JP4359986B2 - Uneven passage device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an undulating passage device.
[0002]
[Prior art]
As an interactive means between the land and the ship anchored on the quay, an undulating passage device capable of responding to changes in the shape of the ship, the draft of the ship, and the tide in the anchored water area is used.
[0003]
FIG. 12 shows an example of a conventional undulating passage device. The undulating passage device is turned by a turntable 1 that is arranged on the quay side and can be turned left and right and a pin 2 whose base end extends horizontally in the passage width direction. A frame 4 pivotally supported by a bracket 3 provided on the table 1, a platform 6 pivotally supported by a pin 5 parallel to the pin 2 at the tip of the frame 4, and a plurality of frames arranged at equal intervals in the longitudinal direction of the passage Step 7, a support shaft 8 that pivotally supports step 7 so as to be tiltable back and forth on frame 4, an interlocking member 9 arranged in parallel below frame 4, and projecting downward from each step 7 and parallel to pin 2 respectively. A bracket 11 connected to the interlocking member 9 by a simple interlocking pin 10 and a cylinder 12 arranged in parallel below the frame 4 are provided. The frame 4, the interlocking member 9, the step 7 and the bra By Tsu door 11, to form a parallelogram link.
[0004]
The base end portion of the interlocking member 9 is connected to the bracket 13 provided on the turntable 1 so as to be positioned below the bracket 3 by the pin 14 in parallel with the pin 2, and the upper surface of the step 7 is affected by the undulation of the frame 4. It is designed to be able to keep the level at all times without receiving it.
[0005]
The front end of the interlocking member 9 is connected to a bracket 15 projecting downward from the platform 6 by a pin 16 parallel to the pin 2, and the platform 6 is tilted back and forth in synchronization with step 7, and the upper surface of the platform 6 is framed. 4 can be kept horizontal without being affected by the undulations.
[0006]
The housing of the cylinder 12 is parallel to the pin 2 on the bracket 17 provided on the turntable 1 so as to be positioned below the bracket 13, and the piston rod of the cylinder 12 is on the bracket 18 protruding downward from the frame 4. The pins 19 and 20 are connected.
[0007]
In the undulating passage device shown in FIG. 12, the operation of the cylinder 12 causes the frame 4 to undulate with the step 7 and the upper surface of the platform 6 held horizontal, and the vertical position of the platform 6 changes.
[0008]
That is, when the protrusion amount of the piston rod with respect to the housing of the cylinder 12 is increased, the position of the platform 6 becomes higher than that of the turntable 1, and conversely, when the protrusion amount of the piston rod with respect to the housing of the cylinder 12 is decreased. The position of the platform 6 is lower than that of the turntable 1.
[0009]
[Problems to be solved by the invention]
However, in the undulating passage device shown in FIG. 12, the upper surfaces of the plurality of steps 7 exhibit a state in which the top surfaces of the plurality of steps 7 are arranged stepwise even when the inclination angle of the frame 4 is gentle except when the frame 4 is horizontal. In addition, assistance of attendants was required for the passage of elderly people and wheelchair users who were difficult to walk on stairs, and it was also impossible to move and move cargo carriers and suitcases with casters.
[0010]
The present invention has been made in view of the above-described circumstances, and an object thereof is to provide an undulating passage device in which a passage can be stepped or planar.
[0011]
[Means for Solving the Problems]
In order to achieve the above object, in the undulating passage device according to claim 1 of the present invention, a frame that can be undulated centered on the base end pivot point, a plurality of steps arranged at equal intervals in the longitudinal direction of the passage, A support shaft that pivotally supports the step so as to be tiltable back and forth and is attached to the frame so as to be allowed to be displaced in the longitudinal direction of the passage, a bracket projecting downward from each step, and a passage disposed in parallel below the frame An interlocking member connected to the bracket by an interlocking pin extending in the width direction, a vertically extending guide shaft disposed in the vicinity of the frame base end pivot point, and an upper support member and a lower support member capable of moving up and down along the guide shaft An upper link pivotally supported on the upper support member by a pin having a base end extending in the passage width direction and a tip end pivotally supported on a support shaft that pivotally supports a predetermined step, and the base end portion is a passage width. direction And a lower link pivotally supported by an interlocking pin pivotally supported by a lower support member by an extending pin and having a tip portion attached to a bracket of a predetermined step, and the upper and lower links are parallel to the frame. Thus, there is provided moving means that can move the upper and lower support members close to each other so that the upper and lower support members can be separated from each other and the base end pivot pins of the two links are coaxially overlapped at the intermediate portion of the guide member.
