WO2023032409A1 - Outil de transport - Google Patents

Outil de transport Download PDF

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Publication number
WO2023032409A1
WO2023032409A1 PCT/JP2022/023908 JP2022023908W WO2023032409A1 WO 2023032409 A1 WO2023032409 A1 WO 2023032409A1 JP 2022023908 W JP2022023908 W JP 2022023908W WO 2023032409 A1 WO2023032409 A1 WO 2023032409A1
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WIPO (PCT)
Prior art keywords
wheels
crawler
traveling
carrying device
loading
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PCT/JP2022/023908
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English (en)
Japanese (ja)
Inventor
宣之 嘉来
Original Assignee
宣之 嘉来
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Publication of WO2023032409A1 publication Critical patent/WO2023032409A1/fr

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces

Definitions

  • the present invention relates to a carrier for carrying objects such as luggage and people, and in particular to a carrier that can be used not only on flat ground, but also on slopes, steps, stairs, and the like.
  • the present invention claims the priority of Japanese patent application number 2021-140830 filed on August 31, 2021, and for designated countries where incorporation by reference of documents is permitted, the content described in the application is incorporated into this application by reference.
  • a large number of transportation equipment such as carry carts and trolleys have been developed that can be moved up and down even on uneven terrain such as slopes and stairs.
  • a carrier that allows elderly people, women, and caregivers to safely and smoothly ascend and descend steep slopes, stairs, and steps while carrying luggage and children.
  • Patent Document 1 describes a trolley with crawlers that can adjust the angle with respect to the platform as a carrier for carrying luggage. When going up a step of a staircase, it simply advances (pulls up) forward.
  • Patent Document 2 discloses a wheelchair that uses a boat-shaped belt and pulleys with high angles of attack at the front and rear ends to follow steps, as a carrier for transporting people.
  • Patent Document 3 relates to an electrically assisted wheelchair, in which a crawler having an angle of attack is used to enter stairs, and at the same time, an electric cylinder lifts the front part of the wheelchair to stabilize the posture of the occupant.
  • Non-Patent Document 1 describes a self-propelled robot that overcomes steps by deforming the crawler according to the road surface with three sprockets including a floating sprocket.
  • Patent Document 1 it is assumed that the object to be transported is leaned against the upright frame with the handle of the apparatus main body and transported, and it is not suitable for suppressing the inclination of the loading section for loading the object to be transported. .
  • the robot tilts along a slope due to the concrete deformation method of the crawler, and no consideration is given to keeping the main body nearly horizontal.
  • An object of the present invention is to provide a carrying device that can smoothly travel even on slopes, steps, and stairs while suppressing the inclination of the loading section for loading objects to be transported.
  • a carrying device comprising a loading section for loading an object to be transported, a running section for moving the loading section, and a ground contact surface of the running section. and a tilt angle changing mechanism for changing the tilt angle with respect to the loading unit
  • the running unit includes three or more wheels arranged with a height difference in advance with respect to the loading unit, and hooked on these wheels a single crawler that circulates in a rotated state, the plurality of wheels are arranged such that the positional relationship can be changed, and the inclination angle changing mechanism receives an operation to change the inclination angle, and the By transmitting a change operation to one or more of the wheels to change the position of the one or more wheels, the inclination angle of the ground contact surface of the crawler is changed.
  • the plurality of wheels include at least two fixed wheels spaced apart in the running direction of the carrying device and arranged with a difference in height, and a height position can be changed between the at least two fixed wheels.
  • At least one idle wheel may be included, and the tilt angle changing mechanism may transmit the change operation to the idle wheel to change the positional relationship of the plurality of wheels.
  • a pair of the traveling portions may be provided on both sides of the loading portion, and may be configured from the following (1) to (3).
  • the crawler in which the plurality of wheels are inscribed at at least four points.
  • the plurality of wheels include at least two fixed wheels spaced apart in the traveling direction of the carrying device and at least two freewheels whose height position can be changed below the at least two fixed wheels.
  • a wheel may be included, and the tilt angle changing mechanism may transmit the change operation to the idle wheel to change the positional relationship of the plurality of wheels.
  • a pair of the traveling portions may be provided on both sides of the loading portion, and may be composed of the following (1) and (2).
  • the crawler in which the wheel is inscribed in at least four places
  • the plurality of wheels includes at least four idler wheels capable of changing the position and height of the carrying device in the traveling direction, and the tilt angle changing mechanism performs the change operation on the at least four idler wheels. It may be transmitted to the body to change the positional relationship of the plurality of wheels.
  • a pair of the traveling portions may be provided on both sides of the loading portion, and may be composed of the following (1) and (2).
  • the traveling part may have a traveling assistance device that supplies a driving force to any one of the wheels.
  • the present invention it is possible to realize a carrying device that can move smoothly even on slopes, steps, and stairs while suppressing the inclination of the loading section for loading the object to be transported.
  • FIG. 1 is a side view showing an example of the carrying device according to the first embodiment of the present invention in a state of traveling on flat ground.
  • FIG. 2 is a side view showing an example of the carrying device of the first embodiment of the present invention in a stair running state.
