JP2001063642A - Carrying vehicle for going up/down stairs - Google Patents

Abstract

PROBLEM TO BE SOLVED: To add no overload to a running part for going up/down stairs at beginning to go up the lowermost step of the stairs by letting both running parts to go back by a fixed distance, when a main running part and a sub- running part being to shift from a bending condition nearly close to right angle to a straight line condition. SOLUTION: The running means is provided with a running part for going up/down stairs constituted of a main running part 22a and a sub-running part 22b. At going up the stairs, it approaches the first step of the stairs K under the condition in which the sub-running part 22b is bent at a nearly right angle, the sub-running part 22b is shifted so that the main running part 22a and the sub-running part 22b become in the straight condition from the condition close to a right angle, and it goes up the first step. When the sub-running part 22b is rotationally moved in the direction shown in the arrow A, to begin shifting to the straight condition, the running part for going up/down the stairs 22 is let go back by a fixed distance as shown in the arrow C. Hereby, large friction force of the main running part 22a against a floor face F is not applied, and hence the running part for going up/down the stairs 22 can be smoothly extended from nearly right angle condition to the straight condition.

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 stair-climbing transport vehicle in which a stair-climbing traveling section 20 composed of a motor driven endless track (crawler) or the like is provided on a main body on which luggage is loaded so as to be able to perform stair traveling. The sub-running section 20 is provided at the tip of the section 20a.
The applicant of the present invention has a stair-climbing traveling section 20 in which the main traveling section 20a and the sub traveling section 20b are connected so that the angle between the main traveling section 20a and the sub traveling section 20b is variable from a bent state to a linear state. No. 9-323555 has already been filed.

When the vehicle starts to ascend the lowest step of the stairs K, as shown in FIG.
1a of the staircase K as a bent state almost at a right angle to 0a.
Then, the sub-running portion 20b is moved from a state where the main running portion 20a and the sub-running portion 20b are almost perpendicular to each other as shown in FIG.
2) When the main running portion 20a rotates as shown by the arrow a, a large frictional force acts on the floor surface as shown by the arrow b. Therefore, in the related art, the stair-climbing traveling unit 20 including the main traveling unit 20a and the sub traveling unit 20b is formed at a substantially right angle as shown in FIG. It is necessary to extend from the state to a linear state, and at this time, a large stress is applied to the stair climbing traveling section 20 and the like, and in particular, an overload is applied to the rotationally connected portion between the main traveling section 20a and the sub traveling section 20b, There is a problem that this part is easily damaged.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and is intended to prevent a stair climbing traveling section from being overloaded when starting to climb the bottom of the stairs. It is an object of the present invention to provide a lifting carrier.

[0005]

According to the present invention, there is provided a stair climbing and lowering vehicle according to the present invention.
0b is connected in a bendable manner, and the angle between the main traveling portion 20a and the sub traveling portion 20b is variable from a bent state to a linear state. This is characterized in that when the sub-running portion 20a and the sub-running portion 20b start shifting from a bent state that is almost at a right angle to a linear state, the two running portions are moved backward by a predetermined distance. With such a configuration, when ascending the first step of the stairs K, when the sub-running portion 20b starts to shift so that the main running portion 20a and the sub-running portion 20b are in a linear state from a state that is almost at a right angle. The main traveling portion 20a moves backward by a predetermined distance, and the main traveling portion 20a smoothly moves up and down the stairs ascending and descending portion composed of the main traveling portion 20a and the sub traveling portion 20b without a large frictional force acting on the floor surface. It will be stretched in a straight line. In addition, the sub-running portion 20b that stands substantially at a right angle
Can be prevented from hitting the first step of the stairs K and causing an overload.

When the main traveling portion 20a and the sub traveling portion 20b are in a straight line with a predetermined reverse distance, and the lower surface of the sub traveling portion 20b is in contact with the first rising edge of the stairs K, the lower surface of the sub traveling portion 20b is lowered. It is preferable that the length of the sub-running portion 20b is longer than the rising height of the stairs K so that the corners do not separate from the corners of the first step. With such a configuration, the stairs K
When the vehicle starts to climb, the lower surface of the sub-running portion 20b does not separate from the stairs, so that the stair climbing and lowering vehicle can move up and down the stairs K even if the vehicle travels a predetermined distance backward.
From the first stage.

