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WO2006103787A1 - Dispositif de déplacement - Google Patents

Dispositif de déplacement Download PDF

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Publication number
WO2006103787A1
WO2006103787A1 PCT/JP2005/007268 JP2005007268W WO2006103787A1 WO 2006103787 A1 WO2006103787 A1 WO 2006103787A1 JP 2005007268 W JP2005007268 W JP 2005007268W WO 2006103787 A1 WO2006103787 A1 WO 2006103787A1
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WO
WIPO (PCT)
Prior art keywords
wheel
traveling
wheels
driven
driving
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.)
Ceased
Application number
PCT/JP2005/007268
Other languages
English (en)
Japanese (ja)
Inventor
Tadashi Ishimine
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.)
Individual
Original Assignee
Individual
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
Priority claimed from JP2005124170A external-priority patent/JP4021907B2/ja
Application filed by Individual filed Critical Individual
Publication of WO2006103787A1 publication Critical patent/WO2006103787A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/063—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels
    • A61G5/065—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
    • B62B5/026—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs with spiders or adapted wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2301/00—Wheel arrangements; Steering; Stability; Wheel suspension
    • B62B2301/25—Wheel arrangements; Steering; Stability; Wheel suspension characterised by the ground engaging elements, e.g. wheel type
    • B62B2301/256—Wheel arrangements; Steering; Stability; Wheel suspension characterised by the ground engaging elements, e.g. wheel type by using endless belts