  • FIG. 3 schematically shows an example of a mode of changing the inclination angle of the ground contact surface of the crawler by changing the positional relationship of the plurality of wheels in response to the change operation in the inclination angle changing mechanism in the first embodiment. It is an explanatory diagram. 4A and 4B are explanatory diagrams showing examples of use of the carrying device of the first embodiment of the present invention as (A) running on level ground and (B) running on stairs.
  • FIG. 1 is a side view showing an example of the carrying device according to the first embodiment of the present invention in a state of traveling on flat ground.
  • FIG. 2 is a side view showing an example of the carrying device of the first embodiment of the present invention in a stair running state.
  • FIG. 3 schematic
  • FIG. 5 is a side view showing an example of the carrying device of the second embodiment of the present invention in a state of running on flat ground.
  • FIG. 6 is a rear view showing an example of the carrying device according to the second embodiment of the present invention in a state of running on flat ground.
  • FIG. 7 is a side view showing an example of the carrying device of the third embodiment of the present invention in a state of running on flat ground.
  • FIG. 8 is a first modification of the carrying device disclosed by the present invention, in which (A) is an explanatory view schematically showing a flat ground traveling state from the side, and (B) is a schematic showing a slope traveling state from the side. It is an explanatory diagram schematically shown.
  • FIG. 1 is a side view showing an example of the carrying device of the second embodiment of the present invention in a state of running on flat ground.
  • FIG. 6 is a rear view showing an example of the carrying device according to the second embodiment of the present invention in a state of running on flat ground.
  • FIG. 7 is
  • FIG. 9 is a second modification of the carrying device disclosed by the present invention, in which (A) is an explanatory diagram schematically showing a flat ground traveling state from the side, and (B) is a schematic showing a slope traveling state from the side. It is an explanatory diagram schematically shown.
  • FIG. 10 is a third modification of the carrying device disclosed by the present invention, in which (A) is an explanatory view schematically showing a flat ground traveling state from the side, and (B) is a schematic showing a slope traveling state from the side. It is an explanatory diagram schematically shown.
  • FIG. 10 is a third modification of the carrying device disclosed by the present invention, in which (A) is an explanatory view schematically showing a flat ground traveling state from the side, and (B) is a schematic showing a slope traveling state from the side. It is an explanatory diagram schematically shown.
  • FIG. 10 is a third modification of the carrying device disclosed by the present invention, in which (A) is an explanatory view schematically showing a flat
  • FIG. 11 is a fourth modification of the carrying device disclosed by the present invention, in which (A) is an explanatory view schematically showing a flat ground traveling state from the side, and (B) is a schematic showing a slope traveling state from the side. It is an explanatory diagram schematically shown.
  • FIG. 1 is a side view showing an example of the carrying device according to the first embodiment of the present invention in a state of running on flat ground.
  • FIG. 2 is a side view showing an example of the carrying device of the first embodiment of the present invention in a stair running state.
  • the carrier of the first embodiment includes a loading unit 10 for loading objects to be transported, a traveling unit 20 for moving the loading unit 10, and an inclination angle changing mechanism for changing the inclination angle of the ground surface of the traveling unit 20 with respect to the loading unit 10. 30 and.
  • the traveling unit 20 includes a plurality of wheels 21a, 21b, 21c and 21d arranged in a fixed positional relationship, and these wheels 21a to 21d are wound around and these wheels are mounted at four locations. and a crawler 23 that circulates in an inscribed state.
  • Each wheel 21a, 21b, 21c and 21d is rotatably mounted on a respective axle 22a, 22b, 22c and 22d in this embodiment.
  • the traveling section 20 is connected to the loading section 10 via wheels 21a, 21b, 21c and 21d and axles 22a, 22b, 22c and 22d.
  • a pair of running portions 20 are provided on the left and right in the running direction, similar to the embodiment shown in FIG. Moreover, it is preferable that the pair of running portions 20 be independent without connecting the axles 22a, 22b, 22c and 22d on the left and right. As a result, the left and right crawlers 23, 23 can rotate independently and in directions opposite to each other, thereby facilitating direction change and turning. In addition to this example, some examples will be described using the one-side traveling portion 20 for convenience.
  • the material and shape of the crawler 23 are not particularly limited.
  • an existing product in which a steel wire is coated with rubber can be used.
  • a crawler that slips less on steps suitable for climbing stairs has also been developed (Patent No. 5688232).
  • bending-flexible materials and shapes are desirable in order to deform the track shape of the crawler for use in lifting and lowering.
  • the combination of rubber crawlers and sprockets provides accurate rotation transmission and little slippage, making it suitable for transporting heavy objects. It is thought that it excels in cushioning properties.
  • the track shape of the crawler 23 changes according to flat ground, slopes, stairs, etc., but the length of the crawler 23 is designed to be kept constant even if the position of the wheels changes.
  • the loading section 10 carries objects to be transported, such as people, animals, and articles.
  • the stacking unit 10 can have various forms such as a box shape, a table, a basket, a bag, and a frame.
  • the material can be selected according to the purpose, such as metal, plastic, or wood. Specific examples include shopping carts, carrier carts, baggage carts, pet carts, strollers, wheelchairs, stretchers, and service wagons.
  • a chair-shaped one for carrying people is used, which has a bottom portion 12 and a vertical portion 11 provided on the second end side thereof.