Also, only when the angle between the main traveling portion 20a and the sub traveling portion 20b starts to shift from a right angle state to a linear state,
It is preferable to provide a control unit 70 that controls the main traveling unit 20a and the sub traveling unit 20b to retreat. That is,
The main traveling part 20a and the sub traveling part 20b at the start of the climb of the stairs K
It is necessary to move the stair-climbing traveling unit 20 backward in order to reduce the overload as described above only when the angle of the vehicle is in a substantially right angle state, but the angle of the main traveling unit 20a and the sub traveling unit 20b is changed from the right angle state. It is not necessary to automatically reverse the stair-climbing traveling unit 20 except when starting to shift to the straight-line state, and the vehicle does not travel backward in the middle of the stairs.

It is preferable that an angle detection sensor for detecting an inclination angle between the main traveling portion 20a and the sub traveling portion 20b is provided. With such a configuration, the main traveling unit 2
When the angle between 0a and the sub-running portion 20b starts to shift from a right angle state to a linear state (for example, 90 to 45 degrees), the vehicle can be moved backward by detecting the inclination angle so that the vehicle is moved backward. .

It is preferable to provide a control unit for detecting the load applied to the traveling unit and controlling the reverse travel distance of the traveling unit based on the detected value. With such a configuration, when the load detection value is equal to or less than the predetermined value, the vehicle is not allowed to move backward, and when the load detection value is equal to or more than the predetermined value, the vehicle can be caused to move backward by a predetermined distance. When the load applied to the unit 20b is less than the predetermined value and there is no need to move backward, the vehicle does not move backward.

Further, it is preferable to provide a control unit 70 for detecting the distance between the sub-running section 20b and the stairs K and, when the distance is equal to or less than a predetermined value, controlling to reverse. With such a configuration, when the distance between the sub-running portion 20b and the stairs K is equal to or less than a predetermined value, it is possible to reverse and not to overload the stair-climbing running portion 20, and When the distance between the sub-running portion 20b and the stairs is greater than or equal to a predetermined value, as in the case where the vehicle starts to fall, the vehicle does not move backward.

Further, it is preferable to provide a control unit 70 for adjusting the reverse distance in accordance with the distance between the sub-running unit 20b and the stairs. Thus, even if the stair climbing and lowering carrier tries to climb the first step of the stairs K from a halfway distance, an optimum reverse distance can be set, and when starting to climb the stairs, the sub-travel unit 2 is moved backward.
0b does not come off from the first step of the stairs K.

It is preferable to provide an alarm means 52 for giving an alarm by light or sound when the vehicle is moving in the reverse direction. With such a configuration, the vehicle moves backward when the user starts to climb the stairs, so that the danger can be notified to the surroundings by the alarm means 52.

When the main traveling portion 20a and the sub traveling portion 20b are in a straight line, the height of the tip of the sub traveling portion 20b is preferably larger than the rising height of the stairs K. With such a configuration, it is possible to ascend even when the sub-running portion 20b is separated from the corner of the first step of the stairs K by the reverse travel.

Further, it is preferable that the luggage mounting section 6 is provided on the stair climbing traveling section 20, and that the luggage mounting section 6 can be tilted and linked with the inclination of the sub traveling section 20b. With such a configuration, the luggage mounting section 6 can be stabilized by being inclined in conjunction with the inclination of the auxiliary traveling section 20b.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on embodiments shown in the accompanying drawings. First, the basic structure and operation of the stair climbing and lowering vehicle of the present invention will be described.

In FIGS. 16 to 18, reference numeral 1 denotes a main body in which a traveling means 2 is disposed on a lower surface and a luggage mounting portion 6 for placing luggage 9 on an upper surface is disposed.
L-shaped luggage mounting part 6 composed of 0 and horizontal frame 61 is
The vicinity of the connection point between the vertical frame 60 and the horizontal frame 61 is the axis 1
0 and are rotatable about the shaft 10. In addition, between the main body 1 and the luggage mounting section 6, the main body 1
There is provided a linear actuator 3 for changing the inclination angle of the luggage mounting portion 6 with respect to.