[0012]
In the undulating passage device according to claim 2 of the present invention, a screw shaft that extends substantially horizontally and is rotatable in the circumferential direction, a nut that is screwed to the screw shaft, and a base end portion orthogonal to the screw shaft. An upper displacement transmission member pivotally supported on the nut by a traversing pin extending substantially horizontally in the direction of movement and having a distal end pivotally supported on the upper support member by an upper lifting pin parallel to the traversing pin, and a base end portion of the traversing pin. The lower displacement transmitting member pivotally supported by the lower support member by a lower lifting pin that is pivotally supported by the nut and whose tip is parallel to the traversing pin constitutes a moving means.
[0013]
In the undulating passage device according to claim 3 of the present invention, the screw shaft of the moving means is arranged in parallel to the passage width direction.
[0014]
In the undulating passage device according to a fourth aspect of the present invention, the linear movement actuator is arranged in a substantially horizontal direction, and the first transverse pin extends substantially horizontally in a direction orthogonal to the linear movement actuator. A first upper displacement transmission member pivotally supported by one end of the actuator and pivotally supported by the upper support member by a first upper lifting pin whose tip is parallel to the first traversing pin; A first lower displacement transmission member pivotally supported by the pin at one end of the linear actuator and having a distal end pivotally supported by the lower support member by a first lower lifting pin parallel to the first traversing pin; The end is pivoted to the other end of the linear actuator by a second traversing pin parallel to the first traversing pin and the tip is pivoted to the upper support member by a second upper lift pin parallel to the second traversing pin A second upper displacement transmission member formed; A second end pivotally supported on the other end of the linear actuator by a second traversing pin and a tip end pivoted on the lower support member by a second lower lift pin parallel to the second traversing pin The lower displacement transmitting member constitutes a moving means.
[0015]
In the undulating passage device according to claim 5 of the present invention, the linear motion actuator of the moving means is arranged in parallel to the passage width direction.
[0016]
In the undulating passage device according to claim 6 of the present invention, a frame capable of undulating about the proximal end pivot point, a plurality of steps arranged at equal intervals in the longitudinal direction of the passage, and tilting the steps back and forth with respect to the frame A support shaft that pivots as much as possible, a bracket that protrudes downward from each step, an interlocking member that is arranged in parallel below the frame and that is connected to the bracket by an interlocking pin that extends in the passage width direction, and one end pinned to the interlocking member And a linear motion actuator that is connected and pin-connected to a structure that pivotally supports the frame at the other end.
[0017]
In the undulating passage device according to claim 7 of the present invention, in addition to the configuration of the undulating passage device according to claim 6 of the present invention, a first angle detector for detecting the inclination angle of the step upper surface, and a frame A second angle detector that detects the tilt angle, a passage state setting device that can alternatively output a staircase setting signal and a slope setting signal, a direct passage based on signals from the passage state setting device and both detectors. And a control mechanism for operating the dynamic actuator.
[0018]
In any of the undulating passage devices according to claims 1 to 5, when the upper and lower support members are brought close to each other and the base end pivot pins of the upper and lower links are coaxially overlapped, The support pin that pivotally supports the step, and the interlocking pin that connects the interlocking member located in parallel to the lower part of the frame and the bracket of the step are centered on the pivoting pin at the base end according to the undulation of the frame It swings up and down, and the upper surface of the step is always held parallel to the frame.
[0019]
When the upper and lower support members are separated from each other and the upper and lower links are parallel to the frame, the support shaft swings up and down around the base end pivot pin of the upper link, and the interlocking pin is on the lower side. It swings up and down around the base end pivot pin of the link, and the upper surface of the step is always kept horizontal.
[0020]
In any of the undulating passage devices according to claim 6 and claim 7 of the present invention, when the interlocking member is moved back and forth in the longitudinal direction of the passage, each of the steps tilts around the support shaft, and the upper surface of the step Is held in a horizontal state or parallel to the frame.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0022]
1 to 6 show a first example of the embodiment of the undulating passage device of the present invention. In the drawing, the same reference numerals as those in FIG. 12 denote the same components.