  • a handle 19 for pushing or pulling the loading section 10 together with the traveling section 20 is provided on the upper portion of the vertical section 11 of the loading section 10 .
  • the handle 19 may not be attached depending on the form of the stacking section 10 .
  • the attachment angle, length, etc. of the handle 19 to the stacking unit 10 can be appropriately set according to the user's usability.
  • the loading section 10 is provided with a portion for connecting with the traveling section 20 .
  • the stacking section 10 has legs 13 on the first end side.
  • the leg portion 13 provides a difference in height between the first end side and the second end side of the loading portion 10, and functions as a mounting seat 15 for connecting with the traveling portion 20, on which the axle 22a is attached at the lower end side.
  • a leg portion 14 is provided on the second end side of the stacking portion 10 . Since the leg portion 14 is connected to the traveling portion 20, it functions as a mounting seat 16 for mounting the axle 22c.
  • a wheel 21a is rotatably supported via an axle 22a
  • a wheel 21c is rotatably supported via an axle 22c.
  • the legs 13 can be equipped with dampers and shock absorbers for coping with road surface irregularities.
  • the legs 13 are provided with an adjustment mechanism capable of adjusting the length in order to accommodate various tilt angles.
  • the running portion 20 it is possible to mount casters in order to improve running performance on flat ground.
  • a switching mechanism is provided between the casters and the traveling portion 20 so as to contact the road surface in accordance with the road surface conditions. Note that the length of the leg portion 13 may be fixed.
  • the length of the leg 14 is not limited as long as the height difference with the leg 13 can be secured.
  • the leg portion 14 may be omitted, and the bottom portion 12 of the loading portion 10 may be used as a mounting seat to hold the axle 22c.
  • Legs 14 may be provided with an adjustment mechanism to extend or retract the length. Further, like the leg portion 13, it may be configured to be equipped with a damper and a shock absorber.
  • the height difference between the legs 13 and 14 is preferably set so that the bottom surface 12 of the loading unit 10 can be kept horizontal or nearly horizontal.
  • the angle formed with respect to the horizontal plane (maximum inclination angle of the ground plane) is about 30 degrees at maximum for outdoor slopes and about 40 degrees for stairs, for example, as shown in FIG.
  • the inclination angle ⁇ of the crawler 23 is set within 30° to 45°.
  • the height difference between the legs 13 and 14 can be freely set, but is preferably at least 20 cm or more in order to exceed the level difference (approximately 20 cm) of a general staircase. For stability on stairs 91, for example, as shown in FIG. Preferably.
  • the traveling unit 20 connects at least two of the plurality of wheels, wheels 21 b and 21 d in this embodiment, with a connecting rod (which may also be called a link or link arm) 24 .
  • a connecting rod which may also be called a link or link arm
  • an axle 22b and an axle 22d that hold these wheels 21b and 21d are connected.
  • a central portion of the connecting rod 24 is fixedly connected to the tip of the arm 25 .
  • the base end of the arm 25 is fixed to a cylinder 32 which will be described later, and the arm 25 is rotatably attached to the mounting seat 16 of the leg 14 by the cylinder 32 .
  • the cylindrical body 32 is arranged coaxially with the axle 22c on the mounting seat 16 .
  • the connecting rod 24 and the arm 25 support the crawler 23 at the center of the track.
  • the wheels 21b and 21d (corresponding to the idler wheels of the present invention) and the wheels 21a and 21c (corresponding to the fixed wheels of the present invention) ) changes.
  • the track shape of the crawler 23 is changed from the state shown in FIG. 1 (upper side of the long oblique side) to the state shown in FIG. 2 (lower side of the long oblique side).
  • the tilt angle changing mechanism 30 is a pair of left and right operation levers for transmitting the change operation to one of the plurality of wheels upon receiving an operation to change the tilt angle. 31, a cylinder 32 fixed to the proximal end of each operating lever 31, and a handle 33 connecting the distal ends of the left and right operating levers 31.
  • the operation lever 31 is connected to the arm 25 via the cylinder 32 and functions as a lever with the cylinder 32 as a fulcrum.
  • the operating lever 31, the cylindrical body 32 and the arm 25 are integrally provided. It functions like a lever with the cylindrical body 32 as a fulcrum. They are made of rigid material, for example metal.
  • the tilt angle changing mechanism 30 is provided on the left and right sides of the stacking unit 10, and includes a lock mechanism 34 that regulates the range of angular displacement of the operating lever 31 and locks the angular displacement of the operating lever 31 at a predetermined angle. and an unlocking lever 35 that unlocks the control lever 31 and allows the operating lever 31 to be angularly displaced.
  • the operation lever 31 is set so as to be locked in two stages, ie, when the operation lever 31 is placed at the level traveling mode position and at the assumed maximum tilt angle position. be. In this state, unlocking by the unlocking lever 35 is required to operate the operating lever 31 .
  • the locking of the operation lever is not limited to two steps, and can be provided in multiple steps or steplessly.
