JPH0229554B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a wheelchair auxiliary trolley used when a wheelchair user ascends and descends stairs or escalators.

[Technical background of the invention]

For wheelchair users to use stairs and escalators, an attendant is essential, and it is difficult for such an attendant to do so alone. For this reason, a wheelchair has recently been proposed in which the wheelchair is set on an auxiliary trolley so that the wheelchair user can go up and down the stairs with only one attendant.

FIG. 17 to FIG. 20 show a schematic structure of such a wheelchair auxiliary trolley and its operating state.

That is, as shown in FIGS. 17 to 20, a trolley frame 1, a crawler device 2 (details of which will be described later) attached to the chassis frame 1, and a crawler device 2 rotatably attached to the upper part of the chassis frame 1, are used to transport the wheelchair. A wheelchair auxiliary trolley is constituted by a lever 3 having a fixing fitting capable of fixing the wheel 6 at a predetermined location, and a set of two wheels 5 for horizontal movement attached to both outer sides of the front end 4 of the crawler device 2. Although not shown, the crawler device 2 is made of an elastic body with a high coefficient of friction between guide wheels provided on both left and right sides of the front end of the guide frame and drive wheels provided on both left and right sides of the rear end of the guide frame. The endless belt 7 is movable, and a motor, a speed reducer, a battery, etc. for driving the drive wheels are incorporated in the bogie frame 1. The pair of wheels 5 for horizontal movement have a shaft in the middle thereof, and are designed to swing along the edge of the step about the shaft. Furthermore, a crawler drive switch is attached to the handle portion of the lever 3.

Now, in order to use the wheelchair auxiliary trolley having such a configuration, first, as shown in FIG. Fix it to the lever 3 with a fixing metal fitting. Next, as shown in Fig. 18, the wheelchair 6 and lever 3 are fixed on their backs in a position tilted approximately 40 degrees to 50 degrees with respect to the vertical line, so that even when the crawler device 2 of the auxiliary trolley gets on the stairs, Make sure it does not fall over, and then carry the auxiliary trolley to the stairway entrance. As shown in FIGS. 18 to 19, when ascending from the bottom to the top, first hook the four tip ends of the crawler device 2 onto the edge of the stairs, and finally hook the entire crawler device 2 onto the edge of the stairs. In this state, the crawler device 2 is driven to climb the stairs.

Further, on the upper floor of the stairs, the auxiliary cart is temporarily stopped at the position shown in Fig. 19, and the attendant moves the center of gravity as shown in Fig. 20 to ground the crawler device 2, and then the crawler device 2 Move forward to end the upward movement.

On the other hand, when the wheelchair auxiliary trolley is lowered from the top of the stairs, the procedure is almost the same as described above. That is, as shown in FIG. 20, the auxiliary cart is carried to a predetermined position on the stairs, and then as shown in FIG. 19, the center of gravity is moved to place the entire crawler device 2 on the edge of the stairs. Move and lower. Then, the rear end 4 of the crawler device 2 touches the landing, and then the entire crawler device 2 gradually touches the ground on a horizontal landing in the state shown in FIG. 18, and the descent ends.

After going up and down the stairs in this way, the wheelchair 6 and the lever 3 are still tilted at about 40 to 50 degrees with respect to the vertical line, as shown in Figure 18, so the wheelchair 6 and the lever 3 are still tilted at an angle of about 40 to 50 degrees with respect to the vertical line, as shown in Figure 17. The lever 3 of the auxiliary trolley is returned to a position slightly tilted forward from the vertical, and the wheelchair 6 is lowered from the auxiliary trolley.

[Problems with background technology]

In the wheelchair auxiliary trolley having such a configuration and operation, in order to obtain stability on stairs, after setting the wheelchair 6, move the lever 3 in advance at approximately 40 degrees to the vertical line on a horizontal road surface, as shown in FIG. I try to set it on my back at 50 degrees. As a result, wheelchair users are forced to look diagonally upwards, which can cause a sense of fear. By the way, experiments have shown that although there are differences depending on the person, there is almost no fear up to an angle of about 30 degrees to the vertical, but when this angle is even slightly exceeded, one feels great fear. ing. Furthermore, if the wheelchair user is a woman wearing a skirt, there is a drawback that other people's gaze may be a concern.

