JP4818039B2 - Stair lifting device - Google Patents

Stair lifting device Download PDF

Info

Publication number
JP4818039B2
JP4818039B2 JP2006259697A JP2006259697A JP4818039B2 JP 4818039 B2 JP4818039 B2 JP 4818039B2 JP 2006259697 A JP2006259697 A JP 2006259697A JP 2006259697 A JP2006259697 A JP 2006259697A JP 4818039 B2 JP4818039 B2 JP 4818039B2
Authority
JP
Japan
Prior art keywords
legs
stage moving
leg
lower stage
middle stage
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.)
Expired - Fee Related
Application number
JP2006259697A
Other languages
Japanese (ja)
Other versions
JP2008080833A (en
Inventor
松本　　聡
俊成 須間
政幸 匹田
信也 大塚
尚宏 高村
清 小林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kyushu Institute of Technology NUC
Toshiba Elevator and Building Systems Corp
Original Assignee
Kyushu Institute of Technology NUC
Toshiba Elevator Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kyushu Institute of Technology NUC, Toshiba Elevator Co Ltd filed Critical Kyushu Institute of Technology NUC
Priority to JP2006259697A priority Critical patent/JP4818039B2/en
Publication of JP2008080833A publication Critical patent/JP2008080833A/en
Application granted granted Critical
Publication of JP4818039B2 publication Critical patent/JP4818039B2/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Manipulator (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide a lifting device for stairs capable of stably lifting a heavy object for stairs. <P>SOLUTION: In a lifting device body of a three-layered structure, a lower stage moving table 10 having legs 1-4 of variable length, a middle stage moving table 20 having legs 5-8 of variable length, and a cargo bed 30 with a heavy object loaded thereon are connected to each other independently in a horizontally movable manner. A cargo bed level detector 80 for detecting the pitch angle and the roll angle of the cargo bed 30 is provided on the device body. A control device 100 controls the operations of lower stage leg driving devices 111-114 for driving the legs 1-4 of the lower stage moving table 10 and the operations of middle stage leg driving devices 115-118 for driving the legs 5-8 of the middle stage moving table 20 based on the detection signal of the cargo bed level detector 80 so as to maintain the horizontal balance of the cargo bed 30. <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

Description

本発明は、階段を利用して重量物を運搬する階段揚重装置に関する。   The present invention relates to a stair lifting device that transports heavy objects using stairs.

今日、階段はビルなどの高層建築物や駅を始めとして至る処に設置されている。階段を利用して荷物を運搬するニーズは高く、労働力軽減を目的として、各種の階段用運搬ロボットが開発されている。たとえば、荷物運搬用には、特開２００４−２７６８９２号公報（特許文献１）、特開２００２−１９６１６号公報（特許文献２）、特開２００２−１２７９０９号公報（特許文献３）、特開２００２−２２５７２０号公報（特許文献４）、特開２００１−５５１７８号公報（特許文献５）、特開２００１−２２５７５４号公報（特許文献６）、特開２００１−２３３６００号公報（特許文献７）、特開平１０−１０９６５３号公報（特許文献８）、特開平９−６６８３９号公報（特許文献９）、特開平８−５８６４１号公報（特許文献１０）、また車椅子移動用には特開２００４−１８１０４０号公報（特許文献１１）、特開２００２−１７８９３０号公報（特許文献１２）にそのような荷物運搬用の装置が提案されている。   Today, stairs are installed everywhere, including high-rise buildings such as buildings and stations. There is a high need for carrying luggage using stairs, and various stairs carrying robots have been developed to reduce labor. For example, JP-A-2004-276892 (Patent Document 1), JP-A-2002-19616 (Patent Document 2), JP-A-2002-127909 (Patent Document 3), JP-A-2002 / 2002 JP-A-225720 (Patent Document 4), JP-A-2001-55178 (Patent Document 5), JP-A-2001-225754 (Patent Document 6), JP-A-2001-233600 (Patent Document 7), Japanese Patent Laid-Open No. 10-109653 (Patent Document 8), Japanese Patent Laid-Open No. 9-66839 (Patent Document 9), Japanese Patent Laid-Open No. 8-58641 (Patent Document 10), and Japanese Patent Application Laid-Open No. 2004-181040 for wheelchair movement. Japanese Patent Laid-Open No. 2002-178930 and Japanese Patent Laid-Open No. 2002-178930 (Patent Document 12) propose such an apparatus for carrying a load.

また、移動時の安定性を保つための工夫として特開平８−７３１９７号公報（特許文献１３）に見られるようにガイドレールを安定して支持する装置が提案されている。   Further, as a device for maintaining stability during movement, an apparatus for stably supporting a guide rail has been proposed as disclosed in JP-A-8-73197 (Patent Document 13).

さらに、特開平６−６３８７６号公報（特許文献１４）においては、階段などの着地位置が制約される環境を移動するときに、目標位置と実際の着地位置との誤差を検出し歩容（歩幅）を修正する方法が提案されている。また、特開平６−１３４６８１号公報（特許文献１５）においては、歩行ロボット装置の安定性を増すためにロボット本体に補助脚を設ける方法が提案されている。さらに、階段歩行を目的として２足歩行ロボットも考案され一部は既に公開されている。
特開２００４−２７６８９２号公報 特開２００２−１９６１６号公報 特開２００２−１２７９０９号公報 特開２００２−２２５７２０号公報 特開２００１−５５１７８号公報 特開２００１−２２５７５４号公報 特開２００１−２３３６００号公報 特開平１０−１０９６５３号公報 特開平９−６６８３９号公報 特開平８−５８６４１号公報 特開２００４−１８１０４０号公報 特開２００２−１７８９３０号公報 特開平８−７３１９７号公報 特開平６−６３８７６号公報 特開平６−１３４６８１号公報 Further, in Japanese Patent Laid-Open No. 6-63876 (Patent Document 14), when moving in an environment where the landing position is restricted, such as stairs, an error between the target position and the actual landing position is detected, and the gait (step length) is detected. ) Has been proposed. Japanese Patent Laid-Open No. 6-134681 (Patent Document 15) proposes a method of providing auxiliary legs on the robot body in order to increase the stability of the walking robot apparatus. Furthermore, biped walking robots have been devised for the purpose of walking on stairs, and some have already been released.
JP 2004-276892 A Japanese Patent Laid-Open No. 2002-19616 JP 2002-127909 A JP 2002-225720 A JP 2001-55178 A JP 2001-225754 A JP 2001-233600 A Japanese Patent Laid-Open No. 10-109653 Japanese Patent Laid-Open No. 9-66839 Japanese Patent Laid-Open No. 8-58641 JP 2004-181040 A JP 2002-178930 A JP-A-8-73197 JP-A-6-63876 Japanese Patent Laid-Open No. 6-134681

しかしながら、上記のいずれの従来技術にあっても、数百ｋｇを超える重量物を階段を利用して安全性を確保しながら昇降できる能力を持たせることはできない。また、２足歩行ロボットの場合には、重量物に対する重心の移動が難しく、荷物の運搬には不向きである。   However, in any of the above-described conventional techniques, it is not possible to provide the ability to lift and lower heavy objects exceeding several hundred kg while ensuring safety using stairs. In addition, in the case of a biped robot, it is difficult to move the center of gravity with respect to a heavy object, and it is not suitable for carrying luggage.

本発明は、以上のような従来技術の課題を解決するためになされたもので、重量物の階段揚重を安定して行うことが可能な階段揚重装置を提供することを目的とする。   The present invention has been made to solve the above-described problems of the prior art, and an object of the present invention is to provide a stair lifting device that can stably perform stair lifting of heavy objects.

本発明の階段揚重装置は、下段移動台とその上方に配置された中段移動台とさらにその上方に配置された荷台とを互いに水平方向に独立して移動できるように連結して３層構造とした装置本体を備える。装置本体の下段移動台と中段移動台とは、長さが可変とされた複数の脚をそれぞれ有している。下段移動台の複数の脚は、第１の垂直方向駆動手段により駆動される。また、中段移動台の複数の脚は、第２の垂直方向駆動手段により駆動される。つまり、第１の垂直方向駆動手段は、下段移動台の複数の脚の長さを変化させて装置本体を垂直方向に移動又は固定させ、第２の垂直方向駆動手段は、中段移動台の複数の脚の長さを変化させて装置本体を垂直方向に移動又は固定させる。また、本発明の階段揚重装置は、荷台のピッチ角とロール角とを検知する傾斜角検知手段と、下段移動台及び中段移動台の各脚の下端に設けられ、各脚が接地したか否かを検出する接地センサと、傾斜角検知手段の検知信号に基づいて、第１の垂直方向駆動手段の動作及び第２の垂直方向駆動手段の動作を制御する制御手段を備える。制御手段は、荷台のピッチ角とロール角とがゼロ付近の所定の許容範囲内に収まるように、下段移動台の各脚に対する第１の垂直方向駆動手段の目標駆動力と、中段移動台の各脚に対する第２の垂直方向駆動手段の目標駆動力とを算出すると共に、接地センサの検出結果に応じて、第１の垂直方向駆動手段の動作及び第２の垂直方向駆動手段の動作を制限する。 The stair lifting device according to the present invention has a three-layer structure in which a lower stage moving base, a middle stage moving base disposed above the lower stage moving base, and a loading platform disposed further above are connected so as to be independently movable in the horizontal direction. The device body is provided. The lower stage moving base and the middle stage moving base of the apparatus main body each have a plurality of legs whose lengths are variable. The plurality of legs of the lower stage moving table are driven by the first vertical driving means. Further, the plurality of legs of the middle stage moving table are driven by the second vertical driving means. In other words, the first vertical driving means moves or fixes the apparatus main body in the vertical direction by changing the lengths of the plurality of legs of the lower stage moving base, and the second vertical direction driving means includes the plurality of middle stage moving bases. The main body of the apparatus is moved or fixed in the vertical direction by changing the length of the legs. Further, the stairlifting device of the present invention is provided with an inclination angle detecting means for detecting the pitch angle and roll angle of the loading platform, and at the lower end of each leg of the lower stage moving stage and the middle stage moving stage, and whether each leg is grounded. A grounding sensor for detecting whether or not, and a control means for controlling the operation of the first vertical driving means and the operation of the second vertical driving means based on the detection signal of the tilt angle detecting means. The control means includes a target driving force of the first vertical driving means for each leg of the lower stage moving table and a target driving force of the middle stage moving stage so that the pitch angle and roll angle of the loading platform fall within a predetermined allowable range near zero. The target driving force of the second vertical driving means for each leg is calculated, and the operation of the first vertical driving means and the operation of the second vertical driving means are limited according to the detection result of the ground sensor. To do.

本発明の階段揚重装置では、装置本体の荷台に重量物が載置される。この状態で、まず、第１の垂直方向駆動手段が下段移動台の脚を伸長させることによって装置本体を階段の蹴上げ位置まで上昇させる。続いて、荷台と下段移動台を固定させたまま、中段移動台のみを階段の踏み面の長さ分だけ水平方向に移動させる。その後、第２の垂直方向駆動手段が中段移動台の脚を伸長させることによって中段移動台を固定させる。そして、中段移動台をガイドとして荷台を階段の踏み面の長さ分だけ水平方向に移動させる。続いて、第１の垂直方向駆動手段により下段移動台の脚を短縮させた後、中段移動台をガイドとして下段移動台を階段の踏み面の長さ分だけ水平方向に移動させる。本発明の階段揚重装置は、以上の動作を１サイクルとし、階段の踏み段ごとに以上のサイクルを繰り返すことで、重量物の階段揚重を行う。この際、制御手段が、傾斜角検知手段の検知信号に基づいて、荷台の水平バランスを維持しながら装置本体が垂直方向に移動するように、第１の垂直方向駆動手段の動作及び第２の垂直方向駆動手段の動作を制御する。これにより、重量物の階段揚重を安定した状態で行うことができる。   In the stair lifting device of the present invention, a heavy object is placed on the loading platform of the device main body. In this state, first, the first vertical driving means elongates the leg of the lower stage moving base to raise the apparatus main body to the stair lift position. Subsequently, with the cargo bed and the lower stage moving base fixed, only the middle stage moving base is moved in the horizontal direction by the length of the tread surface of the stairs. Thereafter, the second vertical driving means fixes the middle stage moving base by extending the legs of the middle stage moving base. Then, the loading platform is moved in the horizontal direction by the length of the tread surface of the stairs using the middle stage moving table as a guide. Subsequently, after the leg of the lower stage moving table is shortened by the first vertical driving means, the lower stage moving table is moved in the horizontal direction by the length of the tread surface of the stairs using the middle stage moving table as a guide. The stair lifting device of the present invention performs the above operation as one cycle, and repeats the above cycle for each step of the stair to perform stair lifting of heavy objects. At this time, based on the detection signal of the tilt angle detection means, the control means operates the first vertical drive means and the second so that the apparatus main body moves in the vertical direction while maintaining the horizontal balance of the cargo bed. Controls the operation of the vertical drive means. Thereby, the step lifting of a heavy article can be performed in the stable state.