  • the tilt angle changing mechanism 30 changes the shape of the crawler 23 according to the angular displacement of the operating lever 31, and changes the tilt of the ground surface 23a. For example, as shown in FIG. 1, when the lock is released by the lock release lever 35 and the operation lever 31 is angularly displaced so as to tilt toward the first end side (right side in the drawing) of the stacking section 10, the operation In response to the angular displacement of the lever 31, the cylindrical body 32 rotates clockwise in the drawing on the mounting seat 16, and the arm 25 fixed to the cylindrical body 32 is angularly displaced with the cylindrical body 32 as a fulcrum.
  • the connecting rod 24 fixed to the arm 25 is angularly displaced to push downward the wheel 21b supported by the axle 22b and the wheel 21d supported by the axle 22d.
  • the wheel 21b and the wheel 21a positioned on the tip end side of the leg 13 are arranged at the same height level. Therefore, the crawler 23 is grounded on the flat ground 90 with the ground contact surface 23a between the wheels 21a and 21b.
  • the lock is released by the unlocking lever 35, and the operating lever 31 is angularly displaced from the first end side of the stacking section 10 to the second end side as shown in FIG.
  • the cylindrical body 32 rotates counterclockwise in the drawing on the mounting seat 16, and accordingly the arm 25 fixed to the cylindrical body 32 rotates.
  • a connecting rod 24 fixed to 25 is rotationally displaced to push up a wheel 21b supported by an axle 22b and a wheel 21d supported by an axle 22d.
  • the wheel 21b has a positional relationship in which it is aligned on the inclined surface connecting the wheel 21a located on the tip side of the leg 13 and the wheel 21c supported by the mounting seat 16 of the leg 14. As shown in FIG.
  • the wheel 21d supported by the axle 22d on the other end side of the connecting rod 24 also rises to push the crawler 23 upward.
  • the crawler 23 circulates in a range connecting the wheels 21 a , 21 b , 21 c and becomes a contact surface 23 a in a state inclined with respect to the bottom surface 12 of the loading unit 10 , and contacts the stairs 91 .
  • Fig. 3 shows the relationship between the operation by the operation lever 31 and the change of the tilt angle.
  • a change operation by manual operation of the operation lever 31 is transmitted to two wheels 21b and 21c to change the positional relationship between them.
  • the track shape of the crawler 23 can be changed.
  • the ground contact surface 23a of the crawler 23 can correspond to both the flat surface 90 and the inclined surface 93 having the inclination angle ⁇ .
  • the inclined surface 93 has been illustrated, it is also possible to deal with stairs as shown in FIG. 2 and steps (not shown).
  • FIG. 1 An example of a case where the carrying device of the present embodiment is driven manually will be described with reference to FIG. In these figures, illustration of objects to be transported is omitted.
  • the operation lever 31 When moving on flat ground, as described above, the operation lever 31 is pushed down to the first end side of the loading section 10 to lower the wheels 21b to a position horizontally aligned with the wheels 21a.
  • the loading section 10 is supported by the wheels 21a, the legs 13, the wheels 21b, the connecting rods 24, the arms 25, and the tubular body 32.
  • the crawler 23 circulates and the portion positioned between the wheel 21b and the wheel 21a becomes the ground contact surface 23a. Therefore, the bottom surface portion 12 is maintained in a positional relationship in which it is aligned parallel to the ground surface 23a.
  • the crawler 23 since the crawler 23 is in contact with the flat surface 90, a person pushes the handle 19 so that the bottom surface portion 12 of the loading unit 10 is parallel to the flat surface 90, causing the loading unit 10 to travel. be able to.
  • FIG. 5 is a side view showing an example of the carrying device according to the second embodiment of the present invention in a state of running on flat ground.
  • FIG. 6 is a rear view showing an example of the carrying device according to the second embodiment of the present invention in a state of running on flat ground.
  • the second embodiment is similar to the first embodiment in that the stacking section 10 is chair-shaped with a vertical section 11 , a handle 19 and a bottom section 12 .
  • the carrying device of the second embodiment has a loading unit 10, and a pair of left and right traveling units 20 includes wheels 21a to 21d (including corresponding axles 22a to 22d), connecting rods 24, arms 25, and The crawler 23 is provided in common with the first embodiment.
  • a tilt angle changing mechanism 40 having an operation part different from that of the first embodiment, and the tilt angle changing mechanism 40 has a tilt angle changing auxiliary device 60.
  • the running unit 20 has a running assistance device 50 . In the following, the differences and related parts will be mainly described.
  • the operation lever 31 used in the first embodiment instead of the operation lever 31 used in the first embodiment, as shown in FIGS. It has an operation lever 41 provided on the upright portion 11 located on the second end side of the portion 10, and a sprocket 42, a chain 43, and a sprocket 44 for transmitting angular displacement due to a change operation from the operation lever 41.
  • the sprocket 44 is coaxially connected to the cylindrical body 32 (not shown) and is rotatably attached to the mounting seat of the leg portion 14 as in the first embodiment.
  • the arm 25 is connected to the tubular body 32 as in the first embodiment. 5 and 6, for convenience of explanation, the sprockets 42, 44 and the chain 43, including other mechanical parts, are shown so as to be visible.
  • covers 11a, 18, etc. can be used to reduce exposed portions. This also applies to other embodiments and modifications.
  • the operating lever 41 is angularly displaced according to whether the running surface is flat or sloping.
  • the displacement rotates the sprocket 42 and is transmitted to the sprocket 44 via the chain 43 .