On the other hand, when a wheelchair user uses an escalator, the size of the wheels of the wheelchair is larger than the length of each escalator step, so it is difficult for a wheelchair user to ride on the steps stably. It was almost impossible to use and dangerous. Furthermore, even if an attendant is present, it is difficult for a single attendant to place the wheelchair on the escalator, keep it stable, and safely get on and off the escalator. Furthermore, when boarding a moving escalator using the aforementioned auxiliary trolley, the rotational speed of the auxiliary trolley's crawler device is smaller than the moving speed of the steps, and there are only wheels at the front end. Because the board and rubber provided on the escalator are tilted toward the steps, if the front or rear end of the auxiliary trolley gets on the escalator, even if the auxiliary trolley's crawler device is moved when the vehicle gets on the escalator, the central part of the crawler device will be damaged. The auxiliary trolley comes into contact with the escalator's board and either stops or gets dragged, making it impossible to get on or off the escalator. Further, even if the person is forced to get on the escalator, the person is already in an unreasonable position by the time they get on the escalator, so it is extremely unstable and dangerous on the escalator.

Furthermore, since the wheelchair auxiliary trolley with the above-mentioned configuration has a lever on the front end, even if it is possible to get on and off the escalator, the attendant must first get on the escalator and then drag the auxiliary trolley. This is dangerous because the attendant will have to step onto the escalator backwards.

[Purpose of the invention]

The present invention was made in view of the above circumstances, and its purpose is to provide a wheelchair assistance for ascending and descending stairs or escalators, which allows wheelchair users accompanied by an attendant to use stairs and escalators safely and securely. The aim is to provide a trolley.

[Summary of the invention]

In order to achieve such an object, the present invention has a drive wheel and a guide wheel driven by a motor on the undercarriage frame, and an elastic body with a high friction coefficient that moves in a closed loop between these drive wheels and guide wheels along the guide frame. A crawler device equipped with an endless belt of A wheelchair auxiliary trolley having a lever rotatably attached to the front end side for fixing a wheelchair, a hydraulic cylinder rotatably mounted between the trolley frame and the lever and rotating the lever with a piston rod; , a tilt angle sensor attached to the truck body to detect the tilt angle of the truck body and output an output corresponding to the inclination; and a lever position installed to the truck body to detect the rotational position of the lever. a detector, a hydraulic power unit for driving the hydraulic cylinder provided inside the truck underframe, a battery serving as a power source thereof, and the truck attached to the back of the lever and detected by the inclination angle sensor. A drive control section that compares an output of a magnitude corresponding to the inclination of the main body with a predetermined set value and determines whether the output is large or small to drive and control the hydraulic power unit, and the hydraulic cylinder is operated by driving the hydraulic power unit. and a control section in which a control circuit is formed by a stop control section that stops driving the hydraulic power unit when the lever position detector detects that the lever has rotated to a predetermined position. There is.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings. 1 to 3 show an example of the configuration of a wheelchair auxiliary trolley according to the present invention, in which FIG. 1 is a front view of the auxiliary trolley, FIG. 2 is a view of FIG. 11 viewed from the direction of the arrow, and FIG. 2 is a sectional view taken along the line - in FIG. 1. FIG. In FIGS. 1 to 3, 11 is a bogie frame, 12 is a crawler mounted on the bogie frame 11, and this crawler device 12 is attached to the bogie frame 1.
A guide wheel 13 provided on both the left and right sides of the front end of the guide frame that constitutes the framework of 1, a drive wheel 14 provided on both the left and right sides of the rear end, and a closed loop between these guide wheels 13 and drive wheels 14 along the guide frame. It is equipped with an endless belt 15 made of an elastic body with a high coefficient of friction that moves in a straight line, and a battery 16 in the bogie frame 11, a motor 7 that drives the battery 16 as a power source, and a rotation speed of the motor 17. A speed reducer 18 is incorporated to reduce the speed and transmit the speed to the drive wheels 14. Reference numeral 19 denotes a pair of wheels for horizontal movement provided on both outer sides of the front end 20a of the crawler device 12, and between these two wheels 19 is an axle attached to the outer surface of the crawler device 12. It is rotatably attached to a plate 22 that swings around a center 21. Reference numeral 23 denotes a cover 24 provided to cover the rear end portion 20b of the crawler device 12.
This is an auxiliary handle that is removably attached to the end face of the cover 24 via a fixture 25. A support 23a for attaching a fixture 25 for attaching the auxiliary handle 23 is attached to the tip of this cover 24, and furthermore, on both sides of this support 23a, a support 23a is attached. A set of two wheels 26 having approximately the same width dimension as the crawler device 12 is provided, and these two wheels 2
6 is an axle 2 attached to a support 23a in the middle thereof.
It is rotatably attached to a plate 28 that swings about 7. On the other hand, reference numeral 29 denotes an auxiliary frame provided on the front end side of the crawler device 12 and inside the endless belt 15. A lever 30, which also serves as a handle, is rotatably attached by a pin joint. This lever 30 is provided with fixing fittings 31 and 32 at two appropriate locations for attaching and fixing the wheelchair. Further, 33 is a hydraulic cylinder whose movable rod is rotatably connected to the lever 30 and the cylinder case side is rotatably connected to the front end side of the auxiliary frame 29 by means of a pin joint. Hydraulic power unit 35 (pump, motor,
The lever 30 is activated by hydraulic pressure supplied and discharged from the oil tank).
It is designed so that it can be rotated. 36 is a tilt angle sensor attached to the top of the front end side of the auxiliary frame 29 via a mounting member;
Reference numeral 6 detects the inclination of the entire truck body with respect to the vertical line. 37 is a lever position detector attached to the top of the rear end of the auxiliary frame 29, and this lever position detector 37 operates micro switches 38, 39, and 40 that stop the lever 30 when it detects that it has rotated to the expected position. We are prepared. A cam 41 is attached to the lever 30 to operate these micro switches 38-40. Further, on the back of the lever 30, there are a crawler drive switch 42 for operating the crawler device 12, and operation switches 43a and 43 for manually operating the hydraulic power unit 35.
A control box 46 equipped with a power switch 44, a set switch 45, and a control circuit for driving the hydraulic power unit is attached to the control box 46.