[0023]
This undulating passage device includes a frame 4 that can be raised and lowered with respect to the turntable 1, a guide member 42a that is fixed to a side surface of the frame 4 and that extends in the longitudinal direction of the passage, and that fits in the guide member 42a and that is front and rear in the longitudinal direction of the passage. A movable member 42b slidable to the movable member 42, a support member 21 extending in the longitudinal direction of the passage fixed to the movable member 42b, a plurality of steps 7 arranged at equal intervals in the longitudinal direction of the passage, and the step 7 on the support member 21 A support shaft 22 pivotally supported so as to be tiltable back and forth, a bracket 11 projecting downward from each step 7, and an interlock connected to the bracket 11 by an interlocking pin 10 disposed in parallel below the frame 4 and extending in the passage width direction. A member 23 and a switching mechanism 24 disposed on the base end side of the frame 4 are provided.
[0024]
The angle of the frame 4 changes according to the protruding amount of the piston rod of the cylinder 12 (see FIG. 12), as in the conventional undulating passage device described above.
[0025]
Further, a platform (not shown) is attached to the front end of the frame 4 so as to be able to swing up and down.
[0026]
The switching mechanism 24 is vertically disposed near the base end portion of the frame 4 and is supported by the turntable 1 via a bracket 25, and a pair of left and right guide shafts 26, and an upper support that can be moved up and down along the left and right guide shafts 26. The member 27 and the lower support member 28, and a support shaft 22 pivotally supported on the upper support member 27 by a pin 29 whose base end portion extends in the passage width direction and whose distal end portion pivotally supports a predetermined step 7. Step 7 in which the upper link 31 formed and the base end portion of the upper link 31 are pivotally supported by the lower support member 28 by the pin 30 extending in the passage width direction and the distal end portion is the pivot target of the upper link 31 described above. The lower link 32 pivotally attached to the interlocking pin 10 attached to the bracket 11 and the moving means 33 that can move the upper support member 27 and the lower support member 28 close to and away from each other.
[0027]
In this switching mechanism 24, when the upper support member 27 is positioned at the upper end portion of the guide shaft 26 and the lower support member 28 is positioned at the lower end portion of the guide shaft 26, both links 31 and 32 are parallel to the frame 4. Further, the base end pivot point (pin 29) of the upper link 31 is coaxially overlapped with the base end pivot point (pin 2 in FIG. 7) of the frame 4, and the upper link 31, the lower link 32, step 7 and The bracket 11 forms a parallelogram link having a fixed side between the pins 29 and 30 (see FIGS. 1 and 2).
[0028]
Thus, according to the undulation of the frame 4, each support shaft 22 swings up and down around the pin 29 coaxial with the base end pivot point of the frame 4, and each interlocking pin 10 is positioned directly below the pin 29. It swings up and down around the pin 30 and the upper surface of the step 7 is always kept horizontal.
[0029]
Therefore, when the frame 4 is tilted (see FIG. 1), the top surfaces of the plurality of steps 7 are arranged in a staircase pattern, and when the frame 4 is leveled (see FIG. 2), a plurality of steps 7 are arranged. The state where the upper surface of Step 7 is connected in a planar shape is exhibited.
[0030]
Further, when the upper support member 27 and the lower support member 28 are positioned at the intermediate portion in the vertical direction of the guide shaft 26, the base end pivot points (pins 29 and 30) of the links 31 and 32 are coaxially overlapped, The upper link 31, the lower link 32, the step 7 and the bracket 11 form an isosceles triangular link with the pins 29 and 30 as the swing center (see FIGS. 4 and 5).
[0031]
Thereby, according to the undulation of the frame 4, the guide member 42a and the moving member 42b allow a minute displacement in the passage longitudinal direction of the support shaft 22 attached to the support member 21, and each support shaft 22 and the interlocking pin. The upper and lower surfaces of the step 7 are held in parallel with the frame 4 at all times.
[0032]
Therefore, both when the frame 4 is tilted (see FIG. 4) and when the frame 4 is leveled (see FIG. 5), the upper surface of the plurality of steps 7 is in a planar state.