本発明の階段揚重装置によれば、エレベータ機械室の機器の搬入搬出や階段における荷物搬送において、コンパクトにかつ水平度を保ちながら重量物の移動が可能であり、これによって、段差のある作業場所で短時間に安定した状態を維持しながら効率良く重量物を移動することができる。   According to the stair lifting device of the present invention, it is possible to move a heavy object in a compact manner while maintaining levelness in carrying in / out equipment of an elevator machine room or carrying goods in a staircase, thereby making it possible to work with steps. A heavy object can be efficiently moved while maintaining a stable state in a short time at a place.

以下、本発明の実施形態を図に基づいて詳説する。図１（ａ）、（ｂ）は、本発明の１つの実施形態の平面図及び正面図、図２は側面図である。同図に示されるように、本実施形態の階段揚重装置は下段移動台１０、中段移動台２０、荷台３０からなる３段構造の装置本体を備えている。下段移動台１０と中段移動台２０は手前側と後側のガイドレール４５、４６並びに手前、後側それぞれの左右に配置されたローラ４１〜４４により互いに保持され、水平一軸方向（図１における左右方向）にガイドされながら互いに独立して動くことができる。   Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. 1A and 1B are a plan view and a front view of one embodiment of the present invention, and FIG. 2 is a side view. As shown in the figure, the stair lifting device of the present embodiment includes a three-stage apparatus main body including a lower stage moving base 10, an intermediate stage moving base 20, and a loading platform 30. The lower stage moving base 10 and the middle stage moving base 20 are held together by the front and rear guide rails 45 and 46 and the rollers 41 to 44 arranged on the left and right sides of the front and rear sides, respectively, in a horizontal uniaxial direction (left and right in FIG. 1). Can move independently of each other while being guided in the direction).

下段移動台１０には、長さが可変とされた複数の脚（本例では４本の脚１〜４）が取り付けられている。これら下段移動台１０の各脚１〜４は、図１６に示すように、油圧機構などを利用した下段脚駆動装置（第１の垂直方向駆動装置）１１１〜１１４により駆動される。また、中段移動台２０にも同様に、長さが可変とされた複数の脚（本例では４本の脚５〜８）が取り付けられている。これら中段移動台２０の各脚５〜８は、図１６に示すように、油圧機構などを利用した中段脚駆動装置（第２の垂直方向駆動装置）１１５〜１１８により駆動される。なお、各脚１〜８の先端（下端）には、階段での安定性を増すために後述するように底板を取り付けるのが好ましい。また、水平移動を可能とするために、キャスターやローラを取り付けられる構造とすることも望ましい。さらに、各脚１〜８の先端（下端）には、後述するように、各脚が接地したか否かを検出する接地センサが設けられる。この接地センサとしては、例えばフロア面や階段の踏み面がメッシュ構造の材料で構成されている場合でも各脚１〜８の接地を確実に検出できるように、各脚１〜８の接地を接触によって検出する触覚スイッチを用いることが望ましい。   A plurality of legs (four legs 1 to 4 in this example) having variable lengths are attached to the lower stage 10. As shown in FIG. 16, the legs 1 to 4 of the lower stage moving table 10 are driven by lower stage leg driving devices (first vertical driving devices) 111 to 114 using a hydraulic mechanism or the like. Similarly, a plurality of legs whose lengths are variable (four legs 5 to 8 in this example) are attached to the intermediate stage 20. As shown in FIG. 16, the legs 5 to 8 of these middle stage moving bases 20 are driven by middle leg driving devices (second vertical driving devices) 115 to 118 using a hydraulic mechanism or the like. In addition, it is preferable to attach a baseplate to the front-end | tip (lower end) of each leg 1-8 so that stability in a staircase may be increased so that it may mention later. It is also desirable to have a structure to which casters and rollers can be attached in order to enable horizontal movement. Furthermore, a grounding sensor for detecting whether or not each leg is grounded is provided at the tip (lower end) of each leg 1-8 as will be described later. As this grounding sensor, the grounding of each leg 1-8 is contacted so that the grounding of each leg 1-8 can be reliably detected even when the floor surface or the tread of the stairs is made of a mesh structure material, for example. It is desirable to use a tactile switch that detects by.

下段脚駆動装置１１１〜１１４及び中段脚駆動装置１１５〜１１８は、例えば、下段移動台１０に取り付けられた各脚１〜４や中段移動台２０に取り付けられた各脚５〜８に対応したインバータ回路と駆動モータ（油圧モータ）とを有し、制御装置１００によってその動作が個別に制御される。すなわち、制御装置１００は、下段脚駆動装置１１１〜１１４や中段脚駆動装置１１５〜１１８の個々の目標駆動力を速度に変換した速度指令信号を、各駆動装置１１１〜１１８が備えるインバータ回路を介して駆動モータに各々入力することで、各駆動装置１１１〜１１８の動作を制御する。   For example, the lower leg driving devices 111 to 114 and the middle leg driving devices 115 to 118 are inverters corresponding to the legs 1 to 4 attached to the lower stage moving base 10 and the legs 5 to 8 attached to the middle stage moving base 20, respectively. A circuit and a drive motor (hydraulic motor) are included, and their operations are individually controlled by the control device 100. In other words, the control device 100 sends speed command signals obtained by converting individual target driving forces of the lower leg driving devices 111 to 114 and the middle leg driving devices 115 to 118 to speeds through inverter circuits included in the driving devices 111 to 118. Then, the operation of each of the driving devices 111 to 118 is controlled by inputting each to the driving motor.

中段移動台２０と荷台３０との間には、ローラ５１〜５４があり、これによって互いに独立して水平一軸方向（図１において左右方向）に移動可能にしている。   Rollers 51 to 54 are provided between the middle stage moving table 20 and the loading platform 30, so that they can move independently from each other in the horizontal uniaxial direction (left and right direction in FIG. 1).

下段移動台１０と中段移動台２０との水平方向の相対移動は下段移動台１０に固定された水平方向駆動装置４０の駆動によって行われる。また、中段移動台２０には水平方向駆動装置５０が具備され、中段移動台２０と荷台３０との水平方向の相対移動はこの水平方向駆動装置５０の駆動により行われる。これら水平方向駆動装置４０や水平方向駆動装置５０の動作は、下段脚駆動装置１１１〜１１４及び中段脚駆動装置１１５〜１１８とともに、制御装置１００により制御される。なお、制御装置１００は、装置本体に設置する場合には、水平方向駆動装置４０又は５０の近傍のスペース、例えば、荷台３０、中段移動台２０、下段移動台１０それぞれの間の隙間スペースあるいは下段移動台１０の下部に設ける。しかしながら、この制御装置１００は、有線又は無線を介して水平方向駆動装置４０、５０に接続して使用者が手元で遠隔操作できる構成にすることが可能である。   The relative movement in the horizontal direction between the lower stage moving table 10 and the middle stage moving table 20 is performed by driving a horizontal direction driving device 40 fixed to the lower stage moving table 10. Further, the intermediate stage moving table 20 is provided with a horizontal driving device 50, and the horizontal relative movement between the intermediate stage moving table 20 and the loading platform 30 is performed by driving the horizontal direction driving device 50. The operations of the horizontal driving device 40 and the horizontal driving device 50 are controlled by the control device 100 together with the lower leg driving devices 111 to 114 and the middle leg driving devices 115 to 118. When the control device 100 is installed in the apparatus main body, the space near the horizontal driving device 40 or 50, for example, a clearance space between the loading platform 30, the middle stage moving table 20, and the lower stage moving table 10, or the lower stage, respectively. It is provided at the lower part of the movable table 10. However, the control device 100 can be configured to be connected to the horizontal direction drive devices 40 and 50 via a wired or wireless connection so that the user can remotely operate the device at hand.

中段移動台２０の一端には補助脚６０が取り付けてある。また、荷台３０には、当該荷台３０のピッチ角とロール角とを検知する荷台水平度検出器（傾斜角検知手段）８０が取り付けてある。この荷台水平度検出器８０は、図１（ｂ）及び図２に示すように、荷台３０の少なくとも２箇所に設置された複数のセンサからなり、これら複数のセンサのうちの１つで荷台３０のピッチ角を検知し、他の１つで荷台３０のロール角を検知する。なお、荷台３０のピッチ角は、荷台３０の水平移動方向を基準とした前後の傾斜角であり、荷台３０のロール角は、荷台３０の水平移動方向を基準とした左右の傾斜角である。また、それぞれの脚の下端から各移動台の底面までの距離、つまり有効長を測定するため、それぞれの脚１〜４、５〜８ごとに、図１６に示したように脚伸縮長検出器８１〜８４、８５〜８８が取り付けてある。また、水平移動方向の前方側の脚１，２，５，６には、これらの脚が階段と衝突するのを避けるための近接センサあるいはリミットスイッチを用いた近接検出器９１、９２、９３、９４が取り付けてある。加えて、必要に応じて、重量物Ｗに加わる加速度を低減するために適切な場所、例えば図示した荷台３０に加速度検出器９９を取り付ける。   An auxiliary leg 60 is attached to one end of the middle stage moving table 20. The loading platform 30 is provided with a loading platform levelness detector (tilt angle detection means) 80 that detects the pitch angle and roll angle of the loading platform 30. As shown in FIGS. 1B and 2, the load carrier levelness detector 80 includes a plurality of sensors installed in at least two locations of the load carrier 30, and the load carrier 30 is formed by one of the plurality of sensors. , And the other one detects the roll angle of the loading platform 30. The pitch angle of the loading platform 30 is an inclination angle before and after the horizontal movement direction of the loading platform 30, and the roll angle of the loading platform 30 is a right and left inclination angle with respect to the horizontal movement direction of the loading platform 30. In addition, in order to measure the distance from the lower end of each leg to the bottom surface of each moving base, that is, the effective length, a leg extension / length detector as shown in FIG. 16 for each leg 1-4, 5-8. 81-84, 85-88 are attached. Further, the legs 1, 2, 5 and 6 on the front side in the horizontal movement direction have proximity detectors 91, 92, 93 using proximity sensors or limit switches for preventing these legs from colliding with the stairs. 94 is attached. In addition, if necessary, the acceleration detector 99 is attached to an appropriate place, for example, the illustrated platform 30 in order to reduce the acceleration applied to the heavy object W.

図１６に示すように、制御装置１００には水平度検出器８０や脚１〜４、５〜８毎の脚伸縮長検出器８１〜８４、８５〜８８、前側の脚１、２また脚５、６それぞれが階段と衝突するのを避けるための近接検出器９１、９２また近接検出器９３、９４、加速度検出器９９などからの信号が入力され、これらの信号をもとに脚並びに移動台のフィードバック制御を行う。   As shown in FIG. 16, the control device 100 includes a levelness detector 80, leg expansion / contraction length detectors 81 to 84, 85 to 88 for each of the legs 1 to 4 and 5 to 8, the front legs 1, 2, and the legs 5. , 6 are inputted with signals from proximity detectors 91, 92, proximity detectors 93, 94, acceleration detector 99, etc. for avoiding collision with the stairs, and on the basis of these signals, a leg and a moving table are inputted. Perform feedback control.

下段移動台１０の脚１〜４は、中段移動台２０の脚５〜８より内側にあり、下段移動台１０の全体が中段移動台２０により包み込まれる形をしている。また、下段移動台１０と中段移動台２０とはガイドレール４５、４６により互いに保持され、ローラ４１〜４４により水平方向にガイドされながら独立して動くことができる。すなわち、中段移動台２０側にはガイドレール４５、４６が取り付けられており、ローラ４１、４３はガイドレール４５と下段移動台１０によって挟み込まれ、また、ローラ４２、４４はガイドレール４６と下段移動台１０によって挟み込まれており、互いに独立して水平移動を可能にしている。   The legs 1 to 4 of the lower stage moving table 10 are located inside the legs 5 to 8 of the middle stage moving table 20, and the entire lower stage moving table 10 is enclosed by the middle stage moving table 20. Further, the lower stage moving table 10 and the middle stage moving table 20 are held by guide rails 45 and 46 and can move independently while being guided in the horizontal direction by the rollers 41 to 44. That is, the guide rails 45 and 46 are attached to the middle stage moving table 20 side, the rollers 41 and 43 are sandwiched between the guide rail 45 and the lower stage moving table 10, and the rollers 42 and 44 are moved to the lower stage with the guide rail 46. It is sandwiched by the base 10 and enables horizontal movement independently of each other.

