JPS57194171A - Wheeled universal running device - Google Patents

Wheeled universal running device

Info

Publication number
JPS57194171A
JPS57194171A JP56077755A JP7775581A JPS57194171A JP S57194171 A JPS57194171 A JP S57194171A JP 56077755 A JP56077755 A JP 56077755A JP 7775581 A JP7775581 A JP 7775581A JP S57194171 A JPS57194171 A JP S57194171A
Authority
JP
Japan
Prior art keywords
wheels
stairway
running
driving
detecting
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
Application number
JP56077755A
Other languages
Japanese (ja)
Inventor
Yoshitomo Nakada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toshiba Corp
Original Assignee
Toshiba Corp
Tokyo Shibaura Electric Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Toshiba Corp, Tokyo Shibaura Electric Co Ltd filed Critical Toshiba Corp
Priority to JP56077755A priority Critical patent/JPS57194171A/en
Publication of JPS57194171A publication Critical patent/JPS57194171A/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/063—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/38—General characteristics of devices characterised by sensor means for torque

Abstract

PURPOSE:To ease running on uneven faces, such as stairway in such a way that function of detecting wheels and driving wheels is alternately changed over in response to their situation. CONSTITUTION:Wheels 22a which are located on the front side are used as detecting wheels for obstacles while running is done by driving wheels 22b which are located on the rear side. When the wheels 22a which are the detecting wheels contact the stairway ST, a link 21a comes to be turned in Y direction, and the wheels 22a are moved to the upper side at the first step of the stairway ST. With progress of running, the wheels 22b are brought into contact with the stairway ST, a link 21b is turned, the driving of the wheels 22b are stopped, movement goes up to the upper steps. Thus, when the wheels arrives at the stairway, it is detected by means of a torque detector, the links to support the wheels are turned around the frame by means of the signals, one wheel is moved onto the upper face of the stairway, and the driving wheels are transferred to this wheel, so that running can be continued even on the stairway.
JP56077755A 1981-05-22 1981-05-22 Wheeled universal running device Pending JPS57194171A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP56077755A JPS57194171A (en) 1981-05-22 1981-05-22 Wheeled universal running device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP56077755A JPS57194171A (en) 1981-05-22 1981-05-22 Wheeled universal running device

Publications (1)

Publication Number Publication Date
JPS57194171A true JPS57194171A (en) 1982-11-29

Family

ID=13642742

Family Applications (1)

Application Number Title Priority Date Filing Date
JP56077755A Pending JPS57194171A (en) 1981-05-22 1981-05-22 Wheeled universal running device

Country Status (1)

Country Link
JP (1) JPS57194171A (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1984004451A1 (en) * 1983-05-13 1984-11-22 Mavispace Ltd Stair climbing devices
JPS60148780A (en) * 1984-01-13 1985-08-06 Ishikawajima Harima Heavy Ind Co Ltd Moving equipment
JPH01102078U (en) * 1987-12-28 1989-07-10
US5515934A (en) * 1994-10-17 1996-05-14 Davis; Stuart D. Agile versatile mobile robot body
WO1999009927A1 (en) * 1997-08-27 1999-03-04 Hartmut Belger Mobile transportation device for climbing steps
EP1038513A3 (en) * 1999-03-22 2001-09-12 Ulrich Alber GmbH & Co. KG Stair climbing device
JP2007161105A (en) * 2005-12-14 2007-06-28 Ihi Aerospace Co Ltd Mobile robot
WO2014082062A1 (en) * 2012-11-26 2014-05-30 Saudi Arabian Oil Company Outer surface inspecting robot with flipping over flange mechanism
CN104842784A (en) * 2015-05-07 2015-08-19 西北农林科技大学 Mountain terrace tractor
JP2019199105A (en) * 2018-05-14 2019-11-21 国立大学法人 和歌山大学 Step movement control method of moving body

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS507824A (en) * 1973-05-24 1975-01-27

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS507824A (en) * 1973-05-24 1975-01-27

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1984004451A1 (en) * 1983-05-13 1984-11-22 Mavispace Ltd Stair climbing devices
JPS60148780A (en) * 1984-01-13 1985-08-06 Ishikawajima Harima Heavy Ind Co Ltd Moving equipment
JPH01102078U (en) * 1987-12-28 1989-07-10
US5515934A (en) * 1994-10-17 1996-05-14 Davis; Stuart D. Agile versatile mobile robot body
WO1999009927A1 (en) * 1997-08-27 1999-03-04 Hartmut Belger Mobile transportation device for climbing steps
EP1038513A3 (en) * 1999-03-22 2001-09-12 Ulrich Alber GmbH & Co. KG Stair climbing device
JP2007161105A (en) * 2005-12-14 2007-06-28 Ihi Aerospace Co Ltd Mobile robot
WO2014082062A1 (en) * 2012-11-26 2014-05-30 Saudi Arabian Oil Company Outer surface inspecting robot with flipping over flange mechanism
CN104822497A (en) * 2012-11-26 2015-08-05 沙特阿拉伯石油公司 Outer surface inspecting robot with flipping over flange mechanism
US9239297B2 (en) 2012-11-26 2016-01-19 Saudi Arabian Oil Company Outer surface inspecting robot with flipping over flange mechanism
CN104842784A (en) * 2015-05-07 2015-08-19 西北农林科技大学 Mountain terrace tractor
JP2019199105A (en) * 2018-05-14 2019-11-21 国立大学法人 和歌山大学 Step movement control method of moving body

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