handle according to the inclination angle of the luggage mounting portion. As the time correction means, a means for transmitting the rotation angle of the luggage mounting portion with respect to the main body to the handle support portion of the luggage mounting portion and changing the handle mounting angle with respect to the luggage mounting portion can be suitably used. Also, the same result can be obtained by providing an input handle via a parallel link mechanism.

In the case where the handle for operation input is fixedly provided in the luggage mounting portion, the control means also applies the front-rear direction component and the up-down direction component of the force applied to the handle to the inclination angle of the luggage mounting portion. By performing the calculation in accordance therewith, a good operational feeling can be obtained. In addition, if a position adjustment mechanism is provided to shift the position of the handle for operation input relatively to the upper side of the luggage mounting portion in accordance with the inclination angle of the luggage mounting portion, even if the luggage is tall, When the mounting part is tilted, the handle does not fall under the luggage,
Handle operation can be easily performed.

As the position adjusting mechanism, a slide mechanism for sliding the luggage mounting portion in accordance with the inclination angle of the luggage mounting portion, and a telescopic mechanism for expanding and contracting the handle support member in accordance with the inclination angle of the luggage mounting portion are preferably used. Can be. And the handle for operation input is a one-handed operation type handle,
If a means for detecting the force in the front-rear direction and the vertical direction applied to the handle is provided, the handle can be operated with one hand.
In this case, a joystick is advantageous in terms of cost for the handle and the detecting means, but the handle is attached to a movable body supported via two pairs of parallel leaf springs having different bending directions, and the detecting means is composed of two pairs. If it is assumed that the force in each direction is detected from the amount of deflection of the leaf spring and the spring constant of the leaf spring, the handle will perform parallel movement instead of rotation, and will have a rigid movement. Can be obtained.

By providing two left and right one-hand operation type handles and providing means for detecting the forward and backward and vertical forces applied to both the handles, it is possible to operate with either the left or right hand. , Can carry other luggage with one hand or be very prepared. It is also possible to provide two left and right one-hand operation type handles, and to provide means for detecting the force in the front-rear direction applied to one handle and means for detecting the force in the vertical direction applied to both handles.
Only one handle is needed to operate the front and rear direction, but this is functionally sufficient, and the up and down direction can be operated with either left or right hand. Function and compatibility can be achieved.

Further, two left and right one-hand operated handles are provided, and a means for detecting a longitudinal force applied to one handle and a means for detecting a vertical force applied to the other handle are provided. It may be. Further, a brake means for constantly applying a brake to the operation, and a brake release switch for releasing the braking by the brake means are provided.If the brake release switch is provided on the handle, when something hits the handle, In addition, safety against runaway of the control circuit can be improved.

[Brief description of the drawings]

FIG. 1 shows an example of an embodiment of the present invention, in which (a)
Is a side view, and (b) is a front view.

FIG. 2 is a plan view of a main body and a traveling section of the same.

FIG. 3 is a block circuit diagram of the same.

FIG. 4 shows the movement of the steering wheel according to the first embodiment, and (a) and (b).
(c) is a side view.

FIG. 5 is a side view showing another example of the handle support structure of the above.

FIG. 6 is a side view showing still another example of the handle support structure of the above.

FIG. 7 is a block circuit diagram of the same.

FIG. 8 is a side view showing another example of the handle support structure of the above.

FIG. 9 is a side view showing still another example of the handle support structure of the above.

FIG. 10 is a flowchart of a correction operation according to the inclination angle of the mounting unit according to the first embodiment.

FIG. 11 is an exploded side view showing an example of the handle position adjustment mechanism of the above.

FIG. 12 is a partial plan view of the same.

13A is a partial horizontal sectional view of the same, and FIG. 13B is a partial vertical sectional view.

FIG. 14 is a side view showing the same operation.

FIG. 15 is a side view when the stairs are climbed up and down.

FIG. 16 is a side view showing another example of the above handle position adjusting mechanism.

FIGS. 17 (a) and (b) are perspective views of a handle portion of the same.

FIG. 18 is a side view showing the same operation.

FIG. 19 is a perspective view of an example of the handle and the detecting means according to the embodiment.

FIG. 20 is a perspective view of another example of the handle and the detection unit according to the second embodiment.

FIGS. 21 (a) and (b) are a cross-sectional view and a horizontal cross-sectional view showing the operation of the above.

FIG. 22 is a perspective view of still another example of the handle and the detecting means according to the third embodiment.

FIGS. 23 (a) and 23 (b) are a horizontal sectional view and a horizontal sectional view showing the operation of the above.

FIG. 24 shows another example of the handle and the detecting means of the above, and (a) and (b) are longitudinal sectional views.

FIG. 25 is a front view of still another example of the steering wheel and the detecting unit according to the third embodiment.