In the figure, reference numeral 13' denotes a wheel rotatably supported at the top of the front end of the auxiliary frame 29.
3' is used as a tension roller that applies constant pressure tension to the endless belt 15 of the crawler device 12.

On the other hand, FIG. 4 shows the configuration of the control circuit inside the control box 46. In FIG. 4, 16 is a battery as a DC power source, one control power line P is led out from the positive side of this battery 16 via a power switch 44, and the other control power line N is led out from the negative side of the battery 16. has been derived. A motor 17 is connected between these control power lines P and N, and is driven to rotate forward (in the up direction) or reverse (in the down direction) by operating the crawler drive switch 42. Further, 47, 48, 49 are relays, and one ends of these relays 47, 48, 49 are connected to micro switches 38, 39, 40 of the lever position detector 37.
The relays 47, 48, and 49 are connected in series to one control power line P, respectively, and the other ends of the relays 47, 48, and 49 are connected to the other control power line N, respectively. A series circuit of a normally closed contact 48b1 of a relay 48 and a normally open contact 47a1 of a relay 47 is connected in parallel to the microswitch 38, and a normally closed contact 4 of the relays 47 and 49 is connected to the microswitch 39.
7b2, 49b1 and normally open contact 48a of relay 48
1 series circuit is connected in parallel, and a relay 4 is connected between the micro switch 40 and the relay 49.
One end of the normally open contact 49a1 of No. 9 is connected, and the other end is connected to the above-mentioned normally closed contact 48b1 and normally open contact 47a.
Relays 47 and 4 are connected between the connections of 1 and 4, respectively.
8.49 self-holding circuits are formed. Furthermore, one end of the tilt angle sensor 36 is connected to one control power line P.
The other end is connected to the other control power supply line N via the comparison circuit 50. Comparison circuit 50 compares the output voltage of tilt angle sensor 36 with a set voltage, and when the output voltage reaches the set voltage, either relay 51 or 52 is activated. Furthermore, the movable side terminal of the set switch 45 is connected to one control power supply line P, and the fixed side set terminal is connected in series to a normally open contact 47a2 of a relay 47, a normally closed contact 54b1 of a relay 54, which will be described later, and a relay 53. and is connected to the other control power supply line N.
A comparison circuit 50 is connected in parallel with the normally open contact 47a2.
A series circuit of normally open contact 52a1 of relay 52 and normally closed contact 49b2 of relay 49 is connected.
Further, the set terminal of the set switch 45 is connected in series to the normally closed contact 47b1 of the relay 47, the normally open contact 51a1 of the relay 51 of the comparison circuit 50, the normally closed contact 48b2 of the relay 48, and the normally closed contact 53b1 of the relay 53. One end of this relay 54 is connected, and the other end of this relay 54 is connected to the other control power line N. The fixed side reset terminal of the set switch 45 is connected to the normally closed contact 47b3 of the relay 47 and the relay 48.
The normally open contacts 48a are connected in series between the normally closed contacts 48b2 and 53b1. One end of the hydraulic system operating switch 43a is connected to one control power line P, and the other end is connected between the normally closed contacts 48b2 and 53b1. On the other hand, 55 and 56 are solenoids of the directional control valve 34, and one end of the solenoid 55 is connected to the relay 5.
One end of the solenoid 56 is connected to one control power supply line P through the normally open contact 53a2 of the relay 54, and the other end of the solenoids 55 and 56 is connected to the other control power supply line P through the normally open contact 53a2 of the relay 54. Each is connected to a line N. Furthermore, 57 is a magnetic switch for the hydraulic pump drive motor.
One end thereof is connected to one control power line P, and the other end is connected to the other control power line N via a hydraulic pump drive motor 58. One end of the excitation coil 57c of this magnetic switch 57 is connected to the normally open contacts 53a1, 54a1 of the relays 53, 54.
are connected in parallel to one control power line P, and the other end of the excitation coil 57c is connected to the other control power line N.
It is connected to the.