[0033]
The moving means 33 is disposed horizontally between the upper and lower brackets 25 in the passage width direction and has a screw shaft 34 having a thread on the left and right end portions, and a nut 35 screwed into the thread of the screw shaft 34. The base end portion is pivotally supported on the nut 35 by a traversing pin 36 extending horizontally in a direction orthogonal to the screw shaft 34, and the distal end portion pivots on the upper support member 27 by an upper lifting pin 37 parallel to the traversing pin 36. The upper displacement transmission member 39 is supported, and the base end portion is pivotally supported on the nut 35 by the traversing pin 36, and the distal end portion is pivotally supported on the lower support member 28 by the lower lifting pin 38 parallel to the traversing pin 36. The both ends of the screw shaft 34 are pivotally supported by brackets 41 whose positions are fixed with respect to the turntable 1.
[0034]
In addition, rotation of a motor (not shown) is transmitted to the screw shaft 34.
[0035]
In this moving means 33, when the screw shaft 34 is rotated in a predetermined direction, the nut 35 moves toward the longitudinal center of the screw shaft 34, and the upper displacement transmission member 39 moves the upper support member 27 via the pin 37. The lower displacement transmitting member 40 is raised and the lower support member 28 is lowered via the pin 38 (see FIG. 3), and the upper surface of each step 7 is always held horizontally.
[0036]
Further, when the screw shaft 34 is rotated in the reverse direction, the nut 35 moves toward the left and right ends of the screw shaft 34, and the upper displacement transmission member 39 lowers the upper support member 27 via the pin 37 and lowers the lower side. The displacement transmitting member 40 raises the lower support member 28 via the pin 38 (see FIG. 6), and the upper surface of each step 7 is always held parallel to the frame 4.
[0037]
As described above, in the undulating passage device shown in FIGS. 1 to 6, when the upper and lower links 31, 32 are pivotally overlapped with the base end pivot points (pins 29, 30), the upper surface of step 7 is always parallel to the frame 4. The frame 4 can be tilted while the passage is flat, making it easy for elderly people and wheelchair users to pass through, and enabling the traveling movement of cargo carriers and suitcases with casters. Become.
[0038]
Further, since the screw shaft 34 is arranged in parallel to the passage width direction, the moving means 33 can be installed in a small gap between the base end portions of the frame 4 and the interlocking member 23 and the turntable 1. it can.
[0039]
Furthermore, instead of the moving means 33 described above, a moving means 56 as shown in FIGS. 7 and 8 may be used.
[0040]
7 and 8, the same reference numerals as those in FIGS. 1 to 6 denote the same components.
[0041]
The moving means 56 is disposed horizontally between the upper and lower brackets 25 in the passage width direction and has a cylinder 44 with a bracket 43 fixed to the end of the housing, and a direction in which the base end is orthogonal to the axis of the cylinder 44. A first transverse pin 46 extending substantially horizontally to the bracket 43 and a first end pivotally supported by the upper support member 27 by a first upper lifting pin 47 parallel to the first transverse pin 46. The upper displacement transmitting member 48 and the lower end support by the first lower elevating pin 49 whose proximal end is pivotally supported by the bracket 43 by the first traversing pin 46 and whose distal end is parallel to the first traversing pin 46. A first lower displacement transmission member 50 pivotally supported by the member 28 and a second transverse pin 51 whose proximal end is parallel to the first transverse pin 46 are pivotally supported by the piston rod 45 of the cylinder 44 and have a distal end. Part is second A second upper displacement transmission member 53 pivotally supported on the upper support member 27 by a second upper elevating pin 52 parallel to the row pin 51, and a piston rod 45 of the cylinder 44 having a base end portion by the second transverse pin 51. And a second lower displacement transmission member 55 pivotally supported by the lower support member 28 by a second lower lifting pin 54 parallel to the second traversing pin 51. Yes.
[0042]
In the moving means 56, when the piston rod 45 is pulled into the housing of the cylinder 44, the first traversing pin 46 and the second traversing pin 51 move in directions close to each other, and both upper displacement transmission members 48, 53 are pinned. The upper support member 27 is raised through 47 and 52, and the lower displacement transmission members 50 and 55 lower the lower support member 28 through pins 49 and 54, and the upper surface of each step 7 (see FIG. 1). Is always kept horizontal.