  • the arm 25 turns and displaces the connected connecting rod 24 .
  • This displacement operates as described in the first embodiment, and can change the contact surface 23a of the crawler 23 as shown in FIG.
  • a lock mechanism can be provided to appropriately fix the angular displacement, as in the first embodiment.
  • the running unit 20 in this embodiment can be made to run by being pushed or pulled by a person.
  • a travel assistance device 50 is provided so that the vehicle can be traveled more easily. Further, the driving assistance device 50 can be provided with a regenerative braking function.
  • the driving assistance device 50 equipped in this embodiment has a pair of drive systems 50 that drive the left and right wheels independently.
  • the pair of drive systems 50 each has a motor 52, a sprocket 53 connected directly thereto or via a gear or the like, a sprocket 55 (see FIG. 6), and a chain 54 connecting them.
  • the sprocket 55 is connected directly or via a gear or the like to an axle 22a (not shown in FIG. 6) to rotationally drive the wheel 21a (hidden behind the wheel 21b in FIG. 6).
  • the motor 52 is controlled by the control device 51 and driven by power supply from the power supply 80 .
  • a sensor 69 which will be described later, is provided in a part of the drive system 50 , detects that a force such as pushing or pulling is applied to the loading unit 10 , and sends a signal to the control device 51 to operate the travel assistance device 50 . It is configured to start. Further, in addition to or instead of activating driving assistance by a sensor, a switch may be provided on the operation lever 41 so that driving assistance is started or stopped in response to turning on/off of the switch. In addition, in this embodiment, although it is set as the structure which assists manual driving
  • the tilt angle changing auxiliary device 60 equipped in this embodiment includes a drive system 60 including a motor 62, a sprocket 63 connected directly or via a gear or the like, and a sprocket (not shown) and a chain 64 connecting them.
  • the sprocket is coaxially connected to the cylinder body 32 (not shown) described above directly or via a gear or the like to assist the rotation of the arm 25 .
  • the motor 62 is controlled by the control device 61 and driven by power supply from the power supply device 80 .
  • the tilt angle change auxiliary device 60 equipped in this embodiment has a sensor 69 such as a torque sensor, a pressure sensor, etc. for detecting the tilt angle change operation by the user and activating the drive system. .
  • a sensor 69 for example, a strain gauge or the like can be used that detects strain caused by expansion and contraction when the operation lever 41 is angularly displaced.
  • the control device 61 receives and processes the signal, drives the motor 62, and rotates the arm 25 via the sprocket 63, the chain 64 and the like. to assist.
  • the auxiliary operation can be stopped in accordance with the operation of the lock mechanism described in the first embodiment.
  • the carrying device of the present embodiment is provided with an operation system 70 so that operations such as tilting and turning can be performed more easily. That is, as shown in FIG. 6, an operation panel 71 is provided on a connection bar 41a that connects the left and right operation levers 41. As shown in FIG. The operation panel 71 is provided with a steering switch 72 such as a joystick and tilt angle change switches 73 and 74 . These are both connected to corresponding controllers 51 and 61 and processed.
  • the carrier user can operate, for example, by tilting the lever of the steering switch 72 forward, backward, left, and right.
  • the control device 51 makes a judgment corresponding to this operation, and rotates the left and right motors 52, 52 forward, reverse, left (or right) forward rotation/right (or left) stop, left (or right) forward rotation/
  • the left and right crawlers 23 are driven by controlling like right (or left) inversion.
  • the running portion 20 can be run with power assisted operation such as forward movement, backward movement, left and right turning, direction change, and the like.
  • the user of the transporting device can change the inclination angle of the ground contact surface 23a of the crawler 23 by operating the inclination angle change switch 73 or 74.
  • the control device 61 receives and processes the signal, drives the motor 62, rotates the arm 25 via the sprocket 63, the chain 64, etc., and changes the inclination angle of the ground contact surface 23a of the crawler 23. , a state of running on a slope (slope running mode). In this case, the tilt angle can be changed without applying a large force to the operating lever 41 .
  • the tilt angle change switch 74 When the tilt angle change switch 74 is operated, the operation is reversed to change the tilt angle of the ground contact surface 23a of the crawler 23 and return to the state of traveling on a flat surface (flat traveling mode).
  • FIG. 7 is a side view showing an example of the carrying device of the third embodiment of the present invention in a state of running on flat ground.
  • This embodiment is the same as the carrying device of the second embodiment, except for the structure of the wheels of the traveling part 20 .
  • wheels 21e (corresponding to the idler wheels of the present invention) are used in place of the wheels 21b and 21d in the traveling portion 20.
  • wheels 21e are rotatably connected to arms 25 by axles 22e. Moreover, the wheel 21e corresponds to the size obtained by connecting the wheels 21b and 21d and the connecting rod 24 in the second embodiment shown in FIG. That is, one wheel 21e serves the roles of the wheels 21b and 21d. Therefore, the wheel 21e is inscribed in the crawler 23 at two points. The wheel 21e is displaced by the arm 25 to change the positional relationship. In the flat-ground traveling mode, as shown in FIG. 7, the wheels 21e and 21a of the crawler 23 are positioned side by side, and this portion becomes the ground contact surface 23a. In the slope traveling mode, when the wheel 21e is displaced upward by the arm 25, although not shown, the wheel 21a, the wheel 21e, and the wheel 21c are positioned side by side, and this portion becomes a ground contact surface.