Next, the operation of the wheelchair auxiliary trolley configured as described above will be explained with reference to the operation diagrams shown in FIGS. 5 to 16.

First, the wheelchair 6 is set on the trolley body using the fixing fittings 31 and 32 provided on the lever 30 as shown in FIG. In this case, the lever 30 of the truck body is tilted forward by about 10 degrees with respect to the vertical line, and the micro switch 38 is in the closed state. When the power switch 44 of the control box 46 is turned on in this state, the control power lines P and N become live, which excites the relay 47 and closes the normally open contact 47a1, causing the normally open contact 48b1 to pass. A self-holding circuit is formed. Next, when the set switch 45 is turned to the set side, the normally open contact 47a2 of the relay 47 and the relay 5
The relay 53 is excited through the normally closed contact 54b1 of No. 4. As a result, the normally open contact 53 of the relay 53
Since the excitation coil 57c of the magnetic switch 57 is excited by the closing of a1, the magnetic switch 57 is turned on and the hydraulic pump drive motor 58 is driven. At the same time, normally open contact 5 of relay 53
By closing 3a2, one solenoid 55 of the directional control valve 34 is energized. Therefore, the operation of the hydraulic pump drive motor 58 causes the hydraulic cylinder 33 to
The piston rod is retracted, and the lever 30 rotates toward the front end accordingly, so that the wheelchair 6 lies on its back. Eventually, as shown in Figure 6, the wheelchair 6 tilts upward by about 15 degrees with respect to the vertical line.
The limit switch 39 is turned on by the cam 41. By turning on the limit switch 39, the relay 48 is energized, and its normally open contact 48a1
Normally closed contacts 47b of relays 47, 49 due to the closing of
A self-holding circuit is formed through 2,49b1. At this time, since the normally closed contact 48b1 of the relay 48 is opened, the self-holding circuit of the relay 47 is cut off, and since the normally open contact 47a2 of the relay 47 is opened, the relay 53 is deenergized, so the normally open contact 53a1 of the relay 47 is deenergized. The opening causes the excitation coil 57c of the magnetic switch 57 to be deenergized, and the release of the magnetic switch 57 deenergizes the hydraulic pump drive motor 58.
is stopped, and the operation of the lever 30 is temporarily stopped. In this state, as can be seen from FIG. 6, the wheels 59 of the wheelchair 6 rise above the ground, allowing the auxiliary trolley carrying the wheelchair 6 to be moved to the stairs or escalator.