The traveling means 2 arranged on the lower surface of the main body 1 comprises a drive motor 21 and a pair of left and right endless tracks constituting a stair climbing traveling section 20 driven by the drive motor 21. The endless track that constitutes the elevating traveling unit 20 is composed of a main endless track that constitutes the main traveling unit 20a on the rear side and a sub-endless track that constitutes the auxiliary traveling unit 20b. The main crawler track is located on the lower surface of the main body 1, whereas the sub-crawler track forming the sub-traveling portion 20b on the front side (the handle 7 side) is provided so as to rise obliquely upward. Here, a roller 29a and a pressing roller 29b are arranged in the middle of a single endless track, and the endless track which constitutes the rotary up-and-down traveling section 20 is bent by these rollers 29a and 29b, so that a front end is formed. The sub-endless track that forms the sub-running portion 20b on the side and the main endless track that forms the main running portion 20a on the rear side are configured to be variable in angle. In the figure, 23 is a drive wheel for the endless track, and 25 is a driven wheel for the sub-track. Further, a backup plate is arranged on each inner peripheral side of the main endless track and the sub-endless track.

The linear actuator 3 expands and contracts in the axial direction by rotation of a motor 30 for controlling the tilt angle. One end of the linear actuator 3 is pivotally supported by the main body 1, and the other end of the linear actuator 3 is a horizontal frame 6 of the luggage mounting section 6.
1, the inclination angle of the luggage mounting part 6 with respect to the main body 1 changes as the linear actuator 3 expands and contracts. When the linear actuator 3 is contracted, the horizontal frame 61 of the luggage 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 60 is tilted forward. The luggage mounting section 6 is inclined about 10.

When the luggage carrier 6 is in the upright position, the casters 65 for traveling on level ground provided on the horizontal frame 61 of the luggage carrier 6 project below the lower surface of the main traveling portion 20a. The traveling section 20a and the sub traveling section 20b do not touch the ground. However, if the luggage mounting section 6 is tilted as described above, the casters 65 are moved to the main traveling section 20a and the sub traveling section 20b.
In order to move upward from the lower surface of the main traveling portion 20a,
Traveling by the sub-traveling section 20b becomes possible.

The vertical frame 60 of the luggage mounting section 6 and the support of the sub-running section 20b are connected by a link 28 about the axis of the roller 29a.
In the state where the vertical frame 60 is upright, the sub-running portion 20b also stands up, but if the luggage mounting portion 6 is tilted with respect to the main body 1, the sub-running portion 2
The support 20b of Ob also rotates about the axis of the roller 29a, so that the sub-running portion 20b is linearly continuous with the main running portion 20a as shown by a chain line in FIG.

Further, a slider 62 slidable up and down is provided on the vertical frame 60 of the luggage mounting section 6.
The handle 7 is provided at the upper end of the slider 7. The slider 62 is connected to the link body 28 by the link 6
When the luggage mounting portion 6 is tilted with respect to the main body 1, the slider 62 projects upward from the upper end of the vertical frame 60. When the luggage mounting portion 6 is returned to the upright state, the slider 62 is lowered. I do. As can be seen from FIG. 16, the handle 7 when the luggage carrier 6 is in the upright state is shown.
While the luggage mounting portion 6 is tilted, the tall luggage 9 is prevented from hindering the operation of the handle 7.

Here, two non-drive control objects of the stairs ascending and descending vehicle, that is, a traveling motor 21 and a driving motor 30 of the linear actuator 3 which is an angle adjusting unit.
Of the former, the on / off type switch 8 provided near the handle 7 is operated to operate under the control of the control unit 70, and the latter is controlled by the control unit 70 according to the direction and value of the force applied to the handle 7. It operates under the control of FIG. 21 is a control block diagram of the present invention.

When the luggage 9 is placed on the luggage loading portion 6 of the stairs ascending and descending stairs, the luggage 9 is placed on the luggage loading portion 6 in an upright state (horizontal state), and the auxiliary handle 78 is pulled. The vehicle moves up to just before the stairs K on flat ground by the casters 65, and thereafter, the power is turned on and the switch is turned on to the up side, so that the handle 7 is pulled downward while the stairs ascent / descent traveling unit 20 is operated. If the luggage mounting part 6 is tilted with respect to FIG.
(B) As shown in the order of (c) and (d), the stairs K are started to ascend, and when reaching the landing or the upper floor, a force is applied to the handle 7 in the direction of raising the luggage mounting portion 6 (this is the luggage 9). 20 (a), (b), and (c) by naturally countering the weight of
As shown in (d), the traveling unit 20 for ascending and descending the stairs is completely lifted, and the luggage mounting unit 6 is raised.

