JPH0597075A - Running vehicle for elevation - Google Patents

Abstract

PURPOSE:To prevent the occurrence of jerky movement during rotation of support arms for supporting wheels in a running vehicle which can run over a stepped part, such as stairs. CONSTITUTION:A running vehicle for elevation is formed in such a way that a plurality of support arms 5 are extended radially in relation to an axle 4 for supporting a machine body by means of bearings and a wheels 6 are supported at the tip of each support arm 5, and the running vehicle can run over a stepped part through rotational drive of each support arm 5 around the axial core of the axle 4. The running vehicle is provided with an angle detecting means to detect the inclination angle of each support arm 5 and advancing and reversing control means 8a, 8b, and 8c to vary and regulate the length of each support arm 5 based on a result from the angle detecting means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevating traveling vehicle capable of traveling up and down by riding on a stepped portion such as stairs, and more specifically, a plurality of support arms extending radially with respect to an axle supporting a vehicle body. Further, the present invention relates to an elevating traveling vehicle in which a ground wheel is supported at the tip of each support arm, and each support arm is rotationally driven around the axis of the axle so that it can travel over a step.

[0002]

2. Description of the Related Art In the above-described traveling vehicle for lifting and lowering, conventionally, as disclosed in JP-A-60-219169, the length of the support arm, that is, the axis of the ground wheel and the axis of rotation of the support arm. There has been a configuration in which the distance between and is always fixed.

[0003]

However, in the above-mentioned conventional structure, when the vehicle moves over a step such as a stair due to the rotation of the support arm, the axle position draws an arcuate locus about the grounding point of the grounding wheel, Since it is going to rise, the vehicle body moves up and down each time the stairs are climbed up, which has a drawback that the movement becomes unstable. As a result, it cannot be applied to the case where a luggage or a person is placed and the vehicle is moved up and down. An object of the present invention is to eliminate the above-mentioned problems by a rational drive structure.

[0004]

According to a characteristic configuration of the present invention, in the traveling vehicle for lifting and lowering described at the beginning, an angle detecting means for detecting the inclination angle of each of the support arms is provided, and the result of the angle detecting means is obtained. On the basis of this, there is provided a withdrawal control means for changing and adjusting the length of the support arm.

[0005]

[Operation] The vehicle body is supported by the grounding wheels that are grounded on the upper surface of the step such as stairs, and when climbing up the step, the inclination angle of the support arm is detected, and the length of the support arm is changed based on the detected angle. By adjusting it, it is possible to move up and down while the axle position draws a substantially straight line.

[0006]

As a result, when the stairs are lifted and lowered, the vehicle body can move smoothly up and down in a substantially straight line, rather than the jerky movement in which the vehicle body repeatedly moves up and down while drawing an arcuate locus. It will be possible,
As a result, the present invention can be applied to a case where a parcel that is easily damaged is placed and transported, or a case where a physically handicapped person is placed to move up and down, and the application of the traveling vehicle can be expanded.

[0007]

Embodiments will be described below with reference to the drawings. Figure 1
Fig. 1 shows a walk-type luggage carrier that is an example of an elevating traveling vehicle and that can climb over steps such as stairs. In this transport vehicle, a loading platform 1 for supporting loading of a load is grounded and supported by a pair of left and right traveling devices 2, and a walking control handle 3 is extended rearward from the loading platform 1.

The steering handle 3 is provided with a pair of upper and lower grip portions 3a and 3b. When the vehicle body is stopped, the lower grip portion 3b is grounded so that the loading platform 1 maintains a substantially horizontal posture. In addition to the above configuration, when traveling on a flat ground, the loading platform 1 can be steered while holding the upper grip portion 3a while maintaining a substantially horizontal posture. Also, when going up and down the stairs, as shown in FIG.
By manipulating the grip portion 3b on the lower side, it is possible to maintain the cargo bed 1 in a substantially horizontal posture without taking an uncomfortable posture.

Next, the traveling device will be described. The left and right traveling devices 2 are radially arranged with respect to an axle 4 that supports the airframe.
The individual support arms 5 are extended at equal angles, the ground wheels 6 are respectively supported at the tips of the support arms 5, and the support arms 5 are driven to rotate around the axis of the axle 4. It is configured so that it can run on a step. More specifically, as shown in FIG. 2, the transmission case 7 arranged in the center of the vehicle body in the width direction.
From this, an axle 4 is provided so as to project to the outside on both the left and right sides, and each of the support arms 5 is connected to the end of the axle 4 on the outer side of the case. Then, in the transmission case 7, a traveling drive electric motor M that drives and rotates the axle 4.
Is equipped with.

The length of each of the support arms 5 can be adjusted by electric cylinders 8a, 8b, 8c (an example of the withdrawal control means), and the length of each of the support arms 5 can be adjusted. The expansion and contraction control is performed based on the change in the inclination angle of each support arm 5 to the ground. That is, as shown in FIG. 4, the weight-type angle detecting sensors 9a, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 9b, 10b, 10b, 10b, 10c, 10d, 10d, 10d, 10d, 10d, 10d, 10d, 10c, 10d, 11c, 11d detect the inclination angle to the ground, respectively, at the base end portion of each support arm 5.
9c [an example of the angle detection means] is provided, and the detection results of the angle detection sensors 9a, 9b, 9c are input to the control device 10, and the angle detection sensors 9a, 9b
When the detected values of 9b and 9c reach the inclination angle set by the angle setting device 11, the support arm 5 rotates about the rotation axis of the ground wheel 6 supported by the support arm 5, The control device 10 changes and controls the length of the support arm 5 so that the position of the axle 4 changes substantially linearly.
That is, as the support arm 5 rotates from the set angle, as shown in FIG. 5, the cylinder control characteristic L2 is set so that the arcuate locus L1 of the support arm 5 is offset and the axle portion becomes linear. The angle is set, and the set angle is manually set by the angle setter 11 according to the traveling state. When traveling on a flat ground, the set angle K1 as shown in FIG. 1 is set, and when the stairs are moved up and down, the set angle K2 as shown in FIG. 3 is set. In addition, in order to prevent the posture from becoming unstable due to reverse rotation when climbing a step such as stairs, a one-way rotation clutch 12 is provided at a supporting portion of each grounding wheel 6 so as not to roll backward in the traveling direction. It is designed so that you can get on and off.

The number of the support arms 5 is not limited to three, but four or more may be provided.

It should be noted that reference numerals are added to the claims for facilitating the comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

Figure 1: Side view of a carrier

[Figure 2] Plan view of the carrier

[Fig. 3] Side view of the carrier

FIG. 4 is a control block diagram.

[Fig. 5] Control characteristic diagram

[Explanation of symbols]

 4 Axle 5 Support arm 6 Wheels 8a, 8b, 8c Exit control means 9a, 9b, 9c Angle detection means

Claims (1)

[Claims] 1. A plurality of support arms (5) are radially extended with respect to an axle (4) that supports a vehicle body, and a wheel (6) is supported at the tip of each support arm (5), and An elevating traveling vehicle in which a support arm (5) is rotationally driven around an axis of the axle (4) so as to be able to ride on a step and to travel, and an inclination angle of each support arm (5) is detected. The angle detecting means (9a), (9b), (9c) are provided, and the angle detecting means (9a), (9b), (9c) are provided.
Based on the result of (1), an elevating traveling vehicle equipped with a withdrawal control means (8a), (8b), (8c) for changing and adjusting the length of the support arm (5).