Definitions

  • the present invention relates to a traveling device that can freely travel on a stairway or a stepped road.
  • a crawler type traveling vehicle as a traveling device that can travel on a stepped road such as stairs.
  • a crawler type traveling vehicle As a traveling device that can travel on a stepped road such as stairs.
  • four wheels are used as a crawler type wheel, and when traveling on stairs, the crawler type wheel can be inclined to run according to the inclination of the stairs. It is possible to reduce the impact caused by the step.
  • the vehicle also travels in a tilted state when traveling on stairs, and the vehicle also tilts. Therefore, in Japanese Patent Laid-Open No. 14-2 8 4 0 4 9, the four wheels are long wheels such as crawlers, and when traveling on stairs, only the crawler type wheels are tilted according to the inclination of the stairs.
  • a parallel crank mechanism is provided so that the vehicle can run while keeping the chair and loading platform parallel. This eliminated any instability and improved ride comfort.
  • the crawler type traveling device since the crawler type wheel is inclined in accordance with the inclination of the stairs, the ground contact portion between the crawler wheel (crawler belt) and the stairs. Has a problem that it is easy to slip because it is only the corner of the stairs.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a traveling device that can travel comfortably, stably and safely in staircase traveling. There is. Disclosure of the invention
  • Claim 1 of the present invention is a traveling device comprising a pair of left and right crawler type traveling wheels, wherein a driven wheel frame having a cross shape around the main wheel shaft is provided, and the tip of the driven wheel frame A driven wheel is attached to each of the sections, a crawler type traveling wheel formed by tensioning the crawler belt with the four driven wheels and a driving wheel for driving the crawler belt, and a drive for rotating the driven wheel frame Means is provided for a traveling device.
  • the driven frame is a frame that extends in a cross shape in a cross shape radially about the main wheel shaft, and a driven wheel is attached to the tip of the frame.
  • the crawler belt which is an endless track, is wound around the outer periphery, and the crawler belt rotates by the rotation of the driving wheel of the crawler belt. In normal driving,
  • the contact with the stairs is not on the corner of the stairs, but on the upper surface of each step of the stairs, and the driven wheels are grounded with the crawler belt. Is resolved.
  • the travel device in the driven wheel frame, two support bars to which driven wheels are attached at both ends are provided on the wheel shaft in a cross shape, and the support bar is connected to the wheel shaft.
  • the travel device is characterized in that a slide bearing is provided that is movable in the axial direction of the support bar, and a return means is provided for returning to the original position when moved.
  • the two support bars are attached in a cross shape with respect to the wheel shaft, and the two instruction bars are independently attached so as to be movable within a certain range in the axial direction of the support bar.
  • a restoring means for returning is provided.
  • the support bar may be provided with a slide bearing using a long hole bearing so as to be movable within a certain range with the wheel shaft sandwiched therebetween.
  • Claim 3 of the present invention is a traveling device comprising a pair of left and right wheel-type traveling wheels, wherein a multi-wheel frame radiating in three directions around a main wheel shaft is provided. Traveling wheel driving means for driving the three traveling wheels and rotating the multi-wheel frame, each traveling wheel is attached to the tip.
  • a traveling device comprising: a multi-wheel frame rotation driving means for driving.
  • the three-way multi-wheel frame preferably has the same angle in each direction.
  • the three traveling wheels are preferably mounted on the same circle with respect to the main wheel axle.
  • one wheel is in contact with the ground and the other two wheels are not in contact with the ground so as to improve steering performance.
  • the resistance increases, and when the direction is changed, the direction is changed while slipping, and the resistance increases and the steering performance is inferior.
  • the traveling wheel is preferably locked.
  • Claim 4 of the present invention is a traveling device capable of independent traveling capable of traveling while maintaining a balance between a pair of left and right traveling wheels, wherein the traveling device is provided with posture control means.
  • the posture control means can use various posture control means used in various robots.
  • a microcomputer that controls a gyro sensor and a balance arm may be used.
  • the crawler type traveling wheel is a main traveling wheel, and an auxiliary wheel having a plurality of wheels is provided as a pair of left and right wheels, and the auxiliary wheel includes the wheel.
  • the crawler type is provided with auxiliary wheel frame rotation driving means for rotating the auxiliary wheel frame in a multi-wheel configuration in which a radial auxiliary wheel frame is provided on the shaft, and a wheel is attached to each end of the wheel.
  • the traveling device provided with the main traveling wheel and the auxiliary traveling device provided with the wheel-type auxiliary wheel are connected by a balance arm, and travel while maintaining a balance by the attitude control means. It is a traveling device.
  • the auxiliary wheel only needs to have a radial auxiliary wheel frame provided with a plurality of wheels.
  • the auxiliary wheel may be a three-wheel type as shown in claim 3 above, or may be a four-wheel type or a five-wheel type. .
  • the crawler type traveling wheel is the main traveling wheel, and the auxiliary wheel is for running more stably than the case of using only the crawler type traveling wheel. Since the two left and right assist wheel traveling devices are connected by a balance arm and travel as a four-wheel traveling device, there is no fear of falling even if the attitude control means stops.
  • the present invention is particularly suitable for a traveling apparatus provided with a seat, a cargo bed, etc. Even when traveling on an inclined surface or a staircase, the seat and the cargo bed are kept horizontal by the attitude control means. It can be driven safely.