中段移動台２０と荷台３０との水平移動は、中段移動台２０の上面の両端それぞれに取り付けられたガイドレール５５、５６上を、荷台１０の下面に取り付けられたローラ５１〜５４が移動することにより行われる。このガイドレール５５、５６により、ローラ５１〜５４の脱輪は防止される。   In the horizontal movement between the middle stage moving platform 20 and the loading platform 30, the rollers 51 to 54 attached to the lower surface of the loading platform 10 move on the guide rails 55 and 56 attached to both ends of the upper surface of the middle stage moving platform 20, respectively. Is done. The guide rails 55 and 56 prevent the rollers 51 to 54 from being removed.

図３（ａ）、（ｂ）は下段移動台１０の詳細図である。下段移動台１０にはそれぞれ上下に伸縮可能な４本の脚１〜４が取り付けてある。これらの各脚の最大有効長が使用する階段の蹴上げの３倍以上の長さを有し、テレスコピックな構造となっている。そして、それぞれの脚が、例えば油圧機構を利用した下段脚駆動装置１１１〜１１４により上下方向に伸縮してその有効長の調整を可能にしている。これらの脚は座１５１〜１５４により下段移動台１０にボルトなどで着脱可能に固定されている。   3 (a) and 3 (b) are detailed views of the lower stage moving base 10. FIG. Four legs 1 to 4 that can be vertically expanded and contracted are attached to the lower stage moving table 10. The maximum effective length of each leg has a length more than three times the kicking up of the staircase used, and has a telescopic structure. Each leg is vertically expanded and contracted by lower leg driving devices 111 to 114 using a hydraulic mechanism, for example, so that the effective length can be adjusted. These legs are detachably fixed to the lower stage moving table 10 with bolts or the like by seats 151 to 154.

下段移動台１０の下部には、下段移動台１０と中段移動台２０とを水平方向に相対移動させるための水平方向駆動装置４０が具備されている。ここで、水平方向駆動装置４０は、例えば下段脚駆動装置１１１〜１１４や中段脚駆動装置１１５〜１１８と同様の油圧機構を利用した駆動装置であってもよいし、ボールネジ又はラックとピニオンを用いたサーボ機構、あるいはリニア駆動によるサーボ機構により下段移動台１０と中段移動台２０とを相対移動させるものであってもよい。また、下段移動台１０あるいは脚１〜４には着脱可能な側脚７０、７２が取り付けてある。   At the lower part of the lower stage moving table 10, a horizontal driving device 40 for moving the lower stage moving table 10 and the middle stage moving table 20 in the horizontal direction is provided. Here, the horizontal driving device 40 may be a driving device using a hydraulic mechanism similar to the lower leg driving devices 111 to 114 and the middle leg driving devices 115 to 118, for example, and uses a ball screw or a rack and a pinion. The lower stage moving base 10 and the middle stage moving base 20 may be moved relative to each other by a conventional servo mechanism or a linear drive servo mechanism. Further, detachable side legs 70 and 72 are attached to the lower stage moving base 10 or the legs 1 to 4.

移動方向の前側となる脚１には近接センサ又はリミットスイッチで成る近接検出器９１が、同じく脚２には近接検出器９２が取り付けてある。なお、水平方向駆動装置４０が油圧機構を利用した駆動装置の場合には、下段移動台１０の一部に駆動用油タンクが装備される。それぞれの脚の下端には、底板１６１〜１６４が取り付けてある。さらに、その底板１６１〜１６４の底面に、各脚が接地したか否かを検出するための上述した触覚スイッチなどを用いた接地センサ１７１〜１７４が取り付けてある。   A proximity detector 91 composed of a proximity sensor or a limit switch is attached to the leg 1 on the front side in the moving direction, and a proximity detector 92 is also attached to the leg 2. When the horizontal driving device 40 is a driving device using a hydraulic mechanism, a driving oil tank is provided on a part of the lower stage moving table 10. Bottom plates 161 to 164 are attached to the lower ends of the legs. Further, ground sensors 171 to 174 using the above-described tactile switches for detecting whether or not each leg is grounded are attached to the bottom surfaces of the bottom plates 161 to 164.

図４（ａ）、（ｂ）は、中段移動台２０の詳細図である。この中段移動台２０の横幅（図４（ｂ）において紙面垂直な方向の幅）は水平移動時に脚が走行するため、下段移動台１０の横幅より広くなっている。中段移動台２０には、座１５５〜１５８を介して、それぞれ上下に伸縮可能な４本の脚５〜８がボルトなどにより取り付けてある。これらの脚は下段移動台１０の脚１〜４と同様に最大有効長が使用する階段の蹴上げの３倍以上の長さを有し、かつテレスコピックな構造を有している。そして、それぞれの脚は、例えば油圧機構を利用した中段脚駆動装置１１５〜１１８により上下方向に伸縮して有効長を調整可能にしている。これらの脚は座１５５〜１５７により中段移動台２０にボルトなどで着脱可能に固定されている。さらに、それぞれの脚の下端には底板１６５〜１６８が取り付けてある。さらに、その底板１６５〜１６８の底面に、各脚が接地したか否かを検出するための上述した触覚スイッチなどを用いた接地センサ１７５〜１７８が取り付けてある。   4 (a) and 4 (b) are detailed views of the middle stage moving base 20. FIG. The horizontal width of the middle stage moving table 20 (the width in the direction perpendicular to the paper surface in FIG. 4B) is wider than the horizontal width of the lower stage moving table 10 because the legs travel during horizontal movement. Four legs 5 to 8 that can be expanded and contracted vertically are attached to the middle stage moving table 20 with bolts or the like via seats 155 to 158. Similar to the legs 1 to 4 of the lower stage moving base 10, these legs have a length that is more than three times the rise of the staircase used by the maximum effective length, and have a telescopic structure. Each leg can be adjusted in the effective length by expanding and contracting in the vertical direction by middle leg driving devices 115 to 118 using a hydraulic mechanism, for example. These legs are detachably fixed to the intermediate stage moving base 20 with bolts or the like by seats 155 to 157. Further, bottom plates 165 to 168 are attached to the lower ends of the respective legs. Further, ground sensors 175 to 178 using the above-described tactile switches for detecting whether or not each leg is grounded are attached to the bottom surfaces of the bottom plates 165 to 168.

中段移動台２０には、中段移動台２０と荷台３０とを水平方向に相対移動させるための水平方向駆動装置５０が取り付けてある。水平方向駆動装置５０は前述の下段移動台１０と中段移動台２０とを相対移動させるための水平方向駆動装置４０と同様に、油圧機構を利用した駆動装置であってもよいし、ボールネジあるいはラックとピニオンを用いたサーボ機構、あるいはリニア駆動によるサーボ機構により中段移動台２０と荷台３０とを相対移動させるものであってもよい。また、この水平方向駆動装置５０が油圧機構を利用した駆動装置の場合には、中段移動台２０の一部に駆動用油タンクが装備される。   A horizontal driving device 50 for moving the middle moving table 20 and the loading platform 30 in the horizontal direction is attached to the middle moving table 20. The horizontal driving device 50 may be a driving device using a hydraulic mechanism, a ball screw or a rack, like the horizontal driving device 40 for relatively moving the lower moving table 10 and the middle moving table 20 described above. The intermediate stage 20 and the platform 30 may be moved relative to each other by a servo mechanism using a pinion or a servo mechanism using linear drive. Further, when the horizontal driving device 50 is a driving device using a hydraulic mechanism, a driving oil tank is provided on a part of the intermediate stage moving base 20.

移動方向の前側となる脚５には階段の蹴上げに近接したことを検出する近接センサ又はそれに対して接触したことを検出するリミットスイッチのような近接検出器９３が取り付けてあり、同じく脚６には近接検出器９４が取り付けてある。さらに、移動方向の後部となる位置に補助脚６０を設けて安定性を増している。この補助脚６０は必要に応じて設けるものである。なお、７４、７６は中段移動台用側脚であり、平地走行において使用するものである。   A proximity sensor 93 such as a proximity sensor for detecting the proximity to the kicking of the stairs or a limit switch for detecting the contact with the proximity sensor 93 is attached to the leg 5 on the front side in the moving direction. A proximity detector 94 is attached. Further, the auxiliary leg 60 is provided at a position that is the rear part in the moving direction to increase the stability. The auxiliary leg 60 is provided as necessary. In addition, 74 and 76 are side legs for the middle stage moving platform, and are used for traveling on flat ground.

図５は下段移動台１０の別の構成を示している。この下段移動台１０では、階段の踏み面にあわせて、脚１、３間、脚２、４間の距離を調整することを目的として、脚１と脚２を固定し、脚３並びに脚４をそれぞれガイドレール１２０、１２２に沿ってスライドできるよう取り付けると共に、駆動装置１２１、１２３により脚間の距離を調整可能としたものである。ここで、駆動装置１２１、１２３は油圧シリンダ、油圧ジャッキなどによる油圧装置、あるいはボールネジあるいはラックとピニオンを用いたサーボ機構、あるいはリニア駆動によるサーボ機構を用いる。なお、脚間距離は使用する階段の踏み面の幅より大きく、かつ過剰に大きくしないために踏み面の２倍以内の寸法となるよう設定される。   FIG. 5 shows another configuration of the lower stage moving table 10. In this lower stage moving base 10, the legs 1 and 2 are fixed to adjust the distance between the legs 1 and 3 and between the legs 2 and 4 according to the tread surface of the stairs, and the legs 3 and 4 are fixed. Are slidable along the guide rails 120 and 122, respectively, and the distance between the legs can be adjusted by the driving devices 121 and 123. Here, the driving devices 121 and 123 use a hydraulic device such as a hydraulic cylinder or a hydraulic jack, a servo mechanism using a ball screw or a rack and a pinion, or a servo mechanism using a linear drive. Note that the distance between the legs is set to be larger than the width of the tread surface of the stairs to be used and not more than twice the size of the tread surface so as not to be excessively large.

図６は、中段移動台２０の別の構成を示している。この中段移動台２０では、階段の踏み面にあわせて、脚５、７間、脚６、８間の距離を調整することを目的として、脚５と脚６を固定し、脚７並びに脚８をそれぞれガイドレール１３０、１３２に沿ってスライドできるよう取り付けると共に、駆動装置１３１、１３３により脚間の距離を調整可能としたものである。ここで、駆動装置は油圧シリンダ、油圧ジャッキなどによる油圧装置、あるいはボールネジあるいはラックとピニオンを用いたサーボ機構、あるいはリニア駆動によるサーボ機構を用いる。脚間距離は下段移動台の脚間寸法とほぼ同じとなるよう使用する階段の踏み面の幅より大きく、かつ過剰に大きくしないために２倍以内の寸法となるよう調整される。   FIG. 6 shows another configuration of the middle stage mobile stand 20. In this intermediate stage moving table 20, the legs 5 and 6 are fixed to adjust the distance between the legs 5 and 7 and between the legs 6 and 8 in accordance with the tread surface of the stairs, and the legs 7 and 8 are fixed. Are slidable along the guide rails 130 and 132, respectively, and the distance between the legs can be adjusted by the driving devices 131 and 133. Here, a hydraulic device such as a hydraulic cylinder or a hydraulic jack, a servo mechanism using a ball screw or a rack and a pinion, or a servo mechanism using a linear drive is used as the driving device. The distance between the legs is larger than the width of the tread surface of the staircase used so as to be approximately the same as the dimension between the legs of the lower stage moving table, and is adjusted to be twice or less in order not to be excessively large.