  • Both the traveling and tilt angle changing operations of the carrying device of this embodiment can be performed in the same manner as in the above-described second embodiment.
  • the wheel 21e can also be displaced by the operation lever 41 in the same manner.
  • the carrying device provided by the present application is not limited to the above-described embodiments, and various forms are possible.
  • a representative modified example will be described below.
  • the loading section is box-shaped is shown, but the present invention is not limited to this.
  • each modification assumes that manual operation is performed, but it is possible to adopt a configuration in which driving assistance, angular displacement assistance, or the like is performed by power.
  • a lock mechanism and a release mechanism can be provided for the tilt angle changing operation.
  • the wheels are illustrated as the size of the axle in order to clearly show the change in the positional relationship of the plurality of wheels.
  • FIG. 8 is a first modification of the carrying device disclosed by the present invention, in which (A) is an explanatory view schematically showing a flat ground traveling state from the side, and (B) is a schematic showing a slope traveling state from the side. It is an explanatory diagram schematically shown.
  • This modified example is configured by connecting a traveling portion 20 to a box-shaped loading portion 10 and including an inclination angle changing mechanism 30 .
  • the traveling portion 20 includes wheels 21a rotatably attached to the mounting seats of the leg portions 13, wheels 21c rotatably attached to the mounting seats of the leg portions 14, and rotatably attached to both ends of the connecting rod 26. It has wheels 21b and 21d and a crawler 23 hooked around them.
  • the tilt angle changing mechanism 30 has an operation lever 36 by a parallel crank mechanism, and its tip 36 b is connected to the connecting rod 26 .
  • the intermediate portion of the operating lever 36 is rotatably connected to the side surface of the stacking section 10 and functions as fulcrums 36a, 36a.
  • FIG. 9 is a second modification of the carrying device disclosed by the present invention, in which (A) is an explanatory diagram schematically showing a flat ground traveling state from the side, and (B) is a schematic showing a slope traveling state from the side. It is an explanatory diagram schematically shown.
  • This modified example has a loading section 10 , a traveling section 20 , and an inclination angle changing mechanism 40 .
  • the loading section 10 and the traveling section 20 have a symmetrical structure in the front-rear direction.
  • the tilt angle changing mechanism 40 is configured such that an operation lever 46 positioned on the first end side of the stacking section 10 and an operation lever 46 positioned on the second end side of the stacking section 10 interlock with each other. 10 can be similarly operated.
  • This modification is configured by connecting a box-shaped loading section 10 to an inverted trapezoidal traveling section 20 with a crawler 23 as shown in FIG. 9(A) in the flatland traveling mode.
  • the traveling unit 20 connects the axles of the wheels 21c and 21b with a connecting rod 24b, the axles of the wheels 21c and 21d with a connecting rod 24c, the axles of the wheels 21d and 21a with a connecting rod 24d, and the axles of the wheels 21a and 21b. They are rotatably connected to each other by a rod 24a.
  • the connecting rods 24b, 24c, 24d and 24a form an inverted trapezoidal quadrilateral.
  • a crawler 23 is wound around the wheels 21c, 21d, 21a and 21b.
  • wheels 21d and wheels 21c are rotatably attached to the mounting seats 16 on the first end side and the second end side of the side surface of the loading section 10 via axles, and the loading section 10 is attached to the traveling section 20. concatenated
  • the tilt angle changing mechanism 40 includes operation levers 46, 46 provided at the first end side and the second end side of the upper side surface of the loading section 10, a displacement converter 45 that transmits angular displacement to the chains 43, 43, respectively, 45. Further, sprockets 44, 44 are rotatably attached to mounting seats 16, 16 on the lower side of the loading section 10, respectively. Chains 43, 43 are hung on the sprockets 44, 44, respectively. The second end sprocket 44 is connected to one end of the connecting rod 24b that constitutes the traveling portion 20, and the first end sprocket 44 is connected to one end of the connecting rod 24d. freely held.
  • the displacement converters 45, 45 have a gear mechanism (not shown) or the like that converts the angular displacement of the operating lever 46 into a desired rotation angle and rotation direction and transmits the converted result to the chain.
  • the operation for changing the running mode from the flat-land running mode shown in FIG. 9(A) to the slope-land running mode shown in FIG. 9(B) will be described.
  • the portion aligned with the connecting rod 24a serves as the ground contact surface 23a and is in contact with the flat ground 90.
  • the second end side operating lever 46 is operated to be angularly displaced in the X arrow direction. Note that the operation lever 46 on the first end side may be operated. The operation by the operation system on the second end side will be described below.
  • the displacement converter 45 converts the angular displacement into rotational displacement and transmits it to the chain 43 .
  • Chain 43 rotates sprocket 44 .
  • Rotation of the sprocket 44 causes the connected connecting rod 24b to rotate so as to raise the wheel 21b.
  • the connecting rod 24a also rises in conjunction with it, pushing out the wheel 21a toward the first end.
  • the connecting rod 24d is pushed out to the first end side together with the connecting wheel 21a.