Here, taking the case of stairs as an example, as shown in FIGS. 7 to 9, the crawler drive switch 42 is first set in the upward direction (up direction) U side shown in FIGS. 2 and 4. When it arrives, the crawler device 12 is driven. As the crawler device 12 is driven, the rising portion of its front end 20a catches the edge of the first staircase, and the crawler device 12 begins to ascend the stairs.

When the auxiliary cart begins to ascend the stairs and the main body of the cart begins to tilt, the output voltage of the inclination angle sensor 36 begins to rise, and when it eventually reaches the set voltage, the relay 52 in the comparator circuit 50 is activated. As a result, the relay 53 is operated by closing the normally open contact 52a of the relay 52, and its normal contacts 53a1 and 53a2 are closed. Therefore, by closing the normally open contacts 53a1 and 53a2, the hydraulic pump drive motor 53 is driven again, and at the same time, the solenoid 55 of the directional control valve 34 is closed.
is excited, and the hydraulic cylinder 33 maintains the seat surface of the wheelchair 6 substantially horizontally by retracting its piston rod. For example, if the set voltage corresponds to an inclination angle of 10 degrees with respect to the vertical line of the truck body, when the truck body is tilted by 10 degrees, the hydraulic cylinder 33 operates and retracts the piston rod. When the piston rod of the hydraulic cylinder 33 is completely retracted in this manner, the micro switch 40 is closed by the cam 41, and the relay 49 is energized, and its normally open contact 46a1 is closed to self-hold through the normally closed contact 48b1 of the relay 48. A circuit is formed. At this time, normally closed contact 49b of relay 49
2, the relay 53 is deenergized, so its normally open contact 53a1 is opened, and the hydraulic pump drive motor 58 is stopped. If the crawler device 12 is operated while the seat surface of the wheelchair 6 is kept substantially horizontal as shown in FIG. 8, the auxiliary trolley ascends the stairs.

When the auxiliary trolley reaches the upper floor side, crawler device 1
Switch 42 of No. 2 is turned off once to stop the auxiliary cart. Then, manually move the center of gravity of the trolley body. As shown in FIG. 9, the auxiliary truck is gradually tilted until the front end 20a of the crawler device 12 touches the landing. At this time, the seat surface of the wheelchair 6 begins to tilt again along with the tilt of the auxiliary cart, and the output voltage of the tilt angle sensor 34 begins to decrease again. When the output voltage of the tilt angle sensor 34 reaches the set voltage, the relay 51 of the comparator circuit 50 is activated and its normally open contact 51a1 is closed. As a result, the normally closed contact 47b1 of the relay 47, the relay 51
Normally open contact 51a1 of , normally closed contact 48 of relay 48
b2 and the normally closed contact 53b1 of the relay 53, the relay 54 is excited. Therefore, due to the operation of this relay 54, its normally open contacts 54a1, 5
4a2 is closed, the magnet coil 57 is turned on by the excitation of the excitation coil 57c, the hydraulic pump driving motor 58 is driven, and the solenoid 56 of the directional control valve 34 is energized. As a result, the piston rod is pushed out by the operation of the hydraulic cylinder 33, and the lever 30 is rotated in the opposite direction to that in the above case, thereby maintaining the seat surface of the wheelchair 6 in a substantially horizontal state. For example, if the set voltage is set to correspond to an inclination of the truck main body at 20 degrees with respect to the vertical line, the piston rod of the hydraulic cylinder 33 is pushed out when the inclination of the auxiliary truck reaches 30 degrees. When the cam 41 attached to the lever 30 turns on the micro switch 39, the relay 48 is energized again, its normally closed contact 48b2 is opened, and the relay 54
The circuit of the normally closed contact 47b1, the normally open contact 51a1, and the normally closed contacts 48b2 and 53b1 that form the energizing path is cut, and the relay 54 is deenergized. Therefore, the normally open contact 54a1 of the relay 54 is opened, so the magnetic switch 57 is released and the hydraulic pump drive motor 58 is stopped, causing the lever 30 to stop in the state shown in FIG. As a result, the seat surface of the wheelchair 6 is maintained substantially horizontal even when the wheelchair 6 reaches the landing.

Thereafter, while the crawler device 12 is connected to the edge of the last step of the staircase, the crawler device 12 is moved forward and returns to the horizontal position shown in FIG.