  • the crawler belt is preferably made of an elastic material such as rubber or resin.
  • Claim 6 of the present invention is an electric wheelchair characterized in that a traveling device in which the crawler type, the wheel type, or both of them are combined is provided.
  • a traveling device in which the crawler type, the wheel type, or both of them are combined is provided.
  • a 4-wheel configuration is preferable to a 2-wheel configuration.
  • the wheel may be a crawler type traveling wheel as shown above, and the rear wheel may be a wheel type traveling wheel as shown above.
  • a seventh aspect of the present invention is a self-supporting traveling robot characterized in that a traveling device in which the crawler type, the wheel type, or both of them are combined is provided.
  • the scope 8 of the present invention is a transport device characterized in that a traveling device in which the crawler type, the wheel type or a combination of both is provided.
  • Either 2-wheel or 4-wheel can be used, and it is possible to travel on stepped surfaces and staircases as well as on horizontal roads. There is no need for work or an elevator, and it can be transported directly.
  • the present invention has the following effects.
  • the crawler type wheel has a cross-shaped driven wheel frame, and the frame rotates. In order to travel the stairs, a ground contact area with the stairs is secured, and the follower wheel travels while being grounded to the upper surface (horizontal surface) of the stairs according to the step shape of the stairs. This eliminates the problem of slipping like a wheel.
  • this wheel frame can be rotated, and the wheel can be grounded to the upper surface (horizontal plane) of the step in sequence with the three traveling wheels. The problem is solved.
  • attitude control means Since the attitude control means is provided, it is possible to run independently with a pair of left and right running wheels, and to run without falling down.
  • FIG. 1 is a schematic view showing an embodiment of a traveling apparatus using a crawler traveling wheel according to the present invention.
  • FIG. 2 is a schematic diagram showing a staircase traveling state of a traveling device using crawler type traveling wheels according to the present invention.
  • FIG. 3 shows an embodiment of a traveling device using a wheel type traveling wheel according to the present invention.
  • FIG. 4 is a schematic diagram showing a staircase traveling state of a traveling device using a wheel-type traveling wheel according to the present invention.
  • FIG. 5 is a schematic view showing an embodiment of a traveling apparatus using a crawler main wheel and a wheel auxiliary wheel according to the present invention.
  • FIG. 6 is a schematic diagram showing a staircase traveling state of a traveling device using a crawler type main wheel and a wheel type auxiliary wheel according to the present invention.
  • FIG. 7 is a schematic view showing a state of the crawler type main wheel according to the present invention when traveling on a rough road.
  • FIG. 8 is a diagram showing an embodiment of the left and right independent drive device according to the present invention.
  • FIG. 9 is a schematic diagram showing an independent drive mechanism for driven wheels or traveling wheels according to the present invention.
  • FIG. 10 is a schematic view showing an embodiment of a wheelchair traveling vehicle according to the present invention.
  • FIG. 11 is a schematic view showing the posture control mechanism of the chair and the handle in the inclined row according to the present invention.
  • FIG. 12 is a view showing the structure of a caterpillar in the crawler type traveling device according to the present invention.
  • FIG. 13 is a schematic diagram showing an embodiment of an efficient wind power generator that can be used for charging a battery or the like used in an electric wheelchair according to the present invention.
  • FIG. 14 is a schematic diagram showing the driving state of the rotary blades (vertical blades and horizontal blades) according to the present invention.
  • FIG. 15 is a schematic diagram showing the drive mechanism of the rotary blades (vertical blades and horizontal blades) according to the present invention.
  • FIG. 1 is a schematic view showing an embodiment of a traveling apparatus using crawler type traveling wheels according to the present invention.
  • This traveling device is shown as an embodiment in the case of being provided as a traveling device for a robot.
  • (1) is a front view and (2) is a side view.
  • a main wheel shaft 3 is provided on a gantry 2 of a robot body 1 incorporating a posture control device, and a pair of crawler type traveling wheels 4 are provided on the left and right sides thereof.
  • a pair of left and right kuo-la-type traveling wheels 4 is a driven wheel frame 1 configured by attaching two support bars 5 a and 5 b to a main wheel shaft 3 so as to form a cross shape. 2 is provided, and a driven wheel 6 is attached to the tip of each support bar 5a, 5b.
  • the support pars 5 a and 5 b are provided with slide bearings 7 having bearings in the shape of long holes so that the support pars 5 a and 5 b can move within a certain range in the axial direction of the support bar with respect to the main wheel shaft 3. It can slide only the distance of the long hole.
  • spring members 8 adjusted so as to all have the same elastic force are provided between the main wheel shaft 3 and the driven wheel shaft 13 respectively. Installed and adjusted to maintain balance.
  • a main wheel shaft drive motor 9 for rotating the driven frame is provided, and a belt drive wheel 11 for rotating the crawler belt 10 is provided, which is driven by the belt drive motor 14. .
  • Fig. 2 shows the staircase traveling of the traveling device using the crawler type traveling wheel shown in Fig. 1. It is this schematic diagram showing a state. The staircase traveling procedure will be described below.
  • the two driven wheels [1] and the driven wheel [4] are grounded together with the crawler belt 10 and run by driving the crawler belt 10 by the belt driving wheel 11. However, it is detected by a sensor (omitted) just before the staircase and stops.
  • the driven wheel can be grounded together with the crawler belt 10 on the upper surface (horizontal plane) of each step of the stairs, so that even if the slope is steep, it can be climbed without slipping.
  • the robot body can climb up the stairs in a stable position.