When going down the stairs K, the reverse operation described above may be applied to the handle 7 in a state where the switch is turned on and the luggage 9 is moved ahead, and at this time, FIG. (C), (b), and (a) in the order shown in FIG.
At 0, the movements are in the order of (d), (c), (b), and (a).

In the above-described stair-climbing transport vehicle, in the present invention, the main endless track as the main traveling section 20a and the sub-endless track as the sub-traveling section 20b are connected to bendable, and the main traveling section 20a and the sub-endless track are connected to each other. When the angle between the main traveling portion 20a and the sub-traveling portion 20b is changed from a nearly right-angled bending state to a straight-line state when the angle between the main traveling portion 20a and the traveling portion 20b is changed from a bent state to a straight-line state, the stair climbing is performed. Traveling part 2
It is characterized in that the endless orbit constituting 0 is moved backward by a predetermined distance.

That is, FIG. 1 is a schematic view of the present ascending / descending transporting vehicle, and FIG. 1 (a) shows a state in which the sub-traveling portion 20b is bent substantially at right angles to the main traveling portion 20a. From the state of FIG. 1A, the sub-travel unit 20b is rotated by the operation of the linear actuator 3 to bend the angle between the main traveling unit 20a and the sub-travel unit 20b as shown in FIGS. 1B and 1C. The state can be changed to a linear state.

When climbing the stairs, see FIG.
As shown in FIG. 2A, the sub-running portion 20b is bent at a substantially right angle and approaches the first step of the stairs K. Then, FIG.
(B) → As shown in FIG. 2 (c), the main traveling portion 20a and the sub traveling portion 20b are shifted from the substantially right angle state to the sub traveling portion 20b so as to be in a straight line state. In this case, in the case shown in FIG.
As shown in FIG. 2 (b), when the sub-running section 20b is turned in the direction of arrow a and starts to move to a linear state, the traveling section 20 for climbing the stairs composed of an endless track is moved as shown by arrow c in FIG. 2 (b). The drive motor 21 is controlled by the control unit 70 so as to move backward by a predetermined distance.

As described above, when ascending the first step of the stairs K, a predetermined distance is set when the sub-running section 20b starts to shift from a state where the main running section 20a and the sub-running section 20b are substantially linear to a straight state. When the vehicle travels only backward, the main traveling portion 20a does not exert a large frictional force on the floor surface F, and the stair climbing traveling portion 20 composed of the main traveling portion 20a and the sub traveling portion 20b is in a substantially right angle state. From the straight line. Therefore, the main traveling section 20a and the sub traveling section 20
b) A large overload is not applied to these joints, so that breakage or the like can be prevented. Further, it is possible to avoid a situation in which the sub-running portion 20b standing substantially at a right angle directly hits the first stage of the stairs K and the stair-climbing running portion 20 is overloaded.

Here, when the main traveling portion and the sub traveling portion are in a straight line with a predetermined distance of reverse traveling, the lower surface of the sub traveling portion 20b is moved one step of the stairs K.
The sub-running portion 20b is positioned so that the lower surface of the sub-running portion 20b does not separate from the corner of the first stage from the state in contact with the rise of the step.
Is set longer than the rising height of the stairs K.
Thereby, the sub-running portion 20b which is linear with respect to the main running portion 20a as shown by the solid line in FIG. 3 does not fall on the floor F from the first step of the stairs K as shown by the solid line. It is. In other words, once falling on the floor F, the stairs K cannot be ascended unless the sub-running portion 20b is erected, so it is necessary to avoid such a situation.

In the present invention, the main traveling portion 20a
The stair climbing traveling section 20 including the sub traveling section 20b and the sub traveling section 20b is shown in FIG.
As shown in (a) → (b), the main traveling unit 20a and the sub traveling unit 20b are moved backward only when the angle between the main traveling unit 20a and the sub traveling unit 20b starts to shift from the right angle state to the linear state. It is controlled by the control unit 70. In other words, when starting to ascend the first step of the stairs K, the angle between the main traveling portion 20a and the sub-traveling portion 20b at the start of the ascending of the stairs K changes from a substantially right angle state to a linear state. It is necessary to reverse the stair climbing traveling unit 20 to reduce the overload only when starting to climb the step as described above, but the angle of the main traveling unit 20a and the sub traveling unit 20b is changed from a right angle state to a linear state. It is not necessary to automatically reverse the stair-climbing traveling unit 20 except when starting to shift. For example, as shown in FIG. 5A, the sub traveling unit 20b is not perpendicular to the main traveling unit 20a in the middle of the stairs. However, when the vehicle is inclined, the sub-running portion 20b rotates from the inclined state to the straight state as shown by the arrow A in FIG. 5A and does not operate in the reverse direction. As shown by an arrow C in FIG. And without having to reverse, in which is possible to avoid the danger that the reverse in the middle of the stairs.