[0043]
Further, when the piston rod 45 is protruded from the housing of the cylinder 44, the first traversing pin 46 and the second traversing pin 51 are moved away from each other, and the upper displacement transmission members 48, 53 are moved to the pins 47, 52. The upper support member 27 is moved down through the lower displacement transmission members 50 and 55 and the lower support member 28 is moved up through the pins 49 and 54, and the upper surface of each step 7 (see FIG. 4) is the frame 4. And always kept parallel.
[0044]
In this way, the moving means 56 shown in FIGS. 7 and 8 can also switch the posture of step 7 in the same manner as the moving means 33 described above.
[0045]
Further, since the cylinder 44 is arranged in parallel to the passage width direction, the moving means 56 is provided with a small gap between the base end portions of the frame 4 and the interlocking member 23 and the turntable 1 (FIGS. 1 and 4). Can be installed).
[0046]
9 to 11 show a second example of the embodiment of the undulating passage device of the present invention. In the figure, the same reference numerals as those in FIG. 12 denote the same components.
[0047]
This hoisting passage device has a frame 4 that can be hoisted with respect to the turntable 1, a plurality of steps 7 arranged at equal intervals in the longitudinal direction of the passage, and a support that pivots the steps 7 to the frame 4 so as to tilt forward and backward. The shaft 8, the bracket 11 projecting downward from each step 7, the interlocking member 57 connected in parallel to the lower part of the frame 4 and connected to the bracket 11 by the interlocking pin 10 extending in the passage width direction, and the interlocking member 57 A cylinder 58 that can be moved back and forth in the longitudinal direction of the passage, a first angle detector 61, a second angle detector 62, a passage state setting device 63, and a control mechanism 64 are provided.
[0048]
The angle of the frame 4 changes according to the protruding amount of the piston rod of the cylinder 12 (see FIG. 12), as in the conventional undulating passage device described above.
[0049]
The piston rod of the cylinder 58 is connected to an interlocking pin 10 attached to the bracket 11 in a predetermined step 7, and the housing of the cylinder 58 is connected to a bracket 59 provided on the turntable 1 by a pin 60.
[0050]
If the protrusion of the piston rod of the cylinder 58 is appropriately adjusted and the interlocking member 57 is moved back and forth in the longitudinal direction of the passage, the upper surface of the step 7 is always kept horizontal or framed regardless of the undulation angle of the frame 4. 4 can be held in parallel.
[0051]
The first angle detector 61 is attached to a predetermined step 7 and outputs an angle signal 61 s corresponding to the inclination angle of the upper surface of the step 7.
[0052]
The second angle detector 62 is attached to a predetermined portion of the frame 4 and outputs an angle signal 62 s corresponding to the inclination angle of the frame 4.
[0053]
The passage state setting unit 63 alternatively outputs a staircase setting signal 63sa and a slope setting signal 63sb by manual operation.
[0054]
The control mechanism 64 responds to the passage position setting unit 63 and the controller 65 that outputs a piston position command signal 65s based on the signals 63sa, 63sb, 61s, and 62s from the angle detectors 61 and 62, and the piston position of the cylinder 58. A position detector 66 that outputs a piston position detection signal 66s, a calculator 67 that calculates a deviation between the piston position command signal 65s and the piston position detection signal 66s and outputs a position deviation signal 67s, and amplifies the position deviation signal 67s. A servo amplifier 68 that outputs an actuation signal 68s, and a control valve 69 that switches the spool by the actuation signal 68s and applies a fluid pressure 69s to the cylinder 58.
[0055]
When the passage state setter 63 outputs the staircase setting signal 63sa when the frame 4 is tilted, the control mechanism 64 makes the upper surface of step 7 horizontal based on the angle signal 61s of the first angle detector 61. The protrusion amount of the piston rod of the cylinder 58 is adjusted so that the passage formed by the plurality of steps 7 is stepped.
[0056]
Further, when the passage state setting unit 63 outputs the slope setting signal 63sb when the frame 4 is inclined, the angle signal 61s of the first angle detector 61 and the angle signal 62s of the second angle detector 62 are output. Based on this, the amount of protrusion of the piston rod of the cylinder 58 is adjusted so that the upper surface of step 7 is parallel to the frame 4, and the passage formed by the plurality of steps 7 is set in a slope shape.
[0057]
Further, when the frame 4 is horizontal, regardless of whether the staircase setting signal 63sa or the slope setting signal 63sb is output from the passage state setting unit 63, the passage formed in step 7 is in a horizontal plane shape. Is set.