  • FIG. 3 is a schematic view showing an embodiment of a traveling apparatus using the wheel-type traveling wheel according to the present invention.
  • This traveling device is shown as an embodiment in the case of being provided as a traveling device for a robot.
  • (1) is a front view and (2) is a side view.
  • (3) is a side view showing traveling.
  • the robot body 20 is provided with a main wheel shaft 21 and the main wheel shaft 21 is provided with a multi-wheel frame 2 2 projecting radially in three directions, and a traveling wheel 2 3 is attached to the tip thereof. .
  • the main wheel shaft 21 is provided with a drive gear 24, and the drive gear 24 is driven by a drive motor built in the robot body 20 to rotate the multi-wheel frame 22.
  • Each traveling wheel 23 has its own drive motor, and each traveling wheel is individually driven to rotate.
  • FIG. 4 is a schematic diagram showing a staircase traveling state of a traveling device using the wheel type traveling wheel shown in FIG. The stairs running procedure will be described below.
  • the multi-wheel frame 22 is further rotated, the traveling wheel [1] is pulled up, and the process proceeds to the next stage.
  • the traveling wheel [2] may be driven to synchronize with the next step.
  • the built-in posture control device allows the robot body to maintain balance even when running on stairs and maintain a stable posture without falling.
  • FIG. 5 is a schematic view showing an embodiment of an electric wheelchair using a crawler main wheel and a wheel auxiliary wheel according to the present invention.
  • This embodiment shows an embodiment in which the electric wheelchair is provided as a traveling device.
  • (1) is a schematic side view
  • (2) and (3) are the posture control parts of the seat part.
  • FIG. 1 is a schematic side view
  • the chair body 3 1 is installed on the main body frame 30.
  • the posture control device 3 8 detects the posture with a gyro sensor or the like, and is provided on the leg portion and the back plate portion of the chair body 31. Controls 3 3, 3 3, 3 4 and balance is adjusted according to the posture.
  • 3 9 is a battery power source.
  • This traveling device is composed of a crawler type traveling wheel 35 as shown in FIG. 1 as a main wheel and an auxiliary wheel 36 by a wheel type wheel frame as shown in FIG.
  • the main wheels are two wheels.
  • the auxiliary wheel 36 is a wheel-type auxiliary wheel by a four-wheeled multi-wheel frame having higher stability. In this embodiment, no driving means is provided, but it may be attached if necessary.
  • a pair of crawler type main wheels 35 are provided on the left and right in front of the main body frame 30 and are connected to the rear part of the main body frame 30 by a balance arm 37.
  • Auxiliary wheels with multi-wheel frames 3 6 were provided.
  • the balance arm 37 is composed of a crank mechanism, and controls the posture of the chair 31 in conjunction with the adjusting arm 3 4 of the back plate of the chair 31 as a posture control means. Is provided.
  • the main crawler type wheel 35 When driving on a flat surface, the main crawler type wheel 35 is driven by the rotation of the rubber crawler belt, and the balance between the adjustment arms 3 2, 3 3 ', 3 4 and the assisting wheel 3 6 is used. Drive while adjusting.
  • a structure with an adjusting arm such as an air cylinder interlocked with the attitude control device may be adopted.
  • FIG. 6 is a schematic view showing a staircase running state of an electric wheelchair using the crawler type main wheel and the wheel type auxiliary wheel of FIG. The stairs running procedure is explained below.
  • the driven wheel [2] rides on the upper surface (horizontal surface) of the stairs together with the rubber crawler belt.
  • an electric wheelchair that allows people with disabilities to ride comfortably has been described as an example, but it can also be used as a transport vehicle for transporting luggage to places with many steps and irregularities in factories and warehouses. Can also be used.
  • FIG. 7 is a diagram showing the state of the crawler type main wheel when traveling on rough rough roads.
  • a convex part such as a stone 4 1 in the road 50
  • the black label 4 2 rides on the stone 41
  • the crawler belt 4 2 comes into contact
  • the right 4 1 The crawler belt 4 is recessed due to this portion, and when the driven wheel 4 3 is in contact with the stone 41, the crawler belt 4 2 is recessed, and the slide bearing 4 4 and the spring member 4 5 4 Slides in the opposite direction (in the direction of the arrow) to the driven wheel 4 3 with which it abuts, and absorbs the impact while maintaining the tension of the crawler belt 42.
  • the biggest problem with the crawler type traveling wheel is that the crawler belt comes off due to the looseness of the crawler belt when traveling on rough roads.
  • the crawler belt 4 2 does not absorb the impact because the driven wheel 4 3 simply dents, and the crawler belt 4 2 does not loosen when the driven wheel 4 3 absorbs the impact. Therefore, the crawler belt 42 does not come off, and it is a highly reliable crawler type running wheel that can run stably. '
  • FIG. 8 is a diagram showing an embodiment of the left and right independent drive device. (1) is the principle diagram.
  • the left and right traveling wheels can be driven independently in either case of crawler type traveling wheels or wheel type traveling wheels.
  • the main wheel axle consists of a double-structured middle shaft 60a, 6Ob and outer shafts 66a, 66b, and the outer shafts 66a, 66b drive the entire driven wheel. (The left and right sides are driven independently.)
  • the middle shafts 60 a and 60 b can be driven individually (driven independently on the left and right sides).
  • the left and right middle shafts 60a and 6Ob are connected at the center by a coupling gear 62 by a bearing 61 and can rotate independently from each other on a coaxial line.
  • gears 6 3 a and 6 3 b are provided at both ends of the middle shafts 6 0 a and 60 b, and independent drive gears 6 5 a and 6 5 provided on the driven wheels 6 4 a and 6 4 b. b can be driven.
  • the middle shaft coupling gear 62 is provided with a drive gear 72 and a drive motor 73 for independently driving the left and right middle shafts 60a and 60b.
  • Reference numerals 7 4 a and 7 4 b are medium-axis disc brakes.
  • the outer shafts 6 6 a and 6 6 b are cylindrical shafts with the center shafts 60 a and 60 b as the center, and the bearings 6 7 that can rotate independently of each other are provided.
  • Gears 6 8 a and 6 8 b are provided on the center side of the outer shaft, and the gears 6 8 a and 6 8 b are driven.