26 (a) is a plan view, and FIG. 26 (b) is a front view, showing different examples of the handle and the detecting means.

FIGS. 27A and 27B show still another example of the steering wheel and the detecting means in the embodiment, wherein FIG. 27A is a horizontal sectional view and FIG. 27B is a front view.

28 (a) and (b) are longitudinal sectional views of the same.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 2 Running means 3 Linear actuator for inclination angle adjustment 6 Mounting part 7 Handle 71 Force sensor 72 Force sensor

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[Procedure amendment]

[Submission date] March 2, 1998

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Fig. 1

[Correction method] Change

[Correction contents]

FIG. 1 shows an example of an embodiment of the present invention, in which (a)
Is a side view, and (b) is a front view in which one endless track is broken .

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 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Masato Takasugi 1048 Kadoma Kadoma, Osaka Prefecture Matsushita Electric Works, Ltd.

Claims (17)

[Claims] 1. A stair-climbing transport vehicle comprising a main body having a stair-climbing traveling section, and a luggage mounting section having a variable inclination angle with respect to the main body, wherein a handle for operation input and a handle are added to the handle. A control means for operating the stair climbing traveling unit in accordance with the force in the front-rear direction and operating the angle adjustment unit for changing the inclination angle of the luggage mounting unit with respect to the main body in accordance with the vertical force applied to the handle. A stair-climbing transport vehicle, comprising: 2. The detection direction of a force applied to an operation input handle is constant with respect to the main body regardless of a value of an inclination angle of the luggage mounting portion with respect to the main body. The stair climbing and lowering vehicle according to 1. 3. A handle for operation input is provided on the luggage mounting portion, and is provided on the luggage mounting portion via correction means for correcting the direction of the handle according to the inclination angle of the luggage mounting portion. The stair climbing and lowering transport vehicle according to claim 2, characterized in that: 4. The apparatus according to claim 3, wherein the correction means transmits a rotation angle of the luggage mounting portion with respect to the main body to a handle support portion of the luggage mounting portion to change a handle mounting angle with respect to the luggage mounting portion. The stair climbing transport vehicle as described. 5. The stair-climbing transport vehicle according to claim 2, wherein the operation input handle is provided via a parallel link mechanism. 6. A handle for operation input is fixedly provided on the luggage mounting portion, and the control means determines a front-rear component and a vertical component of the force applied to the handle by an inclination angle of the luggage mounting portion. 3. The stair climbing and lowering vehicle according to claim 2, wherein the calculation is performed in accordance with the following equation. 7. The apparatus according to claim 1, further comprising a position adjusting mechanism for relatively shifting a position of the operation input handle toward an upper side of the luggage mounting portion in accordance with an inclination angle of the luggage mounting portion.
The stair climbing and lowering vehicle according to any one of Items 5 to 5. 8. The stair climbing and lowering vehicle according to claim 7, wherein the position adjusting mechanism is a slide mechanism that slides the luggage mounting portion according to the inclination angle of the luggage mounting portion. 9. The stair climbing and lowering vehicle according to claim 7, wherein the position adjusting mechanism is a telescopic mechanism that expands and contracts the handle support member according to the inclination angle of the luggage mounting part. 10. The handle is of a one-handed operation type,
2. A stair climbing and lowering vehicle according to claim 1, further comprising means for detecting front and rear and vertical forces applied to said handle. 11. The stair climbing and lowering vehicle according to claim 10, wherein the handle and the detecting means are joysticks. 12. The handle is mounted on a movable body supported via two pairs of parallel leaf springs having different bending directions, and the detecting means detects each amount of deflection of the two pairs of leaf springs, the spring constant of the leaf spring, and 11. The stair climbing and lowering vehicle according to claim 10, wherein a force in each direction is detected from the vehicle. 13. The handle may be a one-handed type.
2. The stair climbing and lowering vehicle according to claim 1, further comprising means for detecting force in the front-rear direction and the vertical direction applied to both handles. 14. The stair climbing and lowering vehicle according to claim 13, wherein each handle and the detecting means are joysticks. 15. The handle is one-handed type and the right and left
2. The staircase according to claim 1, further comprising: means for detecting a longitudinal force applied to one handle, and means for detecting a vertical force applied to both handles. Elevating carrier. 16. The handle is a one-handed type, and the handle is
2. The staircase according to claim 1, further comprising: means for detecting a longitudinal force applied to one handle, and means for detecting a vertical force applied to the other handle. Elevating carrier. 17. A brake system comprising: a brake means for constantly applying braking to an operation; a brake release switch for releasing braking by the brake means; and a brake release switch provided on a steering wheel.
A stair climbing and lowering transport vehicle according to any one of the above items 16.