In addition, the main traveling section 20 is provided on the stairs ascending and descending vehicle.
a and the inclination angle between the sub-running portion 20b (the angle α in FIG. 6)
Is provided. Then, based on the detection of the angle by the angle detection sensor,
As shown in the flowchart of FIG. 7, the stair climbing traveling unit is used only when the inclination angle of the main traveling unit 20 a and the sub traveling unit 20 b is in a state (90 to 45 degrees) in which the transition from a substantially right angle state to a linear state has begun. The control unit 70 controls the motor 20 to move backward. By doing so, the stair-climbing traveling unit 20 is retracted by a predetermined distance only when the load needs to be reduced, and the load is reduced. When reduction is not required, the stair-climbing traveling unit 20 is not retracted. Can be prevented from moving backward on the stairs K.

Further, a load detecting means 50 for detecting a load applied to the stair-climbing traveling unit 20 is provided on the stair-climbing transport vehicle, and the control unit 70 controls the reverse distance of the stair-climbing traveling unit 20 based on the detected value. May be controlled by the following. For example, as shown in FIG. 8, a load detection unit 50 such as a strain gauge is provided in the sub-running unit 20 b or the main running unit 20 a so that the angle between the main running unit 20 a and the sub-running unit 20 b is almost a right angle. When the sub-running section 20b shifts so as to be in a straight line state, the load detecting means 50 detects the main running section 20b.
a and the load applied to the sub-running section 20b is detected. If the detected load is larger than a predetermined value (for example, a load value at which the sub-running section 20b does not cause fatigue failure) as shown in the flowchart of FIG. The control unit 70 controls the traveling unit 20 to move backward for a predetermined distance and not to move backward when the detected load is smaller than a predetermined value. As a result, when the load detection value is equal to or less than the predetermined value, the vehicle does not move backward,
Only when the value is equal to or more than the predetermined value, the load on the sub-running portion 20b that starts to ascend by moving backward by a predetermined distance can be set to be equal to or less than the predetermined value,
Further, when the load on the sub-running section is equal to or less than a predetermined value and there is no need to reverse, such as when the vehicle starts to fall down on a flat ground, the vehicle can be prevented from moving backward.

Further, the stair climbing and lowering vehicle of the present invention is provided with a distance sensor 51 for detecting the distance between the sub-traveling portion 20b and the stairs K, and the sub-traveling vehicle in a state of standing perpendicular to the main traveling portion 20a. The distance (distance d in FIG. 10) between the portion 20b and the stairs K is detected. And
As shown in the flowchart of FIG.
Of the sub-running portion 20b and the stairs K in the upright state.
The distance to the rising surface of the step is measured, and the distance sensor 5
1 is a predetermined value d ₀ (the sub-running section 20b
Large load is the shortest distance) when: the not applied is by a predetermined distance backward, when more than a predetermined value d ₀ is to control by the control unit 70 so as not to reverse the. This allows
Only when the value is equal to or less than the predetermined value, the load on the sub-running portion 20b that starts to ascend by moving the predetermined distance backward can be set to the predetermined value or less,
Further, when the load on the sub-running section is equal to or less than a predetermined value and there is no need to reverse, such as when the vehicle starts to fall down on a flat ground, the vehicle can be prevented from moving backward.

By the way, as described above, the distance sensor 51
The distance to the riser surface portion of the first-stage sub-travel portion 20b and the stepped K in the upright state measured by the distance sensor 51 provided, the distance d detected by the distance sensor 51 to a predetermined value d _{0 (sub} driving unit 20b when the shortest distance) following a large load is not applied by a predetermined distance backward, when more than a predetermined value d ₀ in which controlled by the control unit 70 so as not to reverse, as shown in the flowchart of FIG. 12, the distance sensor 51 the distance d to be detected at the time of smaller than the predetermined value d ₀ to increase the backward distance in proportion to (d 0 _-d), when a d = 0, the sub-traveling portion 20b falls from the first-stage step-K Control unit 7 so that there is no distance k × d ₀
It may be controlled by 0. In this way, even if the stairs ascent / descent vehicle tries to climb the first step of the stairs K from a halfway distance, an optimal reverse distance can be set, and when starting to climb the stairs, the sub traveling unit 20b is moved backward by the reverse. It does not come off from being caught from the first step of the stairs K.