  • the first end side operation lever 46 is angularly displaced in the Y arrow direction. Therefore, even if the first end side operation lever 46 is angularly displaced in the Y arrow direction, the same operation as described above can be performed. Conversely, when the second end-side control lever 46 is angularly displaced in the X' arrow direction opposite to the X arrow view, or the first end side control lever 46 is moved to the Y' direction opposite to the Y arrow view. When an angular displacement operation is performed in the direction of the arrow, the angular displacement is opposite to that shown in FIG. 9A, and the shape of the crawler 23 is opposite to that shown in FIG. It becomes a triangular shape with an inclination.
  • FIG. 10 is a third modification of the carrying device disclosed by the present invention, in which (A) is an explanatory view schematically showing a flat ground traveling state from the side, and (B) is a schematic showing a slope traveling state from the side. It is an explanatory diagram schematically shown.
  • This modified example has a loading section 10 , a traveling section 20 , and an inclination angle changing mechanism 40 .
  • the loading section 10 and the traveling section 20 have a symmetrical structure in the front-rear direction.
  • the tilt angle changing mechanism 40 is configured such that the first end side and the second end side of the stacking section 10 are interlocked, and can be similarly operated from either the front or rear side of the stacking section 10 . can.
  • a box-shaped loading unit 10 has a rectangular traveling unit in which a crawler 23 is wound around wheels 21c, 21d, 21a, and 21b as shown in FIG. 20 are connected.
  • the traveling unit 20 is configured by rotatably connecting the axles of the wheels 21c and 21d with a connecting rod 24c and the axles of the wheels 21b and 21a with a connecting rod 24a.
  • the vicinity of the wheel 21c of the connecting rod 24c and the vicinity of the wheel 21b of the coupling rod 24a are rotated by the coupling rod 24e, and the vicinity of the wheel 21d of the coupling rod 24c and the vicinity of the wheel 21a of the coupling rod 24a are rotated by the coupling rod 24f.
  • movably connected movably connected.
  • a rectangular quadrilateral is formed by the connecting rods 24c, 24a, 24e and 24f. It also has an arm 25 whose both ends are rotatably connected to the centers of the connecting rods 24a and 24c and whose center is connected to a displacement converter 47, which will be described later.
  • Operation levers 46, 46, sprockets 42, 42 that rotate corresponding to the operation levers 46, 46, and angular displacement by the sprockets 42, 42 on the first end side and the second end side of the upper side of the loading unit 10 and a displacement converter 47 that converts the transmitted angular displacement into a turning motion of the arm 25 .
  • the displacement transducer 47 comprises a gear mechanism (not shown) which pivots the arm 25 with an angular displacement of the amplitude intended for the displacement transmitted by the chains 43,43.
  • the crawler 23 is rectangular, and the portion aligned with the connecting rod 24a serves as the ground contact surface 23a, which is in contact with the flat surface 90.
  • the second end side operating lever 46 is operated to be angularly displaced in the X arrow direction. It should be noted that the first end side operation lever 46 may be operated since it is configured to be interlocked. The operation system on the second end side will be described below.
  • the wheels 21c, 21b, 21d, and 21a are arranged in a belt-like manner, with the wheels 21c, 21b, 21d, and 21a being inclined and folded from each vertex position of the rectangle.
  • the crawler 23 is maintained obliquely in a belt shape while being looped around the wheels 21c, 21b, 21d and 21a connected to the connecting rods 24a and 24c in the folded state. Therefore, the portions of the crawler 23 that are in contact with the wheels 21c, 21b, 21d and 21a serve as ground contact surfaces 23a.
  • FIG. 11 is a fourth modification of the carrying device disclosed by the present invention, in which (A) is an explanatory view schematically showing a flat ground traveling state from the side, and (B) is a schematic showing a slope traveling state from the side. It is an explanatory diagram schematically shown.
  • This modification is an example applied when the stacking unit 10 has an elongated box shape.
  • This modification has a long box shape, a loading section 10 provided with a leg section 13 at the center in the longitudinal direction, a traveling section 20 having crawlers 23, 23 arranged in front and behind the leg section 13, and an inclination angle change.
  • the tilt angle changing mechanism 40 is configured so that the first end side and the second end side of the stacking section 10 can be independently operated, and can be operated from the front and back of the stacking section 10 respectively. .
  • the loading section 10 is provided with a portion for connecting with the traveling section 20 .
  • the loading section 10 has the leg section 13 at the central portion in the longitudinal direction.
  • the leg portion 13 secures a height difference between both ends (first end and second end) of the loading portion 10, and serves as a mounting seat for mounting wheels 21a, 21a on the lower end side for connection with the traveling portion 20.
  • displacement transducers 48, 48 are provided at both ends of the loading section 10. As shown in FIG. A support rod 49 is attached to the displacement transducer 48 .
  • the displacement converter 48 can be provided with, for example, a rack-and-pinion mechanism or the like for extending and retracting the support rod 49 in response to the rotation of the sprocket 42 .
  • a wheel 21c is attached to the tip of the support rod 49 via an axle.
  • the traveling portion 20 has a connecting rod 24 that connects the wheels 21d and 21b at each of the first end side and the second end side, and the tip end is connected to the central portion of the connecting rod 24 so that the base end is rotatable. and an arm 25 rotatably attached to a mounting seat at the tip of the leg 13 .