In addition, in the above case, the movement is when ascending from the bottom of the stairs, but in contrast, when lowering the auxiliary trolley, the same procedure is used to descend the stairs while keeping the seat of the wheelchair almost horizontal. be able to.

Next, we will discuss the case of using an escalator. First, to describe the escalator's ascending operation, the auxiliary trolley is moved to the escalator entrance, and the auxiliary handle 23, which has been stored in the auxiliary trolley body or stored in another warehouse, is moved as shown in Fig. 10. As shown in FIG. 2, it is attached to the cover 24 of the rear end portion 20b of the truck body via an auxiliary handle fixture 25. After that, the attendant uses the auxiliary handle 23.
Standing on the side, push the front end 20a of the trolley body into the step position of the escalator as shown in FIG.
When the front end of the trolley body is pushed into the escalator in this way, the wheels 19 on the front end side first ride on the horizontal surface of the steps 100 of the escalator, and since the trolley body is being pushed by the attendant, the steps 100 move. Along with this, the auxiliary trolley also moves forward. Therefore, when the steps 100 gradually rise to form a staircase, the pair of front wheels 19 swing around their central axes, run away to sandwich the steps, and touch the surface of the endless belt 15 of the crawler device 12. touches the edge of step 100. On the other hand, wheels 2 on the rear end side of the truck body
6 is initially on the boarding board 101, but is dragged by the endless belt 15 of the crawler device 12 that is grounded on the steps 100 and drawn into the escalator. As shown in FIG. 12, the endless belt 15 on the rear end side or central part of the crawler device 12 and the back side of the auxiliary handle fixture 23a are also
It touches down at 0''.The step moves forward with the auxiliary trolley on it and travels along the inclined straight section.

At this time, the steps of the escalator perform a stair-forming movement from the escalator entrance to this inclined straight section, but the attitude of the auxiliary cart is accordingly inclined from the horizontal state. When the auxiliary cart tilts, the inclination is detected by the inclination angle sensor 36 as in the case of the stairs described above, and when the auxiliary cart inclines by more than a certain angle, the output of the inclination angle sensor 36 causes the operation sequence of the control circuit described above to be activated. Then, the hydraulic pump drive motor 58 is started, and the hydraulic cylinder 33
The seat surface of the wheelchair 6 is maintained in a substantially horizontal state by this operation.

In this state, the auxiliary trolley continues to rise as the escalator moves, and when it reaches the point where there are no steps on the upper floor as shown in Figure 13,
The output of the inclination angle sensor 36 causes the hydraulic cylinder 33 to operate again according to the operation sequence of the control circuit described above, thereby maintaining the seat surface of the wheelchair 6 substantially horizontally.

When the stairs reach the entrance on the upper floor in the state shown in FIG. 13, the front wheels 19 first run onto the board 101', and then the rear wheels 26 run onto the board to get off the escalator.

In addition, when carrying the auxiliary trolley down the escalator, an attendant should stand on the normal lever 30 side and
4. As shown in Figure 4, get on the escalator by pushing the trolley body toward the stairs. The movement of the lever 30 in this case is the same as on the lower floor side in the case of going up. Further, the user gets off the escalator through the states shown in Figs. 15 and 16, but in this case the lever 30
The movement is the same as on the upper floor side in the case of ascending. Note that the crawler device 12 is not operated on the escalator and when getting on and off the escalator.

When the auxiliary cart reaches the horizontal position after climbing the stairs or escalator as described above, the seat surface of the wheelchair is in a substantially horizontal state as shown in FIG. At this time, since the lever 30 is inclined at 15 degrees with respect to the vertical line, the micro switch 39 is closed, and therefore the relay 4
8 is excited. When the destination is reached in this state, the set switch 45 is turned to the reset side. As a result, the normally closed contact 47b of the relay 47
3. Normally open contact 48a2 of relay 48, relay 53
A circuit of normally closed contact 53b1 is formed, and relay 5
4 is excited. As a result, the hydraulic pump drive motor 58 and the solenoid 56 of the directional control valve 34 are driven again, and as a result, as shown in FIG.
0 is a forward tilt of 10 degrees, and a cam 41 attached to the lever 30 turns on the micro switch 38 to energize the relay 47 again. When this relay 47 is energized, its normally closed contact 47b3 is opened, and the normally closed contact 47b3 and the normally open contact 48a of the relay 48 are opened.
2. The circuit of the normally closed contact 53b1 of the relay 53 is broken, and the relay 54 is deenergized. As a result, the normally open contact 54a1 of the relay 54 is opened, the magnetic switch 57 is released, and the hydraulic pump drive motor 58 is stopped. This also stops the operation of the lever 30, resulting in the state shown in FIG. 5. In this state,
By removing the wheelchair 6 from the lever 30, the wheelchair 6 can be lowered from the auxiliary trolley.