  • Drive gears 6 9 a and 6 9 b that move and drive motors 70 a and 7 O b are provided. Both ends of the outer shaft are flanges 7 1 a and 7 lb, and the axle of the driven wheel is pivotally supported on the flange.
  • the left and right independent drive device configured in this way can drive the left and right driven wheels independently by the left and right middle shaft drive motors 7 3 a and 7 3, and the left and right outer shaft drive motors 70 a, 7 Ob allows the entire left and right wheels to be driven independently.
  • An actual example is as shown in FIG. 8 (2), and the drive mechanism may be configured independently on the left and right sides of the disk.
  • FIG. 9 is a schematic diagram showing an independent drive mechanism for driven wheels or traveling wheels.
  • This independent drive mechanism is an independent drive mechanism for switching between a case where each wheel of a multi-wheel is driven independently and a case where the rotation of each wheel is fixed and the whole wheel is driven. ::
  • the two disks 8 0 a and 8 0 b with the axle fixed at the center are supported so that the wheel 8 1 is sandwiched between the two disks 8 0 a
  • the drive switching plate 8 3 is provided outside the four wheels 8 1 between 8 Ob.
  • each shaft 8 4 of the wheel 8 1 passes through and is provided with a long hole-like through hole 85 so that it can rotate only at a fixed angle with respect to the outer disk 80 0 a. Yes.
  • cam-like projections 8 6 a and 8 6 b are provided at corresponding positions on the outer surface side of the drive switching plate 83 and on the inner side of the outer circular plate 80 a of the two discs.
  • Fig. 10 shows an example of a wheelchair vehicle. (1) indicates that both front and rear wheels are closed.
  • the roller-type traveling device 90 is, and (2) is a wheel-type traveling device 91 having four front wheels, and the rear wheel is a crawler-type traveling device 90.
  • FIG. 11 is a schematic diagram showing the posture control mechanism of the chair 95 in the inclined running. (1) indicates the traveling state of the flat land 93, and (2) indicates the traveling state of the inclined surface 94.
  • the riding wheelchair is provided with a posture control device, and even in inclined traveling, the riding wheelchair is maintained at a level without tilting at all, and the traveling vehicle body is aligned with the inclined surface.
  • the posture control device provided in the riding wheelchair 95 so as to keep it horizontal with the fixed part 96 of the riding wheelchair 95 as a fulcrum.
  • FIG. 12 is a diagram showing the structure of a caterpillar in a crawler type traveling device.
  • the conventional caterpillar is a structure for carrying heavy objects and so on, and it is not suitable for wheelchair vehicles where disabled persons and elderly people get on because it is structured to emphasize strength.
  • the caterpillar 9 7 in this example is a rubber crawler that is quiet and inexpensive.
  • the grounding parts 9 8 and 9 9 are made of rubber, and only the connecting parts 100 are made of metal.
  • FIG. 13 is a diagram showing an embodiment of an efficient wind power generator that can be used for charging a battery used in an electric wheelchair.
  • a rotor blade for receiving wind having a vertical axis is provided at the top of the containment dome 110, a power generator for generating electric power with the rotational force of the rotor blade, and a wind receiving area of the rotor blade.
  • a rotor control device for adjustment is provided.
  • This wind power generator has a structure that can adjust the wind receiving area by changing the shape of the rotor blades when the wind is weak and strong.
  • This rotary blade is composed of a vertical blade and a horizontal blade, and each vertical blade and horizontal blade protrude from the top of the containment dome so that the wind receiving area can be changed.
  • a drive mechanism is provided.
  • the vertical wing 1 1 2 that drives up and down and the horizontal wing 1 1 3 that expands horizontally are provided by the hydraulic device 1 1 1, and the main rotating shaft is at the center of the storage dome 1 1 0 1 1 4 is provided.
  • the main rotating shaft 1 1 4 is connected to a power generator and a moving blade control device 1 1 7 for driving expansion and contraction and expansion of the rotating blades via a drive transmission gear 1 15.
  • the generator is a mechanical governor 1 1 8 for adjusting the rotation of the main rotating shaft 1 1 4 and transmitting it to the generator 1 1 6, generator 1 1 6, generator 1 1 6
  • a pneumatic governor 1 1 9 for controlling the rotation of the compressor, a compressor (not shown) and an air tank (not shown) are provided.
  • the blade control device 1 1 7 is provided with a hydraulic device 1 1 1 for driving a hydraulic cylinder for driving the vertical blade 1 1 2, and the main rotating shaft 1 1 is used as a drive source of the hydraulic device 1 1 1.
  • the battery is equipped with a battery (not shown) for starting up, etc. where the rotational force of 4 can be used and the rotor blades are not rotating.
  • the rotor blades are composed of vertical blades 1 1 2 that can be driven vertically up and down with respect to the main rotating shaft 1 1 4 and horizontal blades 1 1 3 that are deployed horizontally with respect to the main rotating shaft 1 1 4.
  • FIG. 15 is a diagram showing the drive mechanism of the rotary blades (vertical blades 1 1 2 and horizontal blades 1 1 3).
  • the vertical wing 1 1 2 and the horizontal wing 1 1 3 are interlocked.
  • the hydraulic device 1 1 1 is operated by the moving blade control device 1 1 7 and the vertical blade 1 1 2 is pushed up, the horizontal blade 1 1 3 spreads as shown in FIG. 14 (2).
  • the upper part of the vertical wing 1 1 2 has a horizontal plate shape, but its lower part is twisted, and the vertical wing 1 1 2 rises and the horizontal wing 1 1 3 differs from the deployment arm 2 0 0.
  • the tied guide roller 2 0 1 moves along the twist, and the horizontal wing 1 1 3 expands as it moves.
  • the horizontal blades and vertical blades can be linked as long as they can be linked.
  • the gears can be used to deploy the horizontal blades as the vertical blades move up.
  • the traveling device using the crawl type and wheel type traveling wheels of the present invention is also effective for traveling on rough roads with severe irregularities, and can be applied as a traveling vehicle such as a desert, a rocky road, the seabed, or the moon surface.