In the present invention, as described above, when the main traveling portion 20a and the sub traveling portion 20b start to transition from a bent state that is almost a right angle to a linear state, the stair climbing traveling section 2 is started.
0 is made to move backward by a predetermined distance, but as shown in FIG.
A warning unit 52 such as a buzzer 2a or a buzzer 52b is provided, and the control unit 70 issues an alarm by the warning unit 52 such as the light emitting unit 52a or the buzzer 52b when the stair climbing traveling unit 20 moves backward (moves in the reverse direction). Is controlled by the That is, at the beginning of the climbing of the stair climbing traveling unit 20,
In order to move backward in the descending direction, the danger is notified to the surroundings by the alarm means 52 to ensure safety.

2, 3, 4, 8, and 1.
0, in the schematic diagram of the embodiment shown in FIG. 13, in a state where the main traveling portion 20a and the sub traveling portion 20b are on the floor F in a straight line state, the height of the tip of the sub traveling portion 20b is set at the stairs K
As shown in FIG. 14, when the main traveling portion 20a and the sub traveling portion 20b are on the floor F in a linear state, the tip of the sub traveling portion 20b is It is preferable that the height H of the stairs be higher than the rising height of the stairs K. In this way, when the main traveling portion 20a and the sub traveling portion 20b are in a straight line, the sub traveling portion 20b
The height of the tip of the stairs K is made larger than the rise height of the stairs K, so that the sub-running section 2 moves from the first corner of the stairs K to the reverse.
Even if 0b is separated, it can rise. In order to make the height of the tip of the sub-running portion 20b larger than the rising height of the stairs K, FIG. 14 is a schematic diagram and FIG.
As shown as a specific example in FIG. 6, by making the sub-endless track constituting the sub-traveling portion 20b rise diagonally upward,
The height of the tip of the sub-running portion 20b may be larger than the rise height of the stairs K, or although not shown, the diameter of the endless track driven wheel 25 constituting the sub-running portion 20b may be reduced by a step. It may be larger than the rise height of K.

As described above, the stair-climbing transport vehicle of the present invention is provided with the luggage mounting section 6 on the stair-climbing traveling section 20. The luggage mounting section 6 can be inclined as described above. The luggage mounting section 6 is inclined in conjunction with the inclination of the sub-running section 20b. FIG. 15 (a)
(B) and (c) are schematic diagrams showing a state in which the luggage mounting section 6 changes its angle in conjunction with the inclination of the sub-running section 20b. As described above, the operation is performed by driving the linear actuator 3, and the specific mechanism is the same as described above, and the description will be omitted because it is redundant. As described above, the luggage mounting section 6 is inclined in conjunction with the inclination of the sub-running section 20b, and the luggage mounting section is inclined in conjunction with the inclination of the sub-running section. The luggage 9 placed on the luggage 6 is stable, and the tall luggage 9 can be stably loaded.

[0038]

As described above, according to the present invention, the sub-running portion is connected to the leading end of the main running portion so as to be bendable, and the angle between the main running portion and the sub-running portion can be changed from the bent state to the linear state. In a stair-climbing transport vehicle equipped with a stair-climbing traveling section, when the main traveling section and the sub traveling section begin to transition from a bent state that is almost at a right angle to a straight state, the traveling sections are moved backward by a predetermined distance. Therefore, when climbing the first step of the stairs, when the sub-running part starts to shift from a state where the main running part and the sub-running part are almost in a right angle to a linear state, the sub-running part moves backward by a predetermined distance, The running part does not exert a large frictional force on the floor surface, and the stair climbing running part composed of the main running part and the sub running part is smoothly extended from a substantially right angle state to a straight state,
It is possible to prevent an overload from being generated in the stair-climbing traveling section, and to prevent the sub-traveling section, which stands substantially at a right angle, from directly hitting the first step of the stairs. Overload is also reduced. As described above, in the present invention, when the ascending of the stairs is started, it is possible to prevent an overload from acting on the stair-climbing traveling unit, thereby preventing damage to the stair-climbing traveling unit, and allowing the stair climbing traveling unit to start climbing smoothly. It is.

