JPS57194171A - Wheeled universal running device - Google Patents
Wheeled universal running deviceInfo
- 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
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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
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.
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)
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)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS507824A (en) * | 1973-05-24 | 1975-01-27 |
-
1981
- 1981-05-22 JP JP56077755A patent/JPS57194171A/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS507824A (en) * | 1973-05-24 | 1975-01-27 |
Cited By (12)
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 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JPS57194171A (en) | Wheeled universal running device | |
EP0062180A3 (en) | Wheelchair liftable in contact with the terrain | |
FR2246415A1 (en) | Three wheeled transporter for supermarket trolleys - has pyramid shaped nose section to locate inside stacked trolleys | |
JPS5340929A (en) | Method of steering four-wheel drive vehicle body with all wheel indepeendent drive and steering mechanism | |
EP0500935A4 (en) | Method of preventing slip of wheeled loader | |
NO864123D0 (en) | PROCEDURE AND APPARATUS FOR STEERING THE TRACTION OF VEHICLE DRIVE WHEEL. | |
DK508589A (en) | DEVICE FOR A ROLLER VEHICLE TO STEER THE WHEELS OF THE WHEEL SEATS | |
US4368896A (en) | Hand trolley | |
DE3071524D1 (en) | Wheel slip control on differentially driven wheels | |
JPS5690754A (en) | Anti-skid control device | |
JPS53119531A (en) | Steering wheel driving system for fourrwheel drive tractor or the like | |
FR2680593B1 (en) | DEVICE FOR SIMULATING SKIDDINGS WITH A FRONT-WHEEL DRIVE VEHICLE. | |
JPS5218651A (en) | Self traveling free carriage | |
JPS5440428A (en) | Resilient endless crawler belt and method of manufacturing the same | |
JPS55145002A (en) | Slip prevention equipment for automobile tire | |
JPS62121226A (en) | Following-rise-proof method for drain member and its device | |
DE2810343A1 (en) | Lateral stabilising support for bicycle - has chain-actuated retractable lateral supports pushed down by back pedalling | |
JPS5435932A (en) | Service car | |
JPH1059186A (en) | Carrier | |
JPS54146314A (en) | Vehicle steering apparatus in transport system | |
JPS56135372A (en) | Crawler-type travelling vehicle | |
ATE20454T1 (en) | FOUR-WHEEL VEHICLE. | |
FR2425968A1 (en) | Tracked tractor used on soft ground - has jacks to lower circular plate and front wheels to provide steering action | |
JPS565275A (en) | Tractor | |
JPS57155173A (en) | Running gear on snow |