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  • Engineering & Computer Science (AREA)
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  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Veterinary Medicine (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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Abstract

Dispositifs de déplacement permettant un excellent confort de parcours et un déplacement stable et sûr lors d'un déplacement par paliers. Le dispositif de déplacement, formé d'une paire de roues de déplacement à chenille droite et gauche, comprend des roues de déplacement de type à chenille comportant des armatures de roue motrice formées en croix par rapport à un essieu principal, des roues motrices montées sur l'extrémité des armatures de roue motrice, des courroies de chenille tendues par les roues motrices et des roues menées pour entraîner les courroies de chenille et un moyen de transmission entraînant en rotation les armatures de roue motrice. Le dispositif de déplacement, formé d'une paire de roues de déplacement à chenille droite et gauche, comprend également des armatures à plusieurs roues formées en configuration radiale par rapport à l'essieu principal, des roues de déplacement montées à l'extrémité des armatures à plusieurs roues, un moyen de transmission pour entraîner les roues de déplacement et un moyen de transmission pour entraîner en rotation les armatures à plusieurs roues.
PCT/JP2005/007268 2005-03-25 2005-04-06 Dispositif de déplacement Ceased WO2006103787A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2005124170A JP4021907B2 (ja) 2004-04-27 2005-03-25 走行装置
JP2005-124170 2005-03-25

