Stairway ascending/descending vehicle having an arm member with a torque transmitting configuration

• US 5,833,248 A
• Filed: 05/09/1997
• Issued: 11/10/1998
• Est. Priority Date: 05/23/1996
• Status: Expired due to Fees

• Current Assignee: Exedy Corporation
• Original Assignee: Exedy Corporation
• Inventors: Eguchi, Yasuhiko
• Primary Examiner(s): Oberleitner, Robert J.
• Assistant Examiner(s): BARTZ, CLIFFORD T
• Application Number:
  US08/858,709
• Time in Patent Office: 550 Days
• Field of Search: 280/5.2, 280/5.28, 280/28.5, 180/7.1, 180/8.2, 180/8.3, 305/1, 305/3
• US Class Current: 280/5.28
• CPC Class Codes: A61G 5/046 at least three driven wheels
• CPC Class Codes: A61G 5/061 for climbing stairs
• CPC Class Codes: A61G 5/063 with eccentrically mounted wheels
• CPC Class Codes: B62D 57/022 consisting of members having both rotational and walking movements

Abstract

A stairway ascending/descending vehicle which may ascend/descend the steps of the stairs having a height greater than a diameter of wheels and in which vertical vibration is suppressed. The stairway ascending/descending vehicle has main shafts rotatably supported on a front portion and a rear portion of a vehicle body, respectively. Front arm members 4L and 4R are mounted to the front main shafts, and rear arm members 5L and 5R are mounted to the rear main shaft, the front and rear arm members are configured to rotate with respect to the main shafts. Front wheels 6a and 6b are mounted on the front arm members and rear wheels 7a and 7b are to the rear arm members. Torque transmitted from each of the main shafts is transmitted through a first gear 12 connected to the main shafts to second gears 13a and 13b and third gears 14a and 14b to the wheels, the gears 12, 13a, 13b, 14a and 14b all being supported within the arm members, the gears 14a and 14b being connected to the wheels. The gear ratio defined by the gears 12, 13a, 13b, 14a and 14b determine whether the vehicle body 1 climbs a stairway in either a crawling mode or a rotational mode.

Claims

1. A method for controlling a vehicle ascending and descending a flight of stairs, comprising the steps of:

controlling rotation of a plurality of wheels, two of the wheels being attached to an elongated arm member, the arm member being supported on a rotatable shaft which is in turn supported on a vehicle body having a plurality of the rotatable shafts supported thereon, the arm member being rotatable with respect to the rotatable shaft and the wheels being rotatable with respect to the arm member, and torque transmitting members being employed within the arm member for transmitting torque to the wheels;

sensing proximity to a step of a stairway from sensors installed on the vehicle body;

determining one of two modes for ascending the stairs in response to signals from the sensors and configuration of the arm members, wherein a first of the two modes being a crawling mode where the arm member pivots about the main shaft as the vehicle body climbs the stairs without the arm member completely rotating and a second of the two modes being a rational mode where the arm member rotates completely about the main shaft as the vehicle body climbs the stairs;

engaging the stairs in the determined mode; and

sensing proximity to another step of the stairway.

2. A stairway climbing vehicle comprising:

a vehicle body;

front and rear main shafts rotatably supported on a front portion and a rear portion of said vehicle body, respectively;

front and rear arm members rotatably supported on right and left side portions of the main shafts, respectively, each of said front and rear arm members configured to rotate relative to a corresponding one of said main shafts;

each of said front and rear arm members including two wheels rotatably mounted on opposite ends of said arm members, each of said front and rear arm members further including torque transmitting members for transmitting torque from said main shafts to said wheels, each of said torque transmitting members include a plurality of gears mechanically connecting said main shafts and said wheels within a corresponding one of said arm members;

torque generating means for powering said main shafts; and

wherein said torque transmitting members includes

a first gear fixed to said corresponding one of said main shafts within a corresponding one of said arm members;

a pair of gear ratio changing mechanisms disposed on opposing lateral sides of said first gear within said arm member, each of said gear ratio changing mechanisms engaged with said first gear;

a pair of third gears, each of said third gears disposed within said arm member and attached to a corresponding one of said wheels, each of said third gears engaged with a corresponding one of said gear ration changing mechanisms; and

said gear ration changing mechanisms being configured selectively change a gear ratio between said first gear and said third gears.

3. The stairway climbing vehicle according to claim 2, wherein said gear ratio changing mechanisms are configured to set said gear ratio between said first gear and said third gears such that in response to one of said wheels engaging a vertical surface said corresponding one of said arm members rotates in a direction opposite to the rotational direction of said main shafts.

4. The stairway climbing vehicle according to claim 2, wherein said gear ratio changing mechanisms are configured to set said gear ratio between said first gear and said third gears such that in response to one of said wheels engaging a vertical surface said corresponding one of said arm members rotates in a direction corresponding to the rational direction of said main shafts.