制御装置１００による階段揚重動作の制御機構は、図１６に示す構成である。すなわち、制御装置１００は、水平方向駆動装置４０、５０の動作位置により下段移動台１０、中段移動台２０、荷台３０それぞれの位置を検出する移動台位置検出器３００、荷台３０の水平度を検出する荷台水平度検出器８０、各脚１〜８それぞれの駆動装置１１１〜１１８の駆動位置より有効長を検出する脚伸縮長検出器８１〜８８、各脚１〜８が地面に接地したか否かを検出する接地センサ１７１〜１７８、下段移動台１０の脚１、２、また中段移動台２０の脚５、６が階段の蹴上げ面へ近接したことを検出する近接検出器９１〜９４、加速度を検出する加速度検出器９９それぞれからの信号を入力して所定の演算制御を実行し、重量物Ｗの階段揚重動作の自動制御を行う。制御装置１００により制御される要素群は、下段移動台１０の脚１〜４それぞれを伸縮動作させる下段脚駆動装置１１１〜１１４、中段移動台２０の脚５〜８それぞれを伸縮動作させる中段脚駆動装置１１５〜１１８、下段移動台１０と中段移動台２０を独立に水平駆動する水平方向駆動装置４０、中段移動台２０と荷台３０を独立に水平駆動する水平方向駆動装置５０である。   The control mechanism of the stair lifting operation by the control device 100 has the configuration shown in FIG. That is, the control device 100 detects the level of the moving platform position detector 300 and the loading platform 30 for detecting the positions of the lower moving platform 10, the middle moving platform 20, and the loading platform 30 based on the operating positions of the horizontal driving devices 40 and 50. The platform horizontality detector 80, the leg expansion / contraction length detectors 81-88 for detecting the effective length from the driving positions of the driving devices 111-118 of the respective legs 1-8, and whether each of the legs 1-8 touches the ground. Grounding sensors 171 to 178 for detecting the above, proximity detectors 91 to 94 for detecting that the legs 1 and 2 of the lower stage moving base 10 and the legs 5 and 6 of the middle stage moving base 20 are close to the kicking surface of the stairs, acceleration A signal from each of the acceleration detectors 99 for detecting the input is executed to execute predetermined arithmetic control, and the stair lifting operation of the heavy object W is automatically controlled. The element group controlled by the control device 100 includes lower-stage leg driving devices 111 to 114 for extending and retracting the legs 1 to 4 of the lower stage moving base 10 and middle-stage leg driving for extending and retracting the legs 5 to 8 of the intermediate stage moving base 20, respectively. These are the devices 115 to 118, the horizontal driving device 40 that horizontally drives the lower moving table 10 and the middle moving table 20 independently, and the horizontal driving device 50 that horizontally drives the middle moving table 20 and the loading platform 30 independently.

本実施形態の階段揚重装置では、以上のように制御装置１００によって重量物Ｗの階段揚重動作の自動制御を行っているが、その制御方式としては、例えば、ＰＬＣ（Programable Logic Controller）によるシーケンス制御が採用される。そして、このＰＬＣによるシーケンス制御により階段揚重動作の自動制御を行うにあたり、脚１〜８の伸縮動作の繰り返しや階段踏み面の凹凸などによって装置本体が水平を失って、重量物Ｗの適切な階段揚重動作が阻害される不都合を防止するために、装置本体の水平、つまり重量物Ｗが載置される荷台３０の水平を維持するための水平制御システムを導入している。   In the stair lifting device of the present embodiment, the control device 100 automatically controls the stair lifting operation of the heavy object W as described above. As a control method thereof, for example, a PLC (Programmable Logic Controller) is used. Sequence control is adopted. And when performing the automatic control of the stair lifting operation by the sequence control by the PLC, the apparatus main body loses the level due to the repetition of the expansion and contraction operations of the legs 1 to 8 and the unevenness of the stair tread surface. In order to prevent the inconvenience that the stair lifting operation is hindered, a horizontal control system is introduced to maintain the level of the apparatus main body, that is, the level of the loading platform 30 on which the heavy load W is placed.

水平制御システムは、下段脚駆動装置１１１〜１１４や中段脚駆動装置１１５〜１１８として、上述したようにインバータ回路と駆動モータとを用いて負荷の変動に対してモータ速度を一定に保つ機能を備えたインバータユニットで構成することによって、負荷が定格トルク内であれば、例えば図１７に示すように、水平からの偏差を最小にするフィードバック制御のみによって実現可能である。荷台３０の水平度検出には、上述したように、荷台水平度検出器８０として少なくとも２箇所に設置された複数のセンサを用いることにより、荷台３０のピッチ角とロール角の双方を検出可能としている。また、装置本体の転倒を確実に防止できるようするため、下段移動台１０の各脚１〜４及び中段移動台２０の各脚５〜８の下端に接地センサ１７１〜１７８を取り付け、下段移動台１０の脚１〜４の全て、或いは中段移動台２０の脚５〜８の全てが地面に接地しているか否かを判別できるようにしている。水平制御システムでは、以上のような脚接地判別信号と水平度検出信号（荷台３０のピッチ角、ロール角）とを制御装置（ＰＬＣ）１００に入力し、脚動作信号をインバータへ出力する。   The horizontal control system has a function of keeping the motor speed constant with respect to load fluctuations using the inverter circuit and the drive motor as described above, as the lower leg drive devices 111 to 114 and the middle leg drive devices 115 to 118. If the load is within the rated torque, it can be realized only by feedback control that minimizes the deviation from the horizontal, for example, as shown in FIG. As described above, the platform 30 can detect both the pitch angle and the roll angle of the platform 30 by using a plurality of sensors installed in at least two locations as the platform level detector 80 as described above. Yes. Further, in order to reliably prevent the apparatus body from overturning, the ground sensors 171 to 178 are attached to the lower ends of the legs 1 to 4 of the lower stage moving base 10 and the legs 5 to 8 of the middle stage moving base 20, respectively. It is possible to determine whether all of the 10 legs 1 to 4 or all of the legs 5 to 8 of the intermediate stage 20 are in contact with the ground. In the horizontal control system, the above-described leg contact determination signal and the level detection signal (pitch angle and roll angle of the loading platform 30) are input to the control device (PLC) 100, and the leg operation signal is output to the inverter.

すなわち、本実施形態の階段揚重装置では、制御装置１００が、荷台３０のピッチ角とロール角とを検知する荷台水平度検出器８０の検知信号に基づいて、荷台３０の水平バランスを維持しながら装置本体が垂直方向に移動又は固定されるように、下段脚駆動装置１１１〜１１４の動作や中段脚駆動装置１１５〜１１８の動作を制御しており、接地センサ１７１〜１７８の検出結果から装置本体の転倒が懸念される場合には、下段脚駆動装置１１１〜１１４の動作や中段脚駆動装置１１５〜１１８の動作を制限し、下段移動台１０の全ての脚１〜４、或いは中段移動台２０の全ての脚５〜８が接地している状態で、下段脚駆動装置１１１〜１１４の目標駆動力や中段脚駆動装置１１５〜１１８の目標駆動力を算出するようにしている。   That is, in the stair lifting device of the present embodiment, the control device 100 maintains the horizontal balance of the loading platform 30 based on the detection signal of the loading platform levelness detector 80 that detects the pitch angle and roll angle of the loading platform 30. However, the operation of the lower leg driving devices 111 to 114 and the operation of the middle leg driving devices 115 to 118 are controlled so that the apparatus main body is moved or fixed in the vertical direction, and the apparatus is determined from the detection results of the ground sensors 171 to 178. When there is a concern about the body falling, the operation of the lower leg driving devices 111 to 114 and the operation of the middle leg driving devices 115 to 118 are restricted, and all the legs 1 to 4 of the lower stage moving table 10 or the middle stage moving table are limited. The target driving force of the lower leg driving devices 111 to 114 and the target driving force of the middle leg driving devices 115 to 118 are calculated in a state where all the legs 5 to 8 are grounded.

以下、上記制御装置１００により重量物Ｗを、階段を利用して持ち上げる場合の揚重動作制御について、図７〜図１５を参照しながら説明する。   Hereinafter, the lifting operation control in the case where the control device 100 lifts the heavy object W by using the stairs will be described with reference to FIGS.

（ステップ１）
図７（ａ）、（ｂ）において、装置本体は、初めに下段移動台１０に取り付けられた脚１〜４によって水平に保たれる。また、必要に応じて中段移動台２０に取り付けられた脚５〜８を補助的に使用し水平に安定して固定される。この装置本体の水平保持、つまり重量物Ｗが載置される荷台３０の水平保持は、水平度検出器８０からの出力をもとに制御装置１００により指令が出され、各脚１〜４、脚５〜８の下端から各移動台の底面までの有効長の調整へフィードバックされる。 (Step 1)
7 (a) and 7 (b), the apparatus main body is kept horizontal by the legs 1 to 4 attached to the lower stage moving base 10 at first. In addition, the legs 5 to 8 attached to the intermediate stage 20 are supplementarily used as necessary and are stably fixed horizontally. The horizontal holding of the apparatus main body, that is, the horizontal holding of the loading platform 30 on which the heavy object W is placed, is instructed by the control device 100 based on the output from the levelness detector 80, and each leg 1-4, Feedback is made to the adjustment of the effective length from the lower end of the legs 5 to 8 to the bottom surface of each moving table.

下段移動台１０、中段移動台２０、荷台３０は、下段移動台１０と中段移動台２０との間に取り付けられた水平方向駆動装置４０、並びに中段移動台２０と荷台３０との間に取り付けられた水平方向駆動装置５０により、ほぼ同一の荷台中心線上に固定される。すなわち、この状態で重量物Ｗは重心の位置が荷台３０あるいは下段移動台１０のほぼ中央になるよう積載される。   The lower stage moving platform 10, the middle stage moving platform 20, and the loading platform 30 are mounted between the lower stage moving platform 10 and the middle stage moving platform 20 and the horizontal direction driving device 40, and the middle stage moving platform 20 and the loading platform 30. The horizontal direction driving device 50 fixes the center of the same carrier bed. That is, in this state, the heavy article W is loaded so that the position of the center of gravity is approximately the center of the loading platform 30 or the lower stage moving platform 10.

（ステップ２）
続いて、図８（ａ）、（ｂ）に示すように、下段移動台１０の脚１〜４により水平度を保ち、重量物Ｗを支えながら、中段移動台２０の脚５〜８を、中段脚駆動装置１１５〜１１８の駆動によって縮める。この時、水平移動方向の前側の脚５、６についてはその下端が階段の蹴上げの高さよりも少し高くなるまで縮め、後側の脚７、８については水平移動で床面や踏み面と干渉しなくなる分だけ縮める。 (Step 2)
Subsequently, as shown in FIGS. 8A and 8B, the legs 1 to 4 of the lower stage moving table 10 are kept level by the legs 1 to 4, and the weights W are supported while the legs 5 to 8 of the middle stage moving table 20 are supported. It shrinks by driving the middle leg driving devices 115 to 118. At this time, the front legs 5 and 6 in the horizontal movement direction are shrunk until the lower ends thereof are slightly higher than the height of the stairs, and the rear legs 7 and 8 are horizontally moved to interfere with the floor and the tread. Shrink as much as you can.

（ステップ３）
続いて、図９（ａ）、（ｂ）に示すように、中段移動台２０を階段方向に水平移動させる。この時、荷台３０は、下段移動台１０と中段移動台２０間に取り付けられた水平方向駆動装置４０並びに中段移動台２０と荷台３０間に取り付けられた水平方向駆動装置５０とを同時に逆方向に駆動することにより、重量物Ｗは重心の位置を変えることなくほぼその位置にとどまらせておく。すなわち、下段移動台１０と中段移動台２０は、ガイドレール４５、４６並びにローラ４１〜４４によって、また、中段移動台２０と荷台３０は、ローラ５１〜５４並びにガイド５５、５６により、互いに逆方向への水平移動を行う。 (Step 3)
Subsequently, as shown in FIGS. 9A and 9B, the middle stage moving base 20 is horizontally moved in the staircase direction. At this time, the loading platform 30 simultaneously reverses the horizontal driving device 40 attached between the lower moving platform 10 and the middle moving platform 20 and the horizontal driving device 50 installed between the middle moving platform 20 and the loading platform 30. By driving, the heavy object W is kept at almost that position without changing the position of the center of gravity. That is, the lower stage moving base 10 and the middle stage moving base 20 are opposite to each other by the guide rails 45 and 46 and the rollers 41 to 44, and the middle stage moving base 20 and the loading stage 30 are opposite to each other by the rollers 51 to 54 and the guides 55 and 56. Move horizontally to.