[0058]
As described above, in the undulating passage device shown in FIGS. 9 to 11, when the interlocking member 57 is appropriately moved back and forth in the longitudinal direction of the passage, the upper surface of the step 7 is held parallel to the frame 4. Users will be able to pass easily, and it will be possible to move and move cargo carts and suitcases with casters.
[0059]
The undulating passage device of the present invention is not limited to the above-described embodiment, and the present invention is not limited to an airport parking lot or a building and an aircraft, or a distribution terminal cargo handling area or a warehouse and a vehicle. Of course, it is possible to make changes within a range that does not depart from the gist of the present invention.
[0060]
【The invention's effect】
As described above, according to the undulating passage device of the present invention, the following various excellent effects can be obtained.
[0061]
(1) In any of the undulating passage devices according to the first to fifth aspects of the present invention, when the proximal end pivot pins of the upper and lower links are overlapped coaxially, the upper surface of the step is always parallel to the frame. Since the frame can be tilted while being held and the passage is flat, it is easy for elderly people and wheelchair users to pass through, and the traveling movement of the freight carriage and the suitcase with casters becomes possible.
[0062]
(2) Further, if the upper and lower links are parallel to the frame, the upper surface of the step is always kept horizontal, and the passage can be stepped according to the inclination of the frame.
[0063]
(3) In any of the undulating passage devices according to the sixth and seventh aspects of the present invention, when the interlocking member is appropriately moved back and forth in the longitudinal direction of the passage, the upper surface of the step is held parallel to the frame. This makes it easier for elderly people and wheelchair users to pass, and allows the carriage and the suitcase with casters to travel.
[Brief description of the drawings]
FIG. 1 is a longitudinal sectional view showing a state in which a step upper surface is always kept horizontal and a frame is inclined in a first example of an undulating passage device according to an embodiment of the present invention;
FIG. 2 is a longitudinal sectional view showing a state in which the upper surface of the step is always kept horizontal and the frame is leveled in the first example of the embodiment of the undulating passage device of the present invention.
3 is a cross-sectional view showing a portion near the base end of the frame in FIG. 1. FIG.
FIG. 4 is a longitudinal sectional view showing a state in which the step upper surface is always kept parallel to the frame and the frame is inclined in the first example of the embodiment of the undulating passage device of the present invention.
FIG. 5 is a longitudinal sectional view showing a state in which the upper surface of the step is always kept parallel to the frame and the frame is horizontal in the first example of the embodiment of the undulating passage device of the present invention.
6 is a cross-sectional view showing a portion near the base end of the frame in FIG. 4. FIG.
7 is a cross-sectional view showing a state in which the upper surface of the step is always kept horizontal in another example of the moving means used in the undulating passage device of FIGS. 1 to 6. FIG.
8 is a cross-sectional view showing a state in which the upper surface of the step always keeps parallel to the frame in another example of the moving means used in the undulating passage device of FIGS. 1 and 6. FIG.
FIG. 9 is a longitudinal sectional view showing a state in which the step upper surface is always kept horizontal and the frame is inclined in the second example of the embodiment of the undulating passage device of the present invention.
FIG. 10 is a longitudinal sectional view showing a state in which the step upper surface is always kept parallel to the frame and the frame is inclined in the second example of the embodiment of the undulating passage device of the present invention.
FIG. 11 is a conceptual diagram showing a control circuit used in a second example of the embodiment of the undulating passage device of the present invention.
FIG. 12 is a longitudinal sectional view showing an example of an embodiment of a conventional undulating passage device.