In the above embodiment, the inclination of the lever 30 of the auxiliary cart is detected by the inclination sensor 36 to drive the hydraulic circuit, but the manual switches 43a, 4
2b can also be used to change the inclination of the lever 30 of the auxiliary trolley. Furthermore, in the explanation of the above embodiment, a case was described in which the seat surface of the wheelchair 6 was maintained almost horizontally, but from the viewpoint of general sitting comfort,
Since it is said that it is better to tilt the lever 30 by about 15 degrees with respect to the vertical line, this embodiment is also shown as being horizontal.

As described above, in the above embodiment, the drive wheel 14 and the guide wheel 13 driven by the motor 17 are mounted on the bogie frame 11.
A crawler device 12 comprising an endless belt 15 made of an elastic material with a high coefficient of friction that moves in a closed loop between the drive wheels 14 and guide wheels 13 along a guide frame is attached to constitute a truck body. In a wheelchair auxiliary trolley in which a lever 30 for fixing a wheelchair 6 is rotatably attached to the front end of the main body, a piston rod is operated by a hydraulic cylinder 33 attached to the trolley frame 11 to rotate the lever 30. The lever 3
A lever position detector 37 for detecting the rotational position of 0 is installed, and a hydraulic power unit 35 for driving a hydraulic cylinder 33 is installed inside the bogie frame 11.
and a battery 16 as a power source, the output corresponding to the inclination of the truck main body detected by the inclination angle sensor 36 is compared with a predetermined setting value, and the hydraulic power unit 35 is driven based on the determination of the magnitude thereof. In addition, the hydraulic power unit 35 operates the hydraulic cylinder 33 and the lever 30
When the lever position detector 37 detects that the lever has rotated to a predetermined position, the hydraulic power unit 35
A control circuit is configured to stop the drive of the motor. Therefore, when the wheelchair 6 goes up or down stairs or an escalator, the rotational position of the lever 30 is controlled so that a constant angle of inclination is always maintained according to the inclination of the trolley body, so the wheelchair user is safe. And you can use the stairs or escalator with confidence. Further, a set of two wheels 19 are attached to both sides of the front end of the crawler device 12 so as to be able to swing freely around their central axis, and furthermore, a pair of wheels 19 are attached to the rear end of the crawler device 12 with a width that is approximately the same as the left and right mounting width. A set of two wheels 26 that swing around a central axis are provided at a position where the auxiliary handle 2
3a can be detachably attached via the attachment fixture 25, so when getting on an escalator, it is possible to move smoothly to the step position, and the attendant can use the auxiliary handle 2 when going up.
Since the trolley body can be operated by standing on the lever 30 side when getting off on the 3 side, the wheelchair user can go up and down without special effort, and moreover, safely and without giving the wheelchair user a sense of fear.

〔Effect of the invention〕

As described above, according to the present invention, it is possible to provide an auxiliary trolley for ascending and descending stairs or escalators, which allows a wheelchair user accompanied by an attendant to safely and securely use stairs or escalators.

[Brief explanation of drawings]