According to the second aspect of the present invention, in addition to the effect of the second aspect of the present invention, when the predetermined distance of reverse travel is such that the main traveling portion and the sub traveling portion are in a straight line and the sub traveling portion The length of the sub-running section is longer than the stair kick-up height so that the lower surface of the sub-running section does not separate from the corner of the first step from the state where the lower surface is in contact with the rising of the first step of the stairs. Since the lower surface of the sub-running section does not separate from the stairs when the stairs begin to climb, the stair climbing vehicle does not fall down from the first step of the stairs even when moving backward a predetermined distance, and starts climbing the stairs smoothly. Can be done.

According to the third aspect of the present invention, in addition to the effect of the second aspect, when the angle between the main traveling portion and the sub traveling portion starts to shift from a right angle state to a linear state. Only the control unit that controls the main running unit and the sub running unit to retreat is provided, so that the main running unit and the sub running unit automatically go up the stairs except when the angle starts to shift from the right angle state to the straight state. It is not necessary to move the ascending / descending traveling section backward, so that the ascending / descending section does not move backward in the middle of the stairs and can safely climb the stairs.

According to a fourth aspect of the present invention, in addition to the effects of the third aspect, an angle detection sensor for detecting an inclination angle between the main traveling portion and the sub traveling portion is provided. Therefore, it is possible to detect the inclination angle and move backward when the angle between the main traveling section and the sub traveling section starts to shift from a right angle state to a linear state (for example, 90 to 45 degrees). This makes it possible to safely move the stairs ascending / descending traveling section down the stairs unnecessarily in the middle of the stairs.

According to a fifth aspect of the present invention, in addition to the effect of the first aspect of the present invention, a load applied to the traveling section is detected, and the reverse travel distance of the traveling section is determined based on the detected value. Control unit is provided, so that when the load detection value is equal to or less than the predetermined value, the vehicle does not move backward, and when the load detection value is equal to or higher than the predetermined value, the vehicle moves backward by a predetermined distance to reduce the load at the start of climbing, and When the load on the sub-running section is equal to or less than the predetermined value and there is no need to reverse, as in the case of starting to lean, the vehicle does not move backward.

According to the sixth aspect of the present invention, in addition to the effect of the first aspect, the distance between the sub-running section and the stairs is detected, and when the distance is equal to or smaller than a predetermined value, the vehicle moves in reverse. When the distance between the sub-running section and the stairs is less than or equal to a predetermined value, the control section is controlled so as to move backward so as not to apply an overload to the stair-climbing running section. When the distance between the sub-running section and the stairs is equal to or greater than a predetermined value, such as when the vehicle starts to fall, the vehicle can be prevented from moving backward.

According to the seventh aspect of the present invention, in addition to the effects of the sixth aspect of the present invention, a control unit is provided for adjusting the reverse travel distance in accordance with the distance between the sub-running section and the stairs. Therefore, even if the stairs ascent / descent vehicle goes up the stairs on the first step of the stairs, an optimum reverse distance can be set, and when starting to climb the stairs, the sub-traveling unit moves from the first step of the stairs It does not come off from the hook.

According to the eighth aspect of the present invention, in addition to the effect of the first aspect of the present invention, an alarm means for giving an alarm by light or sound when the vehicle is moving in the reverse direction is provided. Therefore, when the vehicle starts moving up the stairs, the vehicle moves backward, so that the danger can be notified to the surroundings by the alarm means, and the stairs can be safely moved up.

According to the ninth aspect of the present invention, in addition to the effect of the first aspect of the present invention, when the main running portion and the sub running portion are in a straight line, the height of the tip of the sub running portion is increased. Since the height is larger than the rise height of the stairs, even if the sub-running part moves away from the corner of the first step of the stairs due to the reverse movement, it is possible to ascend without difficulty.

In the invention according to claim 10,
In addition to the effect of the first aspect of the present invention, the luggage mounting section is provided on the stair climbing traveling section, and the luggage mounting section is tiltable and linked with the inclination of the sub traveling section, so that the luggage mounting section is In conjunction with the inclination of the sub-running section, it is possible to stabilize it by inclining it, so that tall luggage can be stably loaded and climb the stairs.

[Brief description of the drawings]

FIG. 1A is a schematic side view showing a state in which a sub-running section is erected with respect to a main running section in the present invention, and FIG.
FIG. 4 is a schematic side view when the main traveling section and the sub traveling section are linear, and FIG. 4C is a schematic bottom view when the main traveling section and the sub traveling section are linear.