同時に、水平度検出器８０、脚伸縮長検出器８１〜８８、接地センサ１７１〜１７８、移動台位置検出器３００、近接検出器９１〜９４からの信号を基に制御装置１００で、水平移動距離の設定並びに装置本体の水平バランスを保つように下段移動台１０の脚１〜４に対する制御を行う。これにより、中段移動台２０は安定を保ちながら水平移動する。なお、本実施の形態では、いずれの制御工程においても、加速度検出器９９からの信号により過大な加速度が働いた場合には直ちに動作を停止させる。   At the same time, the horizontal movement distance is controlled by the control device 100 based on the signals from the horizontality detector 80, the leg expansion / contraction length detectors 81 to 88, the ground sensors 171 to 178, the moving base position detector 300, and the proximity detectors 91 to 94. And controls the legs 1 to 4 of the lower stage moving base 10 so as to maintain the horizontal balance of the apparatus main body. Thereby, the middle stage moving base 20 moves horizontally while maintaining stability. In the present embodiment, in any control process, if an excessive acceleration is applied by a signal from the acceleration detector 99, the operation is immediately stopped.

（ステップ４）
中段移動台２０が所定位置に水平移動したなら、図１０（ａ）、（ｂ）に示すように、中段脚駆動装置１１５〜１１８により中段移動台２０の脚５〜８を降下させて有効長を伸ばし、中段移動台２０を水平に固定する。 (Step 4)
When the intermediate stage 20 is moved horizontally to a predetermined position, as shown in FIGS. 10A and 10B, the legs 5 to 8 of the intermediate stage 20 are lowered by the intermediate leg driving devices 115 to 118, and the effective length is lowered. And the middle stage 20 is fixed horizontally.

（ステップ５）
続いて、図１１（ａ）、（ｂ）に示すように、中段移動台２０との間に取り付けられた水平方向駆動装置５０により、荷台３０を階段の踏み面の長さにあわせて水平移動させる。この際、水平度検出器８０、脚伸縮長検出器８１〜８８、接地センサ１７１〜１７８、移動台位置検出器３００、近接検出器９１〜９４からの信号を基に制御装置１００で、荷台３０の水平移動距離の設定並びに装置本体の水平バランスを保つように全ての脚１〜４、５〜８に対する制御を行う。荷台３０の水平移動が完了したなら、荷台３０の水平度を確認しながら、必要に応じて全脚又は脚５〜８のみの伸縮操作により荷台３０を含む装置本体の全体を持ち上げる。なお、この操作時の安定性を保つために、補助手段として補助脚６０を用いることもある。 (Step 5)
Subsequently, as shown in FIGS. 11A and 11B, the loading platform 30 is horizontally moved in accordance with the length of the tread surface of the stairs by the horizontal driving device 50 attached to the middle stage moving platform 20. Let At this time, the leveling detector 80, leg expansion / contraction length detectors 81 to 88, grounding sensors 171 to 178, moving table position detector 300, and proximity detectors 91 to 94 are used as a control device 100 based on signals from the loading platform 30. The horizontal movement distance is set and the legs 1 to 4 and 5 to 8 are controlled so as to maintain the horizontal balance of the apparatus main body. When the horizontal movement of the loading platform 30 is completed, the entire apparatus main body including the loading platform 30 is lifted up by extending or contracting all the legs or only the legs 5 to 8 as necessary while checking the level of the loading platform 30. In addition, in order to maintain the stability at the time of this operation, the auxiliary leg 60 may be used as an auxiliary means.

（ステップ６）
続いて、図１２（ａ）、（ｂ）に示すように、中段移動台２０の脚５〜８で荷台３０を水平に支えながら、下段脚駆動装置１１１〜１１４により下段移動台１０の脚１〜４を縮める。 (Step 6)
Subsequently, as shown in FIGS. 12A and 12B, the leg 1 of the lower stage moving table 10 is supported by the lower stage leg driving devices 111 to 114 while the cargo bed 30 is horizontally supported by the legs 5 to 8 of the middle stage moving stage 20. Shrink ~ 4.

（ステップ７）
引き続き、図１３（ａ）、（ｂ）に示すように、下段移動台１０と中段移動台２０との間に取り付けられた水平方向駆動装置４０により、下段移動台１０を階段方向に踏み面の長さだけ水平移動させる。 (Step 7)
Subsequently, as shown in FIGS. 13A and 13B, the lower stage moving table 10 is moved in the step direction by the horizontal driving device 40 attached between the lower stage moving table 10 and the middle stage moving table 20. Move horizontally by the length.

（ステップ８）
そして、下段移動台１０の水平移動が完了したなら、図１４（ａ）、（ｂ）に示すように、水平度を確認しながら、下段脚駆動装置１１１〜１１４により下段移動台１０の脚１〜４を伸ばす。 (Step 8)
Then, when the horizontal movement of the lower stage moving base 10 is completed, as shown in FIGS. 14A and 14B, the leg 1 of the lower stage moving base 10 is checked by the lower stage leg driving devices 111 to 114 while checking the level. Extend ~ 4.

これにより、階段１段分の揚重動作が完了する。続いて、図１５に示す状態からステップ１以降の揚重動作を再開し、上述したステップ１〜８の揚重動作を繰り返すことによって重量物Ｗを階段１段ずつ揚重する。なお、階段を下りる時は、上記と逆の動作を行う。   Thereby, the lifting operation for one step of the stairs is completed. Subsequently, the lifting operation after step 1 is restarted from the state shown in FIG. 15, and the heavy object W is lifted step by step by repeating the lifting operations of steps 1 to 8 described above. When going down the stairs, the reverse operation is performed.

これらの一連の動作においては、前述したように水平度検出器８０、脚伸縮長検出器８１〜８８、接地センサ１７１〜１７８、移動台位置検出器３００、近接検出器９１〜９４からの信号を基に制御装置１００で、装置本体の水平バランスを保つよう全ての脚１〜４、５〜８に対する制御を行う。   In a series of these operations, as described above, the signals from the levelness detector 80, the leg expansion / contraction length detectors 81 to 88, the ground sensors 171 to 178, the moving base position detector 300, and the proximity detectors 91 to 94 are used. Based on this, the control apparatus 100 controls all the legs 1 to 4 and 5 to 8 so as to maintain the horizontal balance of the apparatus main body.

ここで、本実施形態の階段揚重装置において、装置本体の水平バランスを保つための制御装置１００による制御アルゴリズムの詳細について、具体例を挙げながら説明する。   Here, in the stair lifting device of the present embodiment, details of the control algorithm by the control device 100 for maintaining the horizontal balance of the device body will be described with a specific example.

図１８は、制御装置１００の制御対象のモデル図であり、荷台３０上に重量物Ｗが載置された装置本体（ここでは、簡略化のために直方体モデルとしている）と、装置本体を支える下段移動台１０の脚１〜４或いは中段移動台２０の脚５〜８、脚１〜４を駆動する下段脚駆動装置１１１〜１１４或いは脚５〜８を駆動する中段脚駆動装置１１５〜１１８に相当する制御モデルを表している。なお、この制御モデルを用いた以下の説明では、制御対象となる下段移動台１０の脚１〜４或いは中段移動台２０の脚５〜８を単に「脚」と表記し、脚１〜４を駆動する下段脚駆動装置１１１〜１１４或いは脚５〜８を駆動する中段脚駆動装置１１５〜１１８を「アクチュエータ」と表記する。制御装置１００は、階段揚重装置の装置本体に相当する直方体モデルのピッチ角とロール角がゼロとなるように、アクチュエータへの入力を行うことで、装置本体の水平バランスを保つための水平制御を行う。つまり、制御装置１００は、重量物Ｗが載置される荷台３０のピッチ角とロール角とがゼロとなるように、下段移動台１０の各脚１〜４に対する下段脚駆動装置１１１〜１１４の目標駆動力と、中段移動台２０の各脚５〜８に対する中段脚駆動装置１１５〜１１８の目標駆動力とを算出し、これら目標駆動力を各駆動装置１１１〜１１８のインバータユニットに入力している。   FIG. 18 is a model diagram of an object to be controlled by the control device 100, and supports an apparatus main body in which a heavy object W is placed on the loading platform 30 (here, a rectangular parallelepiped model for simplification) and the apparatus main body. Legs 1 to 4 of the lower stage moving base 10 or legs 5 to 8 of the intermediate stage moving base 20, lower stage leg driving devices 111 to 114 that drive the legs 1 to 4, or middle stage leg driving devices 115 to 118 that drive the legs 5 to 8 The corresponding control model is represented. In the following description using this control model, the legs 1 to 4 of the lower stage moving base 10 or the legs 5 to 8 of the middle stage moving base 20 to be controlled are simply referred to as “legs”, and the legs 1 to 4 are indicated. The lower leg driving devices 111 to 114 or the middle leg driving devices 115 to 118 that drive the legs 5 to 8 are referred to as “actuators”. The control device 100 performs horizontal control for maintaining the horizontal balance of the device main body by performing input to the actuator so that the pitch angle and the roll angle of the rectangular parallelepiped model corresponding to the device main body of the stair lifting device are zero. I do. That is, the control device 100 controls the lower leg driving devices 111 to 114 with respect to the legs 1 to 4 of the lower stage 10 so that the pitch angle and the roll angle of the loading platform 30 on which the heavy object W is placed are zero. The target driving force and the target driving force of the middle leg driving devices 115 to 118 for the legs 5 to 8 of the middle stage moving base 20 are calculated, and these target driving forces are input to the inverter units of the driving devices 111 to 118. Yes.

図１８の制御モデルに対する慣性能率は、下記式（１）、（２）のように、ピッチ方向とロール方向とに分解して考えることができる。

Figure 0004818039
Figure 0004818039
 The inertia performance ratio with respect to the control model of FIG. 18 can be considered by being decomposed into the pitch direction and the roll direction as in the following formulas (1) and (2).
Figure 0004818039
Figure 0004818039

ここで、ｍ（ｋｇ）は質量、ａ，ｂ，ｃはそれぞれ直方体モデルの寸法である。   Here, m (kg) is the mass, and a, b, and c are the dimensions of the rectangular parallelepiped model.

これらに対する運動方程式は、ピッチ方向とロール方向に働く脚の力をそれぞれｕｐ，ｕｒとすると、下記式（３）、（４）の関係が成り立つ。

Figure 0004818039
Figure 0004818039
 Equations of motion for these are the forces of the leg acting on the pitch direction and the roll direction, respectively u p, When u r, the following equation (3), holds the relationship (4).
Figure 0004818039
Figure 0004818039

ここで、ｘｐ，ｘｒは、ピッチ方向、ロール方向それぞれの位置（変位）である。 Here, x p and x r are positions (displacements) in the pitch direction and the roll direction, respectively.

各脚のアクチュエータの力ｕｉ，ｉ＝１，Λ，４とｕｐ，ｕｒとの関係は、下記式（５）、（６）のように計算される。

Figure 0004818039
Figure 0004818039
 Force u i of the actuator of each leg, i = 1, lambda, 4 and u p, relationship between u r represented by the following formula (5), is calculated as (6).
Figure 0004818039
Figure 0004818039

これに、２つの関係式を追加する。すなわち、脚の変位はバランスしながら移動するので、下記式（７）、（８）が成り立つ。

Figure 0004818039
Figure 0004818039
 Two relational expressions are added to this. That is, since the displacement of the leg moves while balancing, the following formulas (7) and (8) hold.
Figure 0004818039
Figure 0004818039

以上の関係から、ピッチ方向とロール方向の力と各脚のアクチュエータの力との関係は、下記式（９）のマトリックスで関係付けられる。

Figure 0004818039
From the above relationship, the relationship between the force in the pitch direction and the roll direction and the force of the actuator of each leg is related by the matrix of the following equation (9).
Figure 0004818039

これにより、各脚のアクチュエータの入力は、下記式（１０）〜（１３）となる。

Figure 0004818039
Figure 0004818039
Figure 0004818039
Figure 0004818039
 Thereby, the input of the actuator of each leg becomes following formula (10)-(13).
Figure 0004818039
Figure 0004818039
Figure 0004818039
Figure 0004818039

また、各脚のアクチュエータ（下段脚駆動装置１１１〜１１４、中段脚駆動装置１１５〜１１８）としてインバータユニットを用いた場合、各インバータへのトルク指令は、駆動モータ一回転あたりの脚のピッチ長をｄｒ、各インバータへのトルク指令をτｉ，ｉ＝１，Λ，４とすれば、下記式（１４）で与えられる。

Figure 0004818039
In addition, when an inverter unit is used as the actuator for each leg (lower leg driving devices 111 to 114, middle leg driving devices 115 to 118), the torque command to each inverter is the pitch length of the leg per rotation of the drive motor. d r, τ i, i = 1 a torque command to each inverter, lambda, if 4, given by the following equation (14).
Figure 0004818039

なお、制御装置１００がＰＤ制御を行うものとすれば、ｕｐとｕｒは下記式（１５）、（１６）を用いて決定することができる。

Figure 0004818039
Figure 0004818039
 Incidentally, if one control unit 100 performs a PD control, the u p and u r following formula (15) can be determined using (16).
Figure 0004818039
Figure 0004818039

ここで、各式の第二項はいわゆる数値微分であり、ｘｐとｘｒは、荷台水平度検出器８０からの出力をＡ／Ｄ変換したものである。 Here, the second term of each equation is a so-called numerical differentiation, and xp and xr are obtained by A / D converting the output from the loading platform levelness detector 80.