1 to 3 show an embodiment of the wheelchair auxiliary trolley according to the present invention, in which FIG. 1 is a front view, FIG. 2 is a view of FIG. 1 viewed from the direction of the arrow,
FIG. 3 is a sectional view taken along the - line in FIG. 1, FIG. 4 is a control circuit diagram of the same embodiment, and FIGS. 5 to 9 are diagrams of the auxiliary cart of the same embodiment going up and down stairs. Figures 10 to 16 are diagrams showing each state when using an escalator, and Figures 17 to 20 are diagrams showing how to go up and down stairs using a conventional wheelchair auxiliary trolley. It is a figure showing a state. 11...Bogie underframe, 12...Crawler device, 13...
Guide wheel, 14... Drive wheel, 15... Endless belt, 16
...Battery, 17...Motor, 18...Reducer, 19
... Wheel (front wheel), 21 ... Axle, 22 ... Rocking plate, 2
3...Auxiliary handle, 24...Cover, 25...Fixing tool, 2
6... Wheel (rear wheel), 27... Axle, 28... Rocking plate,
29... Auxiliary frame, 30... Lever, 31, 32
...Fixing metal fittings, 33...Hydraulic cylinder, 34...Directional control valve, 35...Hydraulic power unit, 36...Inclination angle sensor, 37...Lever position detector, 38-40
...Micro switch, 41...Cam, 42...Crawler drive switch, 43a, 43b...Operation switch, 44...Power switch, 45...Set switch, 46...Control box, 47-49...Relay, 50...
Comparison circuit, 51-54... Relay, 55, 56... Solenoid of directional control valve 34, 57... Magnetic switch.

Claims (1)

[Scope of Claims] 1. A drive wheel and a guide wheel driven by a motor on a bogie frame, and an endless belt made of an elastic body with a high friction coefficient that moves in a closed loop between these drive wheels and guide wheels along the guide frame. A crawler device equipped with the above-mentioned crawler device is attached to form a bogie body, and a set of two wheels that can swing around a central axis are provided on both left and right sides of the front end of the crawler device, and a A wheelchair auxiliary trolley to which a lever for fixing a wheelchair is rotatably mounted, a hydraulic cylinder rotatably mounted between the trolley frame and the lever and for rotating the lever with a piston rod; an inclination angle sensor attached to the main body to detect the inclination angle of the trolley body and output an output corresponding to the inclination; and a lever position detector attached to the trolley main body to detect the rotational position of the lever. , a hydraulic power unit for driving the hydraulic cylinder provided inside the bogie underframe, a battery serving as a power source thereof, and an inclination of the bogie body attached to the back of the lever and detected by the inclination angle sensor. A drive control section compares an output of a magnitude corresponding to a predetermined value with a predetermined set value and controls the hydraulic power unit based on the judgment of the magnitude thereof, and the hydraulic cylinder is actuated by the drive of the hydraulic power unit, and the lever is moved. A staircase or controller comprising a control circuit formed by a stop control section that stops driving the hydraulic power unit when the lever position detector detects that the hydraulic power unit has been rotated to a predetermined position. Wheelchair auxiliary trolley for going up and down escalators. 2. A crawler device equipped with a drive wheel and a guide wheel driven by a motor on a bogie frame, and an endless belt made of an elastic body with a high coefficient of friction that moves in a closed loop between these drive wheels and guide wheels along the guide frame. A lever that is attached to the front end of the trolley body to form a trolley body, a set of two wheels that are swingable around a central axis on both left and right sides of the front end of the crawler device, and a lever that fixes the wheelchair on the front end side of the trolley body. a hydraulic cylinder rotatably mounted between the trolley frame and the lever, and a hydraulic cylinder rotatably operating the lever with a piston rod; an inclination angle sensor that detects the inclination angle of the main body and outputs an output of a size corresponding to the inclination; a lever position detector that is attached to the bogie body and detects the rotational position of the lever; and an inside of the bogie underframe. A hydraulic power unit for driving the hydraulic cylinder provided in the lever and a battery serving as its power source, and a hydraulic power unit having a size corresponding to the inclination of the trolley body attached to the back of the lever and detected by the inclination angle sensor. A drive control section that compares the output with a predetermined setting value and controls the hydraulic power unit based on the judgment of its magnitude; and the hydraulic cylinder is operated by the drive of the hydraulic power unit, and the lever is rotated to a predetermined position. a controller forming a control circuit with a stop control section that stops the drive of the hydraulic power unit when the lever position detector detects that the hydraulic power unit has been moved, and a controller that is removably attached to both left and right sides of the rear end of the crawler device. An auxiliary handle and a cover with a vehicle width that is approximately the same width as the crawler device and a cover for mounting the auxiliary handle, and a set of two wheels that can swing around a central axis are provided on the side of the auxiliary handle. A wheelchair auxiliary trolley for ascending and descending stairs or escalators, characterized by comprising a base.