FIGS. 2A, 2B, and 2C are explanatory diagrams of an operation of the embodiment of the present invention at the start of ascending of stairs.

FIG. 3 is an explanatory diagram of another embodiment of the embodiment.

FIGS. 4 (a) and 4 (b) are operation explanatory diagrams for explaining that the sub-running section moves backward only when the sub-running section changes from a state substantially perpendicular to the main running section to a linear state.

FIGS. 5 (a) and 5 (b) are operation explanatory diagrams for explaining that the sub-running unit does not move backward when the sub-running unit is rotated from a state other than substantially perpendicular to the main running unit.

FIG. 6 is an explanatory view showing still another embodiment of the above.

FIG. 7 is a control flowchart of the above.

FIG. 8 is an explanatory diagram of still another embodiment of the above.

FIG. 9 is a control flowchart of the above.

FIG. 10 is an explanatory view of still another embodiment of the above.

FIG. 11 is a control flowchart of the above.

FIG. 12 is a control flowchart of still another embodiment of the above.

FIG. 13 is an explanatory diagram of still another embodiment of the above.

14A and 14B are explanatory views of still another embodiment of the above.

FIGS. 15 (a), (b), and (c) are explanatory diagrams of an operation of still another embodiment of the above.

FIG. 16 is a schematic side view showing one embodiment of the above.

FIG. 17 is a schematic plan view of the same.

FIG. 18 is a schematic front view of the same.

FIGS. 19 (a), (b), (c) and (d) are explanatory diagrams of the operation of the above.

FIGS. 20 (a), (b), (c) and (d) are explanatory diagrams of the operation of the above.

FIG. 21 is a control block diagram of the above.

FIGS. 22 (a), (b), and (c) are explanatory diagrams of an operation at the start of climbing a stair in a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 6 Luggage mounting part 20 Stair climbing traveling part 20a Main traveling part 20b Sub traveling part 50 Load detection means 51 Distance sensor 52 Alarm means 70 Control part

Claims (10)

[Claims] 1. A stair-climbing traveling section having a sub-traveling section connected to the leading end of the main traveling section in a bendable manner and an angle between the main traveling section and the sub-travel section being variable from a bent state to a linear state. In the stair climbing transport vehicle provided, when the main traveling part and the sub traveling part start to shift from a bent state that is almost a right angle to a straight state, both traveling parts are moved backward by a predetermined distance, and the stairs climbing transportation is characterized in that car. 2. The state in which the main traveling portion and the sub traveling portion are in a straight line with a predetermined reverse distance, and the lower surface of the sub traveling portion is in the first stage from the state in which the lower surface of the sub traveling portion is in contact with the rising of the first stage of the stairs. 2. The stair climbing and lowering vehicle according to claim 1, wherein a length of the sub-running portion is longer than a rising height of the stairs so as not to be separated from the corner. 3. A control unit for controlling the main traveling unit and the sub traveling unit to retreat only when the angle between the main traveling unit and the sub traveling unit starts to shift from a right angle state to a straight line state. The stair climbing and lowering vehicle according to claim 1, wherein 4. The stair climbing and lowering vehicle according to claim 3, further comprising an angle detection sensor for detecting an inclination angle between the main traveling section and the sub traveling section. 5. The stairs ascending / descending transport according to claim 1, further comprising a control unit for detecting a load applied to the traveling unit and controlling a reverse distance of the traveling unit based on the detected value. car. 6. A stair climbing and lowering transport vehicle according to claim 1, further comprising a control unit for detecting a distance between the sub-running section and the stairs, and controlling to move backward when the distance is equal to or less than a predetermined value. . 7. A control unit for adjusting a reverse distance according to a distance between the sub-running unit and the stairs.
The stair climbing transport vehicle as described. 8. The stair climbing and lowering vehicle according to claim 1, further comprising alarm means for giving an alarm by light or sound when the vehicle is moving in the reverse direction. 9. The staircase according to claim 1, wherein, when the main running portion and the sub running portion are in a straight line, the height of the tip of the sub running portion is larger than the rising height of the stairs. Elevating carrier. 10. The stair climbing vehicle according to claim 1, wherein a luggage mounting section is provided on the stair climbing traveling section, and the luggage mounting section is tiltable and is linked with the inclination of the sub traveling section. .