以上の結果から、装置本体の水平バランスを保つための、制御装置１００による制御アルゴリズムは、例えば図１８に示すようなものとなる。   From the above results, the control algorithm by the control apparatus 100 for maintaining the horizontal balance of the apparatus main body is as shown in FIG. 18, for example.

さらに、制御装置１００が非線形特性や外乱に対してロバストな制御を行えるようにスライディングモード制御を行う場合には、下記式（１７）〜（２４）の関係を用いる。すなわち、

Figure 0004818039
Figure 0004818039
 とおいて、
Figure 0004818039
Figure 0004818039
 となるように設計する。結果は、
Figure 0004818039
Figure 0004818039
 より、
Figure 0004818039
Figure 0004818039
 となる。 Furthermore, when performing the sliding mode control so that the control device 100 can perform robust control with respect to nonlinear characteristics and disturbance, the relationships of the following equations (17) to (24) are used. That is,
Figure 0004818039
Figure 0004818039
 Anyway,
Figure 0004818039
Figure 0004818039
 Design to be Result is,
Figure 0004818039
Figure 0004818039
 Than,
Figure 0004818039
Figure 0004818039
 It becomes.

以上、具体的な例を挙げながら詳細に説明したように、本実施形態の階段揚重装置によれば、制御装置１００が上述した制御アルゴリズムに従って、下段移動台１０の脚１〜４を駆動する下段脚駆動装置１１１〜１１４や、中段移動台２０の脚５〜８を駆動する中段脚駆動装置１１５〜１１８の動作を制御することにより、装置本体の水平バランス、つまり重量物Ｗが載置された荷台３０の水平バランスを維持しながら重量物Ｗの階段揚重を行うことができる。したがって、この階段揚重装置によれば、エレベータ機械室の機器の搬入搬出や階段における荷物搬送において、コンパクトにかつ水平度を保ちながら重量物の移動が可能であり、これによって、段差のある作業場所で短時間に安定した状態を維持しながら効率良く重量物を移動することができる。   As described above in detail with specific examples, according to the stair lifting device of the present embodiment, the control device 100 drives the legs 1 to 4 of the lower stage mobile platform 10 according to the control algorithm described above. By controlling the operation of the lower leg driving devices 111 to 114 and the middle leg driving devices 115 to 118 for driving the legs 5 to 8 of the middle stage moving base 20, the horizontal balance of the apparatus body, that is, the heavy object W is placed. The stair lifting of the heavy load W can be performed while maintaining the horizontal balance of the cargo bed 30. Therefore, according to this stair lifting device, it is possible to move heavy objects in a compact and level manner in carrying in / out of equipment in the elevator machine room and transporting luggage on the staircase, which makes it possible to work with steps. A heavy object can be efficiently moved while maintaining a stable state in a short time at a place.

なお、上述した制御アルゴリズムでは、荷台３０のロール角とピッチ角とがゼロとなるように、下段移動台１０の各脚１〜４に対する下段脚駆動装置１１１〜１１４の目標駆動力と、中段移動台２０の各脚５〜８に対する中段脚駆動装置１１５〜１１８の目標駆動力とを算出することを前提としているが、制御装置１００は、荷台３０のピッチ角とロール角とを完全にゼロにするのではなく、荷台３０のピッチ角とロール角とがゼロ付近の所定の許容範囲内に収まるように、下段移動台１０の各脚１〜４に対する下段脚駆動装置１１１〜１１４の目標駆動力と、中段移動台２０の各脚５〜８に対する中段脚駆動装置１１５〜１１８の目標駆動力とを算出するようにしてもよい。制御装置１００が荷台３０のピッチ角とロール角とを完全にゼロにするように各駆動装置１１１〜１１８の目標駆動力を算出してフィードバック制御を行うようにした場合には、各脚１〜８の応答遅れなどに起因して制御が振動的となり、荷台３０の水平制御を安定的に行えなくなることも懸念されるが、荷台３０のピッチ角とロール角とがゼロ付近の所定の許容範囲内に収まるように各駆動装置１１１〜１１８の目標駆動力を算出してフィードバック制御を行うようにすれば、このような問題も解消する。   In the control algorithm described above, the target driving force of the lower-stage leg driving devices 111 to 114 with respect to the legs 1 to 4 of the lower-stage moving table 10 and the middle-stage movement so that the roll angle and the pitch angle of the loading platform 30 are zero. Although it is assumed that the target driving force of the middle leg driving devices 115 to 118 for the legs 5 to 8 of the platform 20 is calculated, the control device 100 makes the pitch angle and the roll angle of the loading platform 30 completely zero. Instead, the target driving force of the lower leg driving devices 111 to 114 with respect to the respective legs 1 to 4 of the lower stage moving table 10 is set so that the pitch angle and the roll angle of the loading platform 30 are within a predetermined allowable range near zero. In addition, the target driving force of the middle leg driving devices 115 to 118 for each leg 5 to 8 of the middle stage 20 may be calculated. When the control device 100 performs the feedback control by calculating the target driving force of each of the driving devices 111 to 118 so that the pitch angle and the roll angle of the loading platform 30 are completely zero, Although there is a concern that the control becomes oscillating due to the response delay of 8 and the horizontal control of the loading platform 30 cannot be stably performed, a predetermined allowable range in which the pitch angle and the roll angle of the loading platform 30 are near zero. If the target driving force of each of the driving devices 111 to 118 is calculated so as to fall within the range and the feedback control is performed, such a problem is solved.

なお、以上の階段揚重装置は本発明を適用した一例であり、様々な変形が可能である。例えば、図１９に示すように、水平方向の駆動装置４０、５０や、下段及び上段の脚駆動装置１１１〜１１８それぞれに対してストッパー３１０〜３２０を設け、移動距離が限界値を超えないように配慮し、さらに、これらのストッパー３１０〜３２０への接触を検出して制御装置１００が該当駆動装置を停止させるようにすることで、機械を保護することができる。また、ストッパーに代えて、あるいはストッパーと共にリミットスイッチ３２１〜３３１を設け、リミットスイッチに接触することで移動限界に近いことを検出し、警報器３３２により警報を出力させるようにすることもできる。   The above-described stair lifting device is an example to which the present invention is applied, and various modifications can be made. For example, as shown in FIG. 19, stoppers 310 to 320 are provided for the horizontal driving devices 40 and 50 and the lower and upper leg driving devices 111 to 118 so that the moving distance does not exceed the limit value. In consideration, the machine can be protected by detecting contact with the stoppers 310 to 320 and causing the control device 100 to stop the corresponding driving device. In addition, limit switches 321 to 331 may be provided instead of the stopper or together with the stopper, and it is possible to detect that the movement limit is approached by contacting the limit switch and to output an alarm by the alarm device 332.

なお、本装置は重量物の階段移動を目的とするため、荷物の重心は低いほうが良い。そこで上記実施の形態のように、水平方向駆動装置４０並びに水平方向駆動装置５０を下段移動台１０又は中段移動台２０の内部に取り付けることにより、高さ方向の寸法を短くすることができ、これにより、重心位置を低くすることができると共に装置をコンパクトにできる。   In addition, since this apparatus aims at the staircase movement of heavy objects, it is better that the center of gravity of the load is low. Therefore, as in the above-described embodiment, the horizontal direction driving device 40 and the horizontal direction driving device 50 are attached to the inside of the lower stage moving table 10 or the middle stage moving table 20, so that the dimension in the height direction can be shortened. Thus, the center of gravity can be lowered and the apparatus can be made compact.

また、下段移動台１０、中段移動台２０の各脚１〜４、５〜８を着脱可能にし、かつ、下段移動台１０に側脚７０、７２、中段移動台２０に側脚７４、７６を設けることによって、脚の歩行時の上下移動を実現するほか、本階段揚重装置を使用しないときに、大きさを極力小さくすることができ、階段の蹴上げ寸法以下に小さくすることで、収納スペースの削減とともに、持ち運びも容易とすることができる。   Further, the legs 1 to 4 and 5 to 8 of the lower stage moving base 10 and the middle stage moving base 20 are made detachable, and the side legs 70 and 72 are attached to the lower stage moving base 10, and the side legs 74 and 76 are attached to the middle stage moving base 20. In addition to realizing the vertical movement of the legs during walking, the size can be reduced as much as possible when the stair lifting device is not used, and the storage space can be reduced by making it smaller than the stair lift up dimension. In addition to the reduction, it can be easily carried.

また、重量物Ｗの移動には大きなパワーを必要とする。そこで、水平方向の駆動装置４０、５０や、下段及び上段の脚駆動装置１１１〜１１８それぞれには、油圧機構を例示したが、ボールネジ、あるいは、リニア駆動によるサーボ機構を採用することもできる。また、油圧装置の適用に当たり動作油の格納タンクが必要になるが、下段移動台１０あるいは中段移動台２０の一部を動作油タンクとすることにより空間を有効に利用することが可能となる。   Moreover, a large power is required for the movement of the heavy object W. Therefore, although the hydraulic mechanisms are exemplified in the horizontal driving devices 40 and 50 and the lower and upper leg driving devices 111 to 118, a ball screw or a servo mechanism using linear driving may be employed. In addition, a storage tank for operating oil is required for the application of the hydraulic device. However, by using a part of the lower stage moving base 10 or the middle stage moving base 20 as an operating oil tank, the space can be used effectively.

実際の階段においては、踏み面や蹴上げの寸法が種々異なる。このような問題に対処するため、本発明においては脚の有効長、つまりその下端から各移動台の底面までの距離を任意に可変できる駆動機構を備えている。また、別の実施の形態として図５、図６に示したように、ガイドレール並びに駆動機構を取り付けることにより、踏み面の寸法に応じて脚の幅を可変とできる。ここで、脚の幅を可変とするために、移動台にボルト用ネジ穴を複数箇所に設け、踏み面の寸法に応じて各脚は取付位置を変更できるようにしてもよい。さらにまた、予め階段寸法が既知である場合には、図２、図３に示したように、それぞれの脚に座を設け、例えば移動台に複数箇所にネジ穴を設けることにより、階段寸法に対応した位置のネジ穴を用いてネジ止めすることにより、所望の脚長さあるいは脚幅を得るようにすることもできる。   In actual stairs, the dimensions of the tread and the kick-up are different. In order to cope with such a problem, the present invention is provided with a drive mechanism that can arbitrarily change the effective length of the leg, that is, the distance from the lower end to the bottom surface of each movable table. Further, as shown in FIGS. 5 and 6 as another embodiment, the width of the leg can be made variable according to the size of the tread surface by attaching the guide rail and the drive mechanism. Here, in order to make the width of the leg variable, bolt screw holes may be provided at a plurality of locations on the moving base, and the mounting position of each leg may be changed according to the dimensions of the tread surface. Furthermore, when the step size is known in advance, as shown in FIGS. 2 and 3, a seat is provided on each leg, for example, screw holes are provided at a plurality of locations on the moving table, thereby reducing the step size. It is also possible to obtain a desired leg length or leg width by screwing using a screw hole at a corresponding position.

また、脚の取り付け部付近は応力が集中する。そこで、脚を中段移動台、あるいは下段移動台の近傍に支えるためにアングルのような補強材を配した構造にすることもできる。この他にも脚に対する梁や桁あるいは筋交いを追加することも同様な効果を有する。   Moreover, stress concentrates near the attachment part of a leg. Therefore, a structure in which a reinforcing material such as an angle is provided to support the legs in the vicinity of the middle stage or the lower stage can be used. In addition to this, adding beams, girders or braces to the legs has the same effect.

また、本発明の階段揚重装置において、最大有効長は少なくとも階段蹴上げの３倍以上の長さにするのが良い。そして実際にはこの長さに余裕を加えた寸法とする。   In the stair lifting device of the present invention, the maximum effective length is preferably at least three times the stair lift. Actually, the length is a dimension obtained by adding a margin.