  • the arms 25 on the first end side and the second end side are coaxially and rotatably attached at the base ends.
  • a crawler 23 is wound around wheels 21b, 21d and 21a including the wheel 21c connected to the tip of the support rod 49 described above.
  • the legs 13 can be equipped with dampers and shock absorbers for dealing with unevenness of the running surface.
  • the legs 13 can be provided with an adjustment mechanism for adjusting the length in order to accommodate various tilt angles.
  • the tilt angle changing mechanism 40 includes operation levers 46, 46 provided at the first end side and the second end side of the upper side surface of the loading section 10, and sprockets 42a, 42b for transmitting angular displacement to chains 43a, 43b, respectively.
  • sprockets 44a and 44b for transmitting the rotation of the chains 43a and 43b to the following chains 43c and 43d, respectively
  • sprockets 44a and 44b for transmitting the rotation of the chains 43a and 43b to the following chains 43c and 43d are provided at the central portion of the loading section 10.
  • sprockets 44c, 44d for angularly displacing the arms 25, 25.
  • Displacement transducers 48 for expanding and contracting the support rod 49 according to the angular displacement of the operating lever 46 are provided at the first end side and the second end side, respectively.
  • the second end side operation lever 46 is angularly displaced in the X arrow direction.
  • the sprocket 42b rotates, and the chain 43b transmits the rotational displacement to the chain 43d via the sprocket 44b.
  • the connecting rod 24 rises, and the positional relationship is such that the wheel 21d and the wheel 21b are pushed up.
  • the crawler 23 on the second end side has an inclined triangular shape, and the ground contact surface 23a can correspond to the inclination of the stairs.
  • no angular displacement operation is performed on the first end side, as shown in FIG. It's becoming
  • the first end side operation lever 46 is operated to be angularly displaced in the Y' arrow direction.
  • the sprocket 42a rotates, and the chain 43a transmits the rotational displacement to the chain 43c via the sprocket 44a.
  • the connecting rod 24 is lowered and the wheels 21d and 21b are pushed down.
  • the support rod 49 extends to lower the wheel 21c. The positional relationship is such that the wheels 21d, 21b and 21c are pushed down.
  • the crawler 23 on the first end side becomes a tilted triangle, and its ground contact surface 23a can correspond to the slope of the stairs. From the first end side to the second end side, the ground contact surface 23a as a whole can run on the slope of the stairs.
  • a displacement transmission mechanism using a chain and a sprocket may be added, and furthermore, a power assisting mechanism may be combined.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

La présente invention concerne un outil de transport qui supprime l'inclinaison d'une partie de chargement sur laquelle un objet de transport est chargé, et qui permet un déplacement en douceur même sur des pentes, des surfaces inégales, des escaliers et similaires.　La présente invention concerne un outil de transport comprenant : une partie de chargement 10 sur laquelle un objet de transport est chargé; une partie de déplacement 20 qui comprend une chenille 23 qui change de forme et qui est enroulée autour d'une pluralité de roues; et un mécanisme de changement d'angle d'inclinaison 30 qui change l'angle d'inclinaison d'une surface de contact de la partie de déplacement. Lorsqu'elle est soumise à une opération de changement à partir du mécanisme de changement d'angle d'inclinaison 30, l'une de la pluralité de roues se déplace et l'angle d'inclinaison de la surface de contact de la chenille 23 change.
PCT/JP2022/023908 2021-08-31 2022-06-15 Outil de transport WO2023032409A1 (fr)

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JP2021-140830 2021-08-31
JP2021140830A JP7033357B1 (ja) 2021-08-31 2021-08-31 運搬器具

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US20110011652A1 (en) * 2009-07-14 2011-01-20 Swenson Timmy R Multi-terrain motorized wheelchair apparatus
US20140035355A1 (en) * 2012-08-03 2014-02-06 Zhengxu He Deformable track support for tracked vehicles

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JPH0733144B2 (ja) * 1992-10-14 1995-04-12 工業技術院長 クロ−ラ走行装置
JP2004122898A (ja) * 2002-10-01 2004-04-22 Shoichi Anami キャタピラ付きの階段昇降装置
JP3796490B2 (ja) * 2003-06-10 2006-07-12 長野工業株式会社 運搬車
JP6127442B2 (ja) 2012-10-19 2017-05-17 日本電気株式会社 放射能情報活用システム、放射能情報活用プログラム、及び放射能情報活用方法
JP6935901B2 (ja) * 2017-02-20 2021-09-15 株式会社池戸熔接製作所 昇降装置
JP6843354B2 (ja) * 2017-05-11 2021-03-17 株式会社ジェイアール東日本物流 階段昇降装置
JP2019127058A (ja) * 2018-01-22 2019-08-01 株式会社サンワ 階段降下機

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Publication number Priority date Publication date Assignee Title
US20110011652A1 (en) * 2009-07-14 2011-01-20 Swenson Timmy R Multi-terrain motorized wheelchair apparatus
US20140035355A1 (en) * 2012-08-03 2014-02-06 Zhengxu He Deformable track support for tracked vehicles

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