Method of climbing up/down a step, bogie and wheelchair
First Claim
1. Method of climbing up/down a step for a bogie provided with a plurality of wheel supporting units provided under the main body of the bogie for supporting one or a plurality of wheels and actuators for moving said wheel supporting units so that said wheel supported by said wheel supporting units moves upward or downward, comprising the steps of:
- adjusting mass characteristic, rigidity characteristic and damping characteristic generated by an output of said actuators between said wheel supporting units and said main body of said bogie when said wheels climb up/down a step; and
controlling an output of moving force of said actuators applied to said wheel supporting units.
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Accused Products
Abstract
A bogie is provided with a wheel mechanism that can move each wheel in a vertical direction, and a control unit to perform impedance control of moving force to be applied to a wheel supporting unit in which a motor provided in the wheel mechanism is supporting the wheel. When the third wheel is to climb up a step, the control unit controls output of each wheel mechanism to cause the third wheel to make contact with a wall face of the step, and facilitate the wheel to move upward so that it can climb up the step, and the other wheels can be immediately made to contact with the ground even when the climbing wheel irregularly moves in a vertical direction, so that the bogie remains in a stable posture.
30 Citations
36 Claims
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1. Method of climbing up/down a step for a bogie provided with a plurality of wheel supporting units provided under the main body of the bogie for supporting one or a plurality of wheels and actuators for moving said wheel supporting units so that said wheel supported by said wheel supporting units moves upward or downward, comprising the steps of:
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adjusting mass characteristic, rigidity characteristic and damping characteristic generated by an output of said actuators between said wheel supporting units and said main body of said bogie when said wheels climb up/down a step; and
controlling an output of moving force of said actuators applied to said wheel supporting units. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A bogie having a plurality of wheel supporting units for supporting one or a plurality of wheels provided under the main body of the bogie, comprising:
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actuators for moving said wheel supporting unit so that said wheel supported by said wheel supporting unit moves upward or downward, and a control unit, wherein said control unit performs the following operations of;
adjusting mass characteristic, rigidity characteristic and damping characteristic generated by an output of said actuators between said wheel supporting units and said main body of said bogie; and
controlling an output of moving force of said actuators applied to said wheel supporting units. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A bogie having a plurality of wheel supporting units for supporting one or a plurality of wheels provided under the main body of the bogie, comprising:
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actuators for moving said wheel supporting units so that said wheel supported by said wheel supporting units moves upward or downward; and
means for controlling for adjusting mass characteristic, rigidity characteristic and damping characteristic generated by an output of said actuators between said wheel supporting units and said main body of said bogie and controlling an output of moving force of said actuators applied to said wheel supporting units. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
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Specification