また、本発明の階段揚重装置では、重量物Ｗの移動中の重心の移動に伴う不安定性の問題を解決するため、移動中、重量物又は階段揚重装置の重心近傍の位置、あるいはこれに代わる位置を支える、あるいは逆方向への移動を防止できる補助脚を取り付けることが好ましい。具体的には、図３に示すように、進行方向に対し横方向に側脚７０、７２を設けたり、あるいは中段移動台２０に進行方向に垂直な方向にアームを設け、これに図１、図４に示すような補助脚６０を取り付けることにより安定性を増すことができる。これらの方法により、より安定した重量物の移送が可能となる。   Further, in the stair lifting device of the present invention, in order to solve the problem of instability accompanying the movement of the center of gravity during the movement of the heavy object W, the position near the center of gravity of the heavy object or the stair lifting device during the movement, or this It is preferable to attach an auxiliary leg that can support an alternative position or prevent movement in the opposite direction. Specifically, as shown in FIG. 3, side legs 70 and 72 are provided in a direction transverse to the traveling direction, or an arm is provided on the middle stage moving base 20 in a direction perpendicular to the traveling direction. Stability can be increased by attaching auxiliary legs 60 as shown in FIG. By these methods, it is possible to more stably transfer heavy objects.

本発明の階段揚重装置は、重量物Ｗの階段揚重だけではなく、それに引き続き平床の移動にも利用するものである。そこで、脚を階段揚重のための歩行用と平地移動のための回転機能を併せ持つ構造とするために、歩行用脚と共にその側にキャスターあるいはローラの付いた側脚を設け、歩行用脚を最短まで短くすることで側脚の方を長くし、これによって平地移動させる構造にすることができる。   The stair lifting device of the present invention is used not only for stair lifting of heavy objects W but also for moving a flat floor. Therefore, in order to make the legs have a structure that has both a walking function for lifting stairs and a rotation function for moving on flat ground, side legs with casters or rollers are provided on the side of the walking legs, and the walking legs are By shortening it to the shortest length, the side legs can be lengthened, thereby making it possible to make a structure that moves on flat ground.

また、上述した実施形態では、各脚の下部に幅広の底板を設けたが、これにより、脚の自立を可能とすることができ、より安定した移動が可能になる。   Further, in the above-described embodiment, the wide bottom plate is provided at the lower part of each leg, but this makes it possible to make the legs self-supporting and to enable more stable movement.

また、上述した実施形態では、中段移動台２０と下段移動台１０との摺動部の構造に関して、図２に示すように下段移動台１０側がローラ４１〜４４を有し、中段移動台２０側が前記ローラの上下方向の移動を所定の幅内に収めながら水平方向に移動させるガイドレール４５、４６を有している。これによって、中段移動台２０と下段移動台１０との間の滑らかな水平移動が可能である。なお、上述した実施形態の構造とは逆に、中段移動台２０と下段移動台１０との摺動部が、下段移動台１０側がスライドできる板状の構造物であり、中段移動台２０側に取り付けたガイドレールの上下面にローラを有し、中段移動台２０の水平方向の移動に伴う上下方向の移動を所定の幅内に収まるよう上下にガイドレールを有した構造にすることもできる。   Further, in the above-described embodiment, with respect to the structure of the sliding portion between the middle stage moving table 20 and the lower stage moving table 10, the lower stage moving table 10 side has rollers 41 to 44 as shown in FIG. Guide rollers 45 and 46 are provided for moving the roller in the horizontal direction while keeping the vertical movement within a predetermined width. As a result, smooth horizontal movement between the intermediate stage 20 and the lower stage 10 is possible. Contrary to the structure of the above-described embodiment, the sliding portion between the middle stage moving table 20 and the lower stage moving table 10 is a plate-like structure that can slide on the lower stage moving table 10 side. It is also possible to have a structure in which rollers are provided on the upper and lower surfaces of the attached guide rails and the guide rails are provided vertically so that the vertical movement accompanying the horizontal movement of the middle stage moving base 20 falls within a predetermined width.

また、上述した実施形態では、中段移動台２０と荷台３０との摺動部が、荷台３０側がローラ５１〜５３を有し、中段移動台２０側が前記ローラに対するガイドレール５５、５６を有する構造にしてあり、これによって両者間の滑らかな水平移動が可能である。   In the above-described embodiment, the sliding portion between the middle stage moving platform 20 and the loading platform 30 has a structure in which the loading platform 30 side has rollers 51 to 53 and the middle stage moving platform 20 side has guide rails 55 and 56 for the rollers. Thus, a smooth horizontal movement between the two is possible.

本発明の階段揚重装置の操作を容易ならしめるため、図２０に示すように、制御装置１００には自動と手動の切り替えスイッチ１０１と共に各駆動装置を手動操作する操作器群１０２を設け、また、移動速度を可変する速度設定器１０３を設けることにより、より安全かつ安定した動作を実現できる。   In order to facilitate the operation of the stairlifting device of the present invention, as shown in FIG. 20, the control device 100 is provided with an operating device group 102 for manually operating each driving device together with an automatic and manual changeover switch 101, and By providing the speed setting unit 103 that varies the moving speed, safer and more stable operation can be realized.

また、上述した実施形態では、装置本体に加速度検出器９９が設置してあり、制御装置１００はこの加速度検出器９９の検出する加速度が所定値を超える異常な値となった場合に走行動作を停止する、あるいは警報器３３２にて警告を報知するようにしており、これによってより安全な移動が可能である。   Further, in the above-described embodiment, the acceleration detector 99 is installed in the apparatus main body, and the control device 100 performs the traveling operation when the acceleration detected by the acceleration detector 99 becomes an abnormal value exceeding a predetermined value. The alarm is stopped or the alarm device 332 notifies the warning, thereby enabling safer movement.

また、各脚にそれに掛かる荷重を検出する荷重検出器を取り付け、制御装置１００には各荷重検出器から出力される信号から、動作中の装置全体の重心位置を算出し、重心位置が、着地している脚から水平方向外側にはみ出さないように制御する制御機能を具備させ、脚の着地位置や、脚の間隔、補助脚を制御するようにすれば、本装置が転倒することなく、安定に動作できるようになる。   Also, a load detector for detecting the load applied to each leg is attached, and the control device 100 calculates the position of the center of gravity of the entire apparatus in operation from the signal output from each load detector. If you have a control function that controls so that it does not protrude outward in the horizontal direction from the legs you are doing, and if you control the landing position of the legs, the distance between the legs, and the auxiliary legs, this device will not fall down, It becomes possible to operate stably.

また、上述した実施形態では、下段移動台１０、中段移動台２０それぞれの移動方向の前側の脚１、２、脚５、６の下部に階段の蹴上げ面への接触若しくは近接を検出する近接検出器９１〜９４を設けたことにより、脚が階段蹴上げ面に衝突あるいは接近した時、水平移動を停止させることができ、より安全な移動が可能である。   Further, in the above-described embodiment, the proximity detection that detects contact or proximity to the kicking surface of the stairs at the lower part of the front legs 1, 2, 5, 6 in the moving direction of the lower stage moving base 10 and the middle stage moving base 20. By providing the devices 91 to 94, the horizontal movement can be stopped when the leg collides with or approaches the stair lift surface, and a safer movement is possible.

さらに、装置全体の自動運転を行わせる場合のために、図４に示したように進行方向や周囲を撮像する撮像手段２００を取り付け、この撮像信号を制御装置１００に入力し、これらの信号をもとに階段上の脚の着地点を設定しながら歩行制御を行うようにすれば、より正確かつ安全な自動運転が可能となる。また、画像信号は手動操作においても有効である。   Further, in order to perform the automatic operation of the entire apparatus, as shown in FIG. 4, an imaging means 200 for imaging the traveling direction and surroundings is attached, and this imaging signal is input to the control apparatus 100 and these signals are input. If walking control is performed while setting the landing point of the leg on the stairs, more accurate and safe automatic driving becomes possible. The image signal is also effective in manual operation.

さらにまた、進行方向側の先端に、衝突防止のためのダンパを設けることによって、衝突時の重量物の運搬にともなう不安定な状態を回避できる。加えて、荷台３０にころがり防止装置を取り付ければ、重量物Ｗの移動に伴う不安定な状態を予め回避できる。さらに、制御システムの中には非常時停止装置などの安全装置を組み込むとにより安全性を向上できることは言うまでもない。   Furthermore, by providing a damper for preventing collision at the front end in the traveling direction, it is possible to avoid an unstable state due to transportation of heavy objects at the time of collision. In addition, if a rolling prevention device is attached to the loading platform 30, an unstable state associated with the movement of the heavy object W can be avoided in advance. Furthermore, it goes without saying that safety can be improved by incorporating a safety device such as an emergency stop device in the control system.

本発明を適用した階段揚重装置の全体構成を示す図であり、（ａ）は階段揚重装置の平面図、（ｂ）は階段揚重装置の正面図。It is a figure which shows the whole structure of the stair lifting apparatus to which this invention is applied, (a) is a top view of a stair lifting apparatus, (b) is a front view of a stair lifting apparatus. 前記階段揚重装置の側面図。The side view of the said stair lifting device. 前記階段揚重装置における下段移動台を示す図であり、（ａ）は下段移動台の平面図、（ｂ）は下段移動台の正面図。It is a figure which shows the lower stage moving stand in the said stair lifting apparatus, (a) is a top view of a lower stage moving stand, (b) is a front view of a lower stage moving stand. 前記階段揚重装置における中段移動台を示す図であり、（ａ）は中段移動台の平面図、（ｂ）は中段移動台の正面図。It is a figure which shows the middle stage moving stand in the said stair lifting apparatus, (a) is a top view of a middle stage moving base, (b) is a front view of a middle stage moving stand. 前記階段揚重装置における下段移動台の他の例を示す正面図。The front view which shows the other example of the lower stage moving stand in the said stair lifting device. 前記階段揚重装置における中段移動台の他の例を示す正面図。The front view which shows the other example of the middle stage moving stand in the said stair lifting apparatus. 前記階段揚重装置による階段揚重動作を説明する図であり、（ａ）は第１の状態の階段揚重装置の平面図、（ｂ）は第１の状態の階段揚重装置の正面図。It is a figure explaining the stair lifting operation by the said stair lifting device, (a) is a top view of the stair lifting device in the first state, (b) is a front view of the stair lifting device in the first state. . 前記階段揚重装置による階段揚重動作を説明する図であり、（ａ）は第２の状態の階段揚重装置の平面図、（ｂ）は第２の状態の階段揚重装置の正面図。It is a figure explaining the stair lifting operation by the said stair lifting device, (a) is a top view of the stair lifting device of the 2nd state, (b) is a front view of the stair lifting device of the 2nd state. . 前記階段揚重装置による階段揚重動作を説明する図であり、（ａ）は第３の状態の階段揚重装置の平面図、（ｂ）は第３の状態の階段揚重装置の正面図。It is a figure explaining the stair lifting operation by the said stair lifting device, (a) is a top view of the stair lifting device of the 3rd state, (b) is a front view of the stair lifting device of the 3rd state. . 前記階段揚重装置による階段揚重動作を説明する図であり、（ａ）は第４の状態の階段揚重装置の平面図、（ｂ）は第４の状態の階段揚重装置の正面図。It is a figure explaining the stair lifting operation by the said stair lifting device, (a) is a top view of the stair lifting device of the 4th state, (b) is a front view of the stair lifting device of the 4th state. . 前記階段揚重装置による階段揚重動作を説明する図であり、（ａ）は第５の状態の階段揚重装置の平面図、（ｂ）は第５の状態の階段揚重装置の正面図。It is a figure explaining the stairlifting operation | movement by the said stairlifting apparatus, (a) is a top view of the stairlifting apparatus of a 5th state, (b) is a front view of the stairlifting apparatus of a 5th state. . 前記階段揚重装置による階段揚重動作を説明する図であり、（ａ）は第６の状態の階段揚重装置の平面図、（ｂ）は第６の状態の階段揚重装置の正面図。It is a figure explaining the stairlifting operation | movement by the said stairlifting apparatus, (a) is a top view of the stairlifting apparatus of a 6th state, (b) is a front view of the stairlifting apparatus of a 6th state. . 前記階段揚重装置による階段揚重動作を説明する図であり、（ａ）は第７の状態の階段揚重装置の平面図、（ｂ）は第７の状態の階段揚重装置の正面図。It is a figure explaining the stair lifting operation by the said stair lifting device, (a) is a top view of the stair lifting device in the seventh state, (b) is a front view of the stair lifting device in the seventh state. . 前記階段揚重装置による階段揚重動作を説明する図であり、（ａ）は第８の状態の階段揚重装置の平面図、（ｂ）は第８の状態の階段揚重装置の正面図。It is a figure explaining the stair lifting operation by the said stair lifting device, (a) is a top view of the stair lifting device of the 8th state, (b) is a front view of the stair lifting device of the 8th state. . 前記階段揚重装置による階段揚重動作を説明する図であり、（ａ）は第９の状態の階段揚重装置の平面図、（ｂ）は第９の状態の階段揚重装置の正面図。It is a figure explaining the stair lifting operation by the said stair lifting device, (a) is a top view of the stair lifting device of the 9th state, (b) is a front view of the stair lifting device of the 9th state. . 前記階段揚重装置における制御系のブロック図。The block diagram of the control system in the said stair lifting device. 前記階段揚重装置に導入される水平制御システムの概要を示すブロック図。The block diagram which shows the outline | summary of the horizontal control system introduced into the said stair lifting device. 前記水平制御システムで実行される制御アルゴリズムの具体的な一例を示す説明図。Explanatory drawing which shows a specific example of the control algorithm performed with the said horizontal control system. 前記階段揚重装置における制御系の他の例を示すブロック図。The block diagram which shows the other example of the control system in the said stair lifting apparatus. 前記階段揚重装置における制御装置の外観を示す平面図。The top view which shows the external appearance of the control apparatus in the said stair lifting apparatus.