[Explanation of symbols]
4 frames
7 steps
8 Support shaft
10 interlocking pin
11 Bracket
22 Support shaft
23 Interlocking member
26 Guide shaft
27 Upper support member
28 Lower support member
29 pins (base end pivot pins)
30 pins (base end pivot pins)
31 Upper link
32 Lower link
33 Moving means
34 Screw shaft
35 nuts
36 ramp pin
37 Upper lifting pin
38 Lower lifting pin
39 Upper displacement transmission member
40 Lower displacement transmission member
44 cylinder (linear actuator)
46 First traversing pin
47 First upper lifting pin
48 1st upper side displacement transmission member
49 First lower lifting pin
50 First lower displacement transmission member
51 second traversing pin
52 Second upper lifting pin
53 Second upper displacement transmission member
54 Second lower lift pin
55 Second lower displacement transmission member
56 Moving means
57 Interlocking member
58 cylinder (linear actuator)
61 First angle detector
61s angle signal
62 Second angle detector
62s angle signal
63 Passage state setting device
63sa staircase setting signal
63sb slope setting signal
64 Control mechanism

Claims (7)

A frame that can be raised and lowered around the pivot point at the base end, a plurality of steps arranged at equal intervals in the longitudinal direction of the passage, and pivotally supported so that the steps can be tilted back and forth and allowed to be displaced in the longitudinal direction of the passage A support shaft attached to the bracket, a bracket projecting downward from each step, an interlocking member arranged in parallel below the frame and connected to the bracket by an interlocking pin extending in the passage width direction, and a frame base end pivot A vertically extending guide shaft disposed in the vicinity of the fulcrum; an upper support member and a lower support member that can be raised and lowered along the guide shaft; and a base end portion pivotally supported by the pin extending in the passage width direction; An upper link pivotally attached to a support shaft that pivotally supports a predetermined step, and a base end pivotally supported by a lower support member by a pin extending in the passage width direction, and the distal end is a predetermined step A lower link pivotally attached to an interlocking pin attached to the bracket, and the upper and lower support members can be separated so that the upper and lower links are parallel to the frame, and the base ends of the two links An undulating passage device comprising a moving means capable of bringing the upper and lower support members close to each other so that the pivot pins are coaxially overlapped at an intermediate portion of the guide member. A screw shaft that extends substantially horizontally and can rotate in the circumferential direction, a nut that is screwed to the screw shaft, and a transverse pin that extends substantially horizontally in a direction perpendicular to the screw shaft are pivotally supported by the nut. An upper displacement transmitting member pivotally supported on the upper support member by an upper elevating pin having a distal end parallel to the traversing pin, and a base end pivoted to the nut by the traversing pin and a distal end parallel to the traversing pin. The undulating passage device according to claim 1, wherein the moving means is constituted by a lower displacement transmission member pivotally supported by the lower support member by a side lifting pin. The undulating passage device according to claim 2, wherein the screw shaft of the moving means is arranged in parallel to the passage width direction. A linear motion actuator arranged substantially horizontally and a first traverse pin having a base end portion extending substantially horizontally in a direction orthogonal to the linear motion actuator are pivotally supported at one end of the linear motion actuator, and a distal end portion is a first portion. A first upper displacement transmitting member pivotally supported on the upper support member by a first upper lifting pin parallel to the traversing pin; a proximal end portion pivotally supported by one end of the linear actuator by the first traversing pin; A first lower displacement transmitting member pivotally supported on the lower support member by a first lower lifting pin parallel to the first traversing pin, and a second traversing base end parallel to the first traversing pin A second upper displacement transmission member pivotally supported by the pin at the other end of the linear actuator and having a distal end pivotally supported by the upper support member by a second upper lifting pin parallel to the second traversing pin; Is a direct acting actuator by the second traversing pin A second lower displacement transmission member pivotally supported on the lower support member by a second lower lifting pin pivotally supported at the other end of the slider and having a tip portion parallel to the second traversing pin. The undulating passage device according to claim 1 configured. The undulating passage device according to claim 4, wherein the linear motion actuator of the moving means is arranged in parallel to the passage width direction. A frame that can be raised and lowered around a pivot point at the base end, a plurality of steps arranged at equal intervals in the longitudinal direction of the passage, a support shaft that pivotally supports the step so that it can tilt back and forth, and downward from each step A projecting bracket, an interlocking member connected in parallel to the lower part of the frame and connected to the bracket by an interlocking pin extending in the passage width direction, and a structure in which one end is pin-connected to the interlocking member and the other end pivotally supports the frame An undulating passage device comprising a linear motion actuator pin-connected to an object. A first angle detector for detecting the inclination angle of the step upper surface, a second angle detector for detecting the inclination angle of the frame, and a path state setting device capable of alternatively outputting a staircase setting signal and a slope setting signal The undulating passage device according to claim 6, further comprising: a passage state setter; and a control mechanism that operates the linear actuator based on signals from both detectors.

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