Publications (1)

Publication Number Publication Date
WO2006103787A1 true WO2006103787A1 (fr) 2006-10-05

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PCT/JP2005/007268 Ceased WO2006103787A1 (fr) 2005-03-25 2005-04-06 Dispositif de déplacement

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009069144A3 (fr) * 2007-09-06 2009-09-11 Rafique Riyaz Procédés et systèmes permettant de monter et descendre des escaliers
ITBA20110043A1 (it) * 2011-08-11 2013-02-12 Francesco Cornacchia Dispositivo di ausilio per la movimentazione su scale, fondi o terreni difficili ,di mezzi di locomozione forniti o meno di ruote e movibili,manualmente o automaticamente.
CN109652932A (zh) * 2018-12-29 2019-04-19 昆山市裕华绣品有限公司 一种刺绣装置及其方法
JP2020023211A (ja) * 2018-08-06 2020-02-13 Ｋｙｂ株式会社 昇降台車用の落下防止装置及び昇降台車
ES2813443A1 (es) * 2016-06-29 2021-03-23 R S A Concept Carretilla de manejo de mercancias motorizada

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JPS48108354U (fr) * 1972-03-17 1973-12-14
JPS6167678A (ja) * 1984-09-10 1986-04-07 Mitsubishi Electric Corp 移動装置
JPS6323954B2 (fr) * 1982-07-20 1988-05-18 Toshiba Kk
JPS6323953B2 (fr) * 1982-06-24 1988-05-18 Toshiba Kk
JPH0655901A (ja) * 1992-05-13 1994-03-01 Kanbe Tokuta 車輪式自在走行装置
JPH08133141A (ja) * 1994-11-14 1996-05-28 Tech Res & Dev Inst Of Japan Def Agency おにぎり機構を有するフレキシブルクローラ
JPH10236345A (ja) * 1997-02-26 1998-09-08 Showa Aircraft Ind Co Ltd 特殊走行車

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JPS48108354U (fr) * 1972-03-17 1973-12-14
JPS6323953B2 (fr) * 1982-06-24 1988-05-18 Toshiba Kk
JPS6323954B2 (fr) * 1982-07-20 1988-05-18 Toshiba Kk
JPS6167678A (ja) * 1984-09-10 1986-04-07 Mitsubishi Electric Corp 移動装置
JPH0655901A (ja) * 1992-05-13 1994-03-01 Kanbe Tokuta 車輪式自在走行装置
JPH08133141A (ja) * 1994-11-14 1996-05-28 Tech Res & Dev Inst Of Japan Def Agency おにぎり機構を有するフレキシブルクローラ
JPH10236345A (ja) * 1997-02-26 1998-09-08 Showa Aircraft Ind Co Ltd 特殊走行車

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009069144A3 (fr) * 2007-09-06 2009-09-11 Rafique Riyaz Procédés et systèmes permettant de monter et descendre des escaliers
ITBA20110043A1 (it) * 2011-08-11 2013-02-12 Francesco Cornacchia Dispositivo di ausilio per la movimentazione su scale, fondi o terreni difficili ,di mezzi di locomozione forniti o meno di ruote e movibili,manualmente o automaticamente.
ES2813443A1 (es) * 2016-06-29 2021-03-23 R S A Concept Carretilla de manejo de mercancias motorizada
JP2020023211A (ja) * 2018-08-06 2020-02-13 Ｋｙｂ株式会社 昇降台車用の落下防止装置及び昇降台車
JP7093550B2 (ja) 2018-08-06 2022-06-30 株式会社池戸熔接製作所 昇降台車用の落下防止装置及び昇降台車
CN109652932A (zh) * 2018-12-29 2019-04-19 昆山市裕华绣品有限公司 一种刺绣装置及其方法
CN109652932B (zh) * 2018-12-29 2021-05-04 昆山市裕华绣品有限公司 一种刺绣装置及其方法

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