符号の説明Explanation of symbols

１〜４ 脚（下段）
５〜８ 脚（中段）
１０ 下段移動台
２０ 中段移動台
３０ 荷台、
４０ 水平方向駆動装置
５０ 水平方向駆動装置
８０ 荷台水平度検出器
１００ 制御装置
１１１〜１１４ 下段脚駆動装置
１１５〜１１８ 中段脚駆動装置
１７１〜１７４ 接地センサ（下段）
１７５〜１７８ 接地センサ（中段） 1-4 legs (lower)
5-8 legs (middle)
10 Lower platform 20 Middle platform 30 Loading platform,
DESCRIPTION OF SYMBOLS 40 Horizontal direction drive apparatus 50 Horizontal direction drive apparatus 80 Loading platform levelness detector 100 Control apparatus 111-114 Lower-stage leg drive apparatus 115-118 Middle-stage leg drive apparatus 171-174 Grounding sensor (lower stage)
175 to 178 Ground sensor (middle)

Claims (5)

長さが可変とされた複数の脚を有する下段移動台と、長さが可変とされた複数の脚を有し前記下段移動台の上方に配置された中段移動台と、前記中段移動台の上方に配置されて重量物が載置される荷台とを、互いに水平方向に独立して移動できるように連結して３層構造とした装置本体と、
前記下段移動台の複数の脚の長さを変化させて前記装置本体を垂直方向に移動又は固定させる第１の垂直方向駆動手段と、
前記中段移動台の複数の脚の長さを変化させて前記装置本体を垂直方向に移動又は固定させる第２の垂直方向駆動手段と、
前記荷台のピッチ角とロール角とを検知する傾斜角検知手段と、
前記下段移動台及び前記中段移動台の各脚の下端に設けられ、各脚が接地したか否かを検出する接地センサと、
前記傾斜角検知手段の検知信号に基づいて、前記荷台の水平バランスを維持しながら前記装置本体が垂直方向に移動又は固定されるように、前記第１の垂直方向駆動手段の動作及び前記第２の垂直方向駆動手段の動作を制御する制御手段とを備え、
前記制御手段は、前記荷台のピッチ角とロール角とがゼロ付近の所定の許容範囲内に収まるように、前記下段移動台の各脚に対する前記第１の垂直方向駆動手段の目標駆動力と、前記中段移動台の各脚に対する前記第２の垂直方向駆動手段の目標駆動力とを算出すると共に、前記接地センサの検出結果に応じて、前記第１の垂直方向駆動手段の動作及び前記第２の垂直方向駆動手段の動作を制限することを特徴とする階段揚重装置。 A lower stage having a plurality of legs having a variable length, a middle stage having a plurality of legs having a variable length and disposed above the lower stage, and the middle stage. An apparatus body having a three-layer structure in which a loading platform on which a heavy object is placed is connected so as to be able to move independently from each other in the horizontal direction;
First vertical driving means for moving or fixing the apparatus main body in the vertical direction by changing the length of a plurality of legs of the lower stage moving table;
Second vertical driving means for moving or fixing the apparatus main body in the vertical direction by changing the length of a plurality of legs of the middle stage moving table;
An inclination angle detecting means for detecting a pitch angle and a roll angle of the loading platform;
A grounding sensor that is provided at the lower end of each leg of the lower stage moving base and the middle stage moving base and detects whether or not each leg is grounded;
Based on the detection signal of the tilt angle detecting means, the operation of the first vertical driving means and the second so that the apparatus main body is moved or fixed in the vertical direction while maintaining the horizontal balance of the loading platform. Control means for controlling the operation of the vertical drive means ,
The control means includes a target driving force of the first vertical driving means for each leg of the lower stage moving table so that a pitch angle and a roll angle of the cargo bed are within a predetermined allowable range near zero, The target driving force of the second vertical driving means for each leg of the middle stage moving base is calculated, and the operation of the first vertical driving means and the second are determined according to the detection result of the ground sensor. A stairlifting device characterized by restricting the operation of the vertical driving means . 前記第１の垂直方向駆動手段及び前記第２の垂直方向駆動手段は、それぞれ前記下段移動台及び前記中段移動台の各脚に対応したインバータ回路と駆動モータとを有し、
前記制御手段は、前記第１の垂直方向駆動手段の目標駆動力を速度に変換した速度指令信号及び前記第２の垂直方向駆動手段の目標駆動力を速度に変換した速度指令信号を、前記インバータ回路を介して前記駆動モータに各々入力することで、前記第１の垂直方向駆動手段の動作及び前記第２の垂直方向駆動手段の動作を制御することを特徴とする請求項１に記載の階段揚重装置。 The first vertical driving means and the second vertical driving means each have an inverter circuit and a drive motor corresponding to each leg of the lower stage moving base and the middle stage moving base,
The control means includes a speed command signal obtained by converting the target driving force of the first vertical driving means into speed and a speed command signal obtained by converting the target driving force of the second vertical driving means into speed. 2. The staircase according to claim 1, wherein an operation of the first vertical driving unit and an operation of the second vertical driving unit are controlled by inputting each of the driving motors through a circuit. Lifting equipment. 前記接地センサは、各脚の接地を接触によって検出する触覚スイッチであることを特徴とする請求項１に記載の階段揚重装置。 The stair lifting device according to claim 1, wherein the ground sensor is a tactile switch that detects ground contact of each leg by contact . 前記制御手段は、前記下段移動台の全ての脚が接地している状態、又は前記中段移動台の全ての脚が接地している状態で、前記下段移動台の各脚に対する前記第１の垂直方向駆動手段の目標駆動力、又は前記中段移動台の各脚に対する前記第２の垂直方向駆動手段の目標駆動力を算出することを特徴とする請求項１に記載の階段揚重装置。 In the state where all the legs of the lower stage moving base are grounded or the state where all the legs of the middle stage moving base are grounded, the control means has the first vertical to the respective legs of the lower stage moving base. 2. The stair lifting device according to claim 1 , wherein a target driving force of the direction driving unit or a target driving force of the second vertical driving unit with respect to each leg of the middle stage moving base is calculated . 前記傾斜角検知手段は、前記荷台の少なくとも２箇所に設置された複数のセンサからなり、これら複数のセンサのうちの１つで前記荷台のピッチ角を検知し、他の１つで前記荷台のロール角を検知することを特徴とする請求項１に記載の階段揚重装置。 The inclination angle detection means is composed of a plurality of sensors installed at at least two locations of the cargo bed, one of the plurality of sensors detects the pitch angle of the cargo bed, and the other one of the cargo bed. The stair lifting device according to claim 1, wherein a roll angle is detected .
JP2006259697A 2006-09-25 2006-09-25 Stair lifting device Expired - Fee Related JP4818039B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2006259697A JP4818039B2 (en) 2006-09-25 2006-09-25 Stair lifting device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2006259697A JP4818039B2 (en) 2006-09-25 2006-09-25 Stair lifting device

Publications (2)

Publication Number Publication Date
JP2008080833A JP2008080833A (en) 2008-04-10
JP4818039B2 true JP4818039B2 (en) 2011-11-16

Family

ID=39352135

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2006259697A Expired - Fee Related JP4818039B2 (en) 2006-09-25 2006-09-25 Stair lifting device

Country Status (1)

Country Link
JP (1) JP4818039B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107117189A (en) * 2017-04-28 2017-09-01 深圳前海弘稼科技有限公司 Leveling assembly and railway vehicle

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014100767A (en) * 2012-11-20 2014-06-05 Toshiba Corp Level difference walking control device and method of multileg walking robot
RU2554270C1 (en) * 2014-02-06 2015-06-27 Федеральное государственное автономное образовательное учреждение высшего профессионального образования "Санкт-Петербургский государственный университет аэрокосмического приборостроения" Device to overcome obstacles
JP6635331B2 (en) * 2015-09-07 2020-01-22 学校法人早稲田大学 Multi-arm mobile robot
CN107874934A (en) * 2017-12-18 2018-04-06 西安工业大学 A kind of multi-functional seat of walking
CN109434795A (en) * 2018-10-29 2019-03-08 华中科技大学 A kind of loading stair climbing robot with target following and automatic obstacle-avoiding
CN109501882B (en) * 2018-12-10 2023-10-03 内蒙古第一机械集团股份有限公司 Leg joint driving mechanism of foot-type walking robot
CN110308424A (en) * 2019-06-05 2019-10-08 李恒 A kind of turning support of aviation land radar
CN112572624A (en) * 2020-12-22 2021-03-30 武汉尹珞蝌蚪教育科技有限公司 But remote control's robot that can climb height

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3066780B2 (en) * 1992-08-21 2000-07-17 株式会社竹中工務店 Method and apparatus for stabilizing walking-type moving mechanism
JPH06254780A (en) * 1993-03-04 1994-09-13 Takeshi Yanagisawa Walking robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107117189A (en) * 2017-04-28 2017-09-01 深圳前海弘稼科技有限公司 Leveling assembly and railway vehicle
CN107117189B (en) * 2017-04-28 2019-04-26 深圳春沐源控股有限公司 Leveling assembly and railway vehicle

Also Published As

Publication number Publication date
JP2008080833A (en) 2008-04-10

Similar Documents

Publication Publication Date Title
JP4818039B2 (en) Stair lifting device
JP2007153521A (en) Stairs lifting device
TWI602771B (en) Stacker crane
JP4400756B2 (en) Lifting conveyor
JP2017109294A (en) Robot for construction work
CN106917499B (en) A kind of self-driving type full-automatic machine people&#39;s climbing frame
JP2017043465A (en) Stair lifting device and stair lifting method for heavy load
CN110562856B (en) Hoisting device for heavy object and hoisting and carrying method
JP2016088709A (en) Lifting device and lifting method
JP2015101440A (en) Stair lifting device and stair lifting method of heavy load
JP5196221B2 (en) Automatic warehouse equipment
JP2008247577A (en) Stair lifting device
JP6420795B2 (en) Ship passenger boarding bridge
JP3860813B2 (en) Elevator installation structure for construction of ground-isolated building structures
JP2001233600A (en) Carrying device and method
JP6977963B2 (en) Transport trolley and how to use it
KR102058377B1 (en) A block support for controlling angle and distance and a method of the same
JP6865151B2 (en) Heavy load carrier
JP2017071488A (en) Device and method for stair lifting of heavy load
JP2021008362A (en) Cargo handling method of heavy load
JP5229549B2 (en) Article storage equipment and rail support structure
KR102606246B1 (en) Automatic horizontal transfer device and method when transporting large heavy objects
JP7089909B2 (en) Lifting table vibration reduction mechanism and work trolley
JP2567983Y2 (en) Vertical lifting aerial work vehicle
JP6371886B1 (en) Panel truck

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20090330

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20110317

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20110329

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20110524

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20110816

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20110830

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140909

Year of fee payment: 3

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140909

Year of fee payment: 3

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140909

Year of fee payment: 3

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140909

Year of fee payment: 3

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140909

Year of fee payment: 3

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees