Carrying auxiliary device

Abstract

Provided is a transport support device that can be easily moved by a hand when not being transported. A conveyance assistance device according to the present invention is provided with a device main body part (1) and a device-side engagement part (4) capable of engaging with a side surface of an object to be conveyed, the device main body part (1) comprising a driving part (11), a driven part (12), and a lifting part (14), the driving part (11) comprising a driving wheel (111), the driven part (11) comprising a driven wheel (121), the lifting part (14) being configured so that the driving wheel (111) and the driven wheel (121) are driven by the driven wheel (121) when performing conveyance assistance of the object to be conveyed, and the device-side engagement part (4) being engaged with the side surface of the object to be conveyed. When the conveyance assistance of the conveyance object is performed, the drive wheel (111) is lowered and brought into a ground contact state, and when the conveyance assistance of the conveyance object is not performed, the drive wheel (111) is raised and brought into a non-ground contact state, and the driven wheel (121) is lowered and brought into a ground contact state.

Description

Technical Field

[0001] The invention relates to a transport assisting device. Background Art

[0002] When transporting patients in a hospital, they are sometimes transported while lying flat on the bed. When transporting a patient while lying flat on the bed, at least two people are required: one person pulls the bed in the front direction of the bed and controls the direction, and the other person pushes the bed in the back direction of the bed. However, since the bed itself is heavy, the patient is usually also heavy, and most of the people doing the transporting work are female nurses, it is difficult for only two people to transport the bed. Usually, 3 to 4 people are required to carry the bed, which is a heavy physical labor and a complicated task. In order to solve this problem, a bed transporting device for assisting in the transport of the bed is proposed. For example, Patent Document 1 discloses a bed transporting device that is connected to the side of the bed and transports the bed by the driving force of the driving wheel.

[0003] Prior art literature:

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-141160 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] However, since the driving wheels of this bed transport device are always in contact with the ground, the driving wheels need to be driven even when the bed transport device is moved other than when transporting the bed, resulting in power consumption.

[0008] Therefore, an object of the present invention is to provide a transport assisting device that can be moved without using drive wheels except when transporting a hospital bed.

[0009] Solutions to Problems

[0010] In order to achieve the above-mentioned purpose, the carrying assisting device of the present invention comprises:

[0011] Device main body and device side engaging portion,

[0012] The device side engaging portion can engage with the side of the transported object.

[0013] The main body of the device includes a driving part, a driven part and a lifting part.

[0014] The driving part includes a driving wheel,

[0015] The driven part includes a driven wheel,

[0016] The lifting unit lowers the driving wheel to a grounded state when assisting the transport of the transported object, and raises the driving wheel to a non-grounded state and lowers the driven wheel to a grounded state when not assisting the transport of the transported object.

[0017] Effects of the Invention

[0018] According to the present invention, except when transporting a hospital bed, the driving wheel is in a non-grounded state and the bed can be moved by the driven wheel. Therefore, the bed can be pushed by human power such as a nurse, thereby achieving energy saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a perspective view showing an example of the transport assisting device of the present invention.

[0020] Figure 2 yes Figure 1 Structural illustration of the transport assist device. Figure 2 (A) is a top view, Figure 2 (B) is the main view, Figure 2 (C) is the left view, Figure 2 (D) is the right side view.

[0021] Figure 3 It means Figure 1 The transport assist device is placed on the side of the bed. Figure 3 (A) is the view from above the bed. Figure 3 (B) is the view from the front and back of the bed. Figure 3 (C) is a view from the side of the bed.

[0022] Figure 4 Yes Figure 1 Figure 1 shows the lifting and lowering of the driving wheel and the driven wheel of the transport assist device. Figure 4 (A) is a diagram showing the state of the bed before transport. Figure 4 (B) is a diagram showing a state where the bed is being transported.

[0023] Figure 5 Yes means through Figure 1 A diagram showing the status of the transport assist device when transporting a hospital bed.

[0024] Figure 6 Yes Figure 1 Diagram of the movement of the straight-line auxiliary wheels of the carrying auxiliary device, Figure 6 (A) and Figure 6 (B) is a diagram showing the patient bed moving in a straight line direction. Figure 6 (C) is a diagram when the bed is moved in a non-straight direction.

[0025] Figure 7FIG. 1 is a diagram illustrating the transport of a hospital bed by the transport assisting device of the present invention. Figure 7 (A) is the view from above the bed. Figure 7 (B) is a view from the side of the bed.

[0026] Figure 8 This is a diagram showing an example of a screen of an operation panel.

[0027] Figure 9 This is a diagram showing another example of the screen of the operation panel.

[0028] Figure 10 This is a diagram showing another example of the operation panel.

[0029] Figure 11 This is a diagram showing another example of the operation panel.

[0030] Figure 12 This is a view of the operator and the frame (operating handle) at hand as seen from above.

[0031] Figure 13 This is a flowchart showing the control logic of electric assist and electric travel.

[0032] Figure 14 This diagram shows how the operator's grip on the operating handle is detected by an infrared sensor (proximity sensor).

[0033] Figure 15 This is a diagram showing an example of a lifting unit.

[0034] Figure 16 This is a side view of the concave portion of the device and the engaging portion (pin) on the clamp side of the bed.

[0035] Figure 17 This is a diagram showing another example of the operation panel and the handle. DETAILED DESCRIPTION

[0036] In the carrying assistance device of the present invention, it can be as follows, that is, the device side locking part is arranged on the side relative to the moving direction of the device main body, and also includes a control part, the control part controls the driving part and the lifting part, the driving part also includes a driving motor, the driving wheel is connected to the driving motor, the driving wheel is arranged on the device main body in a manner that can generate a propulsion force that can move forward and backward along the moving direction of the device main body, the driven wheel of the driven part is arranged on the device main body in a state that can rotate in the horizontal direction, and the control part controls the lifting and lowering of the driving wheel and the driven wheel through the lifting part.

[0037] In the transport assist device of the present invention, the lifting portion may include a connecting member and a lifting device, one end of the connecting member being connected to the driving wheel, and the other end of the connecting member being connected to the driven wheel, and a portion of the connecting member between the one end and the other end being rotatably supported by a shaft so that the driving wheel and the driven wheel can be lifted and lowered in the vertical direction. The lifting device can lift and lower at least one of the driving wheel and the driven wheel.

[0038] In the transport assist device of the present invention, it may be such that it further includes an installation fixture for the transported object, the installation fixture can be installed on the transported object, the installation fixture includes a fixture side snap-in portion, the fixture side snap-in portion is arranged on the side of the transported object, and can be snap-in with the device side snap-in portion.

[0039] In the transport assisting device of the present invention, the mounting jig may further include a guide portion capable of guiding the device-side engaging portion to the jig-side engaging portion.

[0040] In the transport assistance device of the present invention, the device body may further include straight-moving assistance wheels, which are in a grounded state when assisting transport of the object being transported, and whose travel direction is fixed to the direction of travel of the device body when the object is moved in a forward-backward direction relative to the travel direction of the device body. Furthermore, in this embodiment, when the object turns, the straight-moving assistance wheels are released from this fixed position, becoming rotatable in a horizontal direction.

[0041] In the transport assist device of the present invention, it may be as follows: the main body of the device also includes a force detection sensor, which detects the force applied by the carrier to the transported object and sends it to the control unit, and the control unit controls the rotational drive of the drive motor according to the force.

[0042] In the transport assisting device of the present invention, the control unit may implement at least one of the following controls (a), (b), (c), (d), (e), (f), and (g):

[0043] (a) When the force detection sensor detects a force acting in the same direction as the traveling direction of the conveyed object, the drive motor is controlled to rotate and drive so as to accelerate the conveyed object.

[0044] (b) When the speed of the conveyed object reaches a preset speed, the drive motor is controlled to rotate and drive the conveyed object so that the conveyed object moves at a constant speed.

[0045] (c) When the force detection sensor detects a force acting in a direction opposite to the traveling direction of the conveyed object, the rotational drive of the drive motor is controlled to decelerate the conveyed object.

[0046] (d) When the force detection sensor detects a force that rotates the conveyed object in the left-right direction due to the turning of the drive wheel, the rotational drive of the drive motor is controlled so that the conveyed object travels at a constant speed.

[0047] (e) When the force detection sensor detects a force caused by the drive wheel turning inward to rotate the conveyed object in the left-right direction, the drive motor is controlled to rotate so that the conveyed object moves at a constant speed.

[0048] (f) When the conveyed object goes uphill, the rotational drive of the drive motor is controlled so that the conveyed object moves at a constant speed.

[0049] (g) When the conveyed object is moving downhill, the rotational drive of the drive motor is controlled so that the conveyed object moves at a constant speed.

[0050] It can also be the following embodiment, that is, the carrying assistance device of the present invention also includes an operation sensor, which can be installed on the operating handle of the carried object, and the operation sensor can detect the carrier's grip on the operating handle. When the control unit detects the grip of the operation sensor, it drives the drive motor to rotate, and when the grip of the operation sensor is not detected, it does not drive the drive motor to rotate.

[0051] It can also be the following embodiment, that is, the carrying assistance device of the present invention also includes a stop sensor, which can be installed on part or all of the carried object, and when the stop sensor detects contact with a part of the human body, the control unit stops the rotational drive of the drive motor.

[0052] The transport assisting device of the present invention may further move the device main body lifting portion upward and downward.

[0053] Next, embodiments of the present invention will be described using the accompanying drawings. The present invention is not limited to the following embodiments. In the following figures, identical parts are denoted by the same reference numerals. Furthermore, unless otherwise specified, the descriptions of the various embodiments may be cross-referenced, and unless otherwise specified, the configurations of the various embodiments may be combined.

[0054] The objects that can be transported by the transport assistance device of the present invention are not particularly limited, and examples thereof include hospital beds, wheelchairs, pantry tables, medical equipment, transfer devices, walkers, and transporters. Furthermore, the facilities in which the transport assistance device of the present invention can be used are not particularly limited, and examples thereof include medical facilities (hospitals, clinics), nursing homes, welfare homes, schools, nurseries, businesses, government agencies, various organizations, theme parks, shopping malls, lodging facilities (such as hotels, inns, etc.), event venues, and tourist attractions.

[0055] [Implementation Method 1]

[0056] Figure 1 and Figure 2 An example of the transport assisting device of the present invention (hereinafter referred to as “this device”) is shown. Figure 1 is a three-dimensional diagram of the device. Figure 2 (A) to (D) are diagrams illustrating the structure of this device.

[0057] like Figure 1 As shown, the device includes a device body 1, a handle 2, an operation panel 3, a device side engaging portion 4 and a control portion (not shown). The device body 1 is provided with a step on its upper portion so as to be easily inserted under the bed. In addition, a handle 2 is provided on the upper end side (upward in the figure) of the device body 1, and the handle 2 is retractable. A terminal is provided in an area near the handle 2 on the upper portion of the device body 1, and one end of the cable C is inserted into the terminal. At the right end of the device body 1 in the figure, an operation panel 3 is detachably provided, and the other end of the cable C is connected to the operation panel. Two concave portions constituting the device side engaging portion 4 are provided on the lower side surface of the device body 1.

[0058] like Figure 2In the structural diagrams shown in (A) to (D), the device main body 1 includes a driving part 11, a driven part 12 and a lifting part 14. The driving part 11 includes a driving motor 112, a driving wheel 111 and a spring 113. The driving motor 112 is connected to the driving wheel 111. The driving rotational force of the driving motor 112 rotates the driving wheel 111, thereby generating a propulsion force that can move the device main body 1 back and forth in the direction of travel. The driven part 12 includes a driven wheel (free caster) 121, which is arranged on the device main body 1 in a state that can rotate in the horizontal direction. The "horizontal direction" is, for example, "the direction of a plane parallel to the ground surface" or "the direction parallel to a plane perpendicular to the vertical direction." The lifting part 14 includes a connecting component 141 and a lifting device 142. One end of connecting member 141 is connected to drive wheel 111, and the other end of connecting member 141 is connected to driven wheel 121. A portion between one end and the other end of connecting member 141 is rotatably supported by a shaft, allowing drive wheel 111 and driven wheel 121 to be raised and lowered vertically. Lifting device 142 raises and lowers drive wheel 111, thereby raising and lowering driven wheel 121. In this device, raising drive wheel 111 (ungrounded) lowers driven wheel 121 (grounded); lowering drive wheel 111 (grounded) raises driven wheel 121 (ungrounded). Figure 2 The driving wheel 111 is grounded and the driven wheel 121 is not grounded. Figure 2 In the figures, G represents a ground surface (ground, floor, etc.). The lifting unit 14 can also move the device main body 1 up and down. Figure 15 An example of a lifting part is shown. Figure 15 As shown in (A), the lifting part 14 includes a lifting component 143. The lifting component 143 is not particularly limited as long as it can lift the device body 1. For example, it can be a component made of an elastic component as shown in the figure (a component with a shock absorbing mechanism). The elastic component can be, for example, a spring. In addition, a shock absorbing caster including a caster 144 is shown as an example in the figure, but it is not limited to this. In addition, the lifting component 143 can be set at any position of the device body 1. In the figure, the lifting component 143 is set Figure 2 (C) is below the concave portion 41. If the main body 1 of the device can be raised and lowered by the lifting portion 14, for example, the device can be more easily engaged with the side of the bed 6. For example, if there is a height difference between the ground surface of the device and the bed 6, and the height of the concave portion 41 and the clamp side engaging portion (pin) 51 described later are inconsistent, there is no need to Figure 15 (B) The device of the lifting member 143 (in Figure 15 In (B), as an example, it is not easy to make the device engage with the side of the bed 6. Figure 15As shown in FIG. 1A , when a lifting member 143 is provided, the height of the recessed portion 41 can be adjusted to the height of the fixture-side engaging portion (pin) 51 via the lifting unit 14. This allows the device to be properly engaged with the side of the bed 6 even if there is a height difference between the grounding surface of the device and the bed 6, such as when the recessed portion 41 and the fixture-side engaging portion (pin) 51 described later differ in height. Therefore, the height (the extent of the lifting movement) of the device main body 1 achieved by the lifting unit 14 is not particularly limited, as long as it allows the device to easily engage with the side of the bed 6, and can be freely adjusted as needed.

[0059] Since the driven wheel 121 is grounded and the driving wheel 111 is not grounded when not transporting a bed, the device can be easily moved by hand using the handle 2, like a suitcase with casters. On the other hand, when transporting a bed, the bed can be transported using the propulsion force of the grounded driving wheel 111.

[0060] In addition, the device body 1 further includes a straight-moving auxiliary wheel 13 (131), which is mounted on a rotation fixing portion 132. A spring 133 is also mounted on the rotation fixing portion 132. The operation of the straight-moving auxiliary wheel 131 will be described later.

[0061] The device body 1 has two device-side engaging portions 4, which are arranged on the side of the device body relative to the direction of travel. The device-side engaging portions 4 have concave portions 41. The engagement with the bed by the device-side engaging portions 4 will be described later.

[0062] based on Figure 3 , the engagement of the device with the side of the bed 6 will be described. Figure 3 (A) is the view from above the bed. Figure 3 (B) is the view from the direction of movement of the bed. Figure 3 (C) is the view from the side of the bed. Figure 3 As shown, the bed 6 consists of an upper bed portion 61 on which the patient and the like are placed, and a lower bed portion 62 which supports the upper bed portion and has casters. The lower bed portion 62 is a rectangular frame structure, and casters are respectively arranged at the four corners of the frame. A mounting fixture 5 is installed on the lower bed portion 62. The mounting fixture 5 is composed of two mounting portions 5b respectively mounted on the left and right side frames of the lower bed portion 62, and a connecting portion 5a connecting the two mounting portions. Two clamp side engaging portions (pins) 51 are respectively mounted on each mounting portion 5b in a manner facing the outside of the side of the bed. For reference, Figure 16The figure shows a side view of the concave portion 41 of the device and the fixture-side engaging portion (pin) 51 of the bed. Furthermore, guide rollers 52 are provided at both ends of each mounting portion 5b. When the device body 1 is inserted from the side of the bed 6, the fixture-side engaging portion (pin) 51 is guided by the guide rollers 52 and inserted into the two concave portions of the device-side engaging portion 4 of the device body 1, thereby engaging the device body 1 with the bed 6. In this engaged state, when the bed is transported, the propulsion force of the drive wheel 111 is transmitted to the bed, thereby assisting in its transport.

[0063] based on Figure 4 , the lifting and lowering of the driving wheel 111 and the driven wheel 121 are described. Figure 4 As shown in (A), except when transporting a hospital bed, the driving wheel 111 rises and becomes ungrounded by the action of the lifting device 142, and the driven wheel 121 falls and becomes grounded by the action of the connecting member 141. Figure 4 As shown in (B), when transporting a hospital bed, the driving wheel 111 is lowered by the action of the lifting device 142 and becomes grounded, and the driven wheel 121 is raised by the action of the connecting member 141 and becomes non-grounded.

[0064] based on Figure 5 , the assistance state during the transport of the bed 6 is described. In the figure, reference numeral 15 denotes a force detection sensor. The force detection sensor 15 detects the force (push, pull, rotational (left-right) force, etc.) applied by the carrier H to the bed and transmits it to the control unit. For example, when the force detection sensor 15 detects the carrier H's push (force acting in the same direction as the direction of travel), the control unit controls the rotation of the drive motor 112 to accelerate. Conversely, when the force detection sensor 15 detects the carrier H's pull (force acting in the opposite direction of travel), the control unit controls the rotation of the drive motor 112 to decelerate. Furthermore, when the force detection sensor 15 does not detect the carrier H's force (push, pull), the control unit controls the rotation of the drive motor 112 to maintain a constant speed. When the speed of the bed 6 reaches a preset speed, the control unit controls the rotation of the drive motor 112 to maintain a constant speed. When the bed 6 is moving at a constant speed, for example, it can be maintained at a constant speed using the electric travel function described below. The force detection sensor 15 is, for example, a sensor that detects force intensity, a sensor that detects force direction, or a sensor that detects inertial force (torque), such as a force sensor, a load sensor, or an acceleration sensor.

[0065] Furthermore, for example, when the force detection sensor 15 detects a force that causes the driving wheel 111 to turn outside of the bed 6, causing the bed 6 to rotate left or right, the control unit controls the rotation of the drive motor (e.g., increases the speed of the drive wheel 111) to maintain a constant speed for the bed 6. For example, when the force detection sensor 15 detects a force that causes the driving wheel 111 to turn inside of the bed 6, causing the bed 6 to rotate left or right, the control unit controls the rotation of the drive motor (e.g., decreases the speed of the drive wheel 111) to maintain a constant speed for the bed 6. Furthermore, when rotating the bed 6 left or right, since the driving wheel 111 of the apparatus main body 1 is a single wheel, left or right rotation is not hindered, and rotation can also be achieved by force applied by the carrier H.

[0066] When the bed 6 is traveling uphill, the control unit controls the rotation of the drive motor 112 (e.g., increases the driving force of the drive motor 112) to ensure that the bed 6 moves at a constant speed. When the bed 6 is traveling downhill, the control unit controls the rotation of the drive motor 112 (e.g., reduces the driving force of the drive motor 112) to ensure that the bed 6 moves at a constant speed.

[0067] based on Figure 6 , the straight-moving auxiliary wheel 131 will be described. Figure 6 (A) is a view from above the bed. The straight-line auxiliary wheel 131 is provided on the device body 1 in a state where it can rotate in the horizontal direction. A rotation fixing portion 132 is connected to the upper portion of the straight-line auxiliary wheel 131. A concave engaging portion is formed on the rotation fixing portion 132. At the same time, a rotation control portion 134 is provided on the device body 1. The rotation control portion 134 is composed of a solenoid and a pin. The pin can be inserted into the engaging portion of the rotation fixing portion 132. Figure 6 As shown in Figure (B), when the bed is in the straight-moving position, a pin extends from the solenoid and inserts into the engaging portion of the rotation fixing portion 132, thereby fixing the horizontal rotation of the straight-moving auxiliary wheel 131 and maintaining its orientation in the straight-moving direction. On the other hand, except when the bed is being rotated or transported, the pin is withdrawn from the engaging portion of the rotation fixing portion 132 by the solenoid, allowing the straight-moving auxiliary wheel 131 to rotate horizontally.

[0068] based on Figures 7 to 11 , the operation of the operation panel 3 when transporting the hospital bed 6 is described. Figure 7 (A) is the view from above the bed. Figure 7 (B) is a diagram when viewed from the side of the bed. Figure 7 As shown, the operation panel 3 is mounted on a frame (operation handle) on the upper part 61 of the bed near the hand of the carrier H. The operation panel 3 is connected to the bed by a cable C ( Figure 7 (not shown) is connected to the device main body 1, and the operation of the operation panel 3 will be sent to the control part.

[0069] like Figures 8 to 11 As shown, the operation panel 3 includes a display unit (display) 31 , an emergency stop button 32 , a manual shift button 33 , a steering (turning) button 34 during electric assist, and a straight-line stabilization button 35 during electric assist.

[0070] Figure 8 In the figure, the display unit 31 shows an example of the mode setting screen after startup. This screen allows you to set the assistance level. The display unit 31 displays a selection screen for the assistance speed (e.g., levels 1 to 5), a selection screen for the assistance intensity, and a display screen for the load weight. The "UP" and "DOWN" buttons on the display unit 31 allow you to select the assistance speed. In the figure, the selection screen shows "3" as the selected speed. The assistance speed can be displayed as a measured speed, such as speed per hour, but in this example, the measured speed is displayed in five levels, from 1 to 5. Furthermore, the display unit 31 allows you to select the assistance intensity using the "Strong" and "Weak" buttons. The selected intensity is indicated by a large black circle. In the figure, "Strong" is selected. The assistance intensity indicates the degree of assistance provided. A stronger intensity is closer to autonomous travel, requiring little effort from the carrier; a weaker intensity requires the carrier to exert force. In this example, the assistance intensity is divided into two levels, "Strong" and "Weak," but the present invention is not limited to this. A "Medium" level could be added, resulting in three or more levels. In this example, after selecting the auxiliary speed and auxiliary intensity respectively, press the "OK" button below the display unit 31, and the selected content will be set. In addition, the load weight screen in the display unit 31 will be displayed as "~40 (less than 40)", "40~70 (above 40, less than 70)", "70~100 (above 70, less than 100)", and "100~ (above 100)" according to the load weight (kg). In this example, the weight of the person being carried on the bed is measured by the force detection sensor 15 or a force detection sensor different from it (weight sensor, etc.), and the load weight "40~70" is displayed on the display unit 31. The carrier can refer to the load information to set the auxiliary speed and auxiliary intensity.

[0071] Figure 9 The confirmed mode setting screen is displayed. As shown, the assist speed "3" and the assist intensity "Strong" are selected and set. Also displayed below the display unit 31 are a "Main Operation" button and a "Detailed Function" button. In the confirmed mode setting screen, selecting and pressing the hard key buttons "Manual Shift Button 33," "Steering Button 34" for electric assist, and "Straight Stability Button 35" for electric assist will cause the display unit 31 to switch to the operation screen.

[0072] Figure 10The operation screen is shown. The operation screen shown in the figure is the main operation screen, and is the "electric assist" operation screen that is displayed after pressing one or both of the electric assist buttons, the "turn button 34" and the "straight travel stabilization button 35." The left half of the display unit 31 displays the remaining battery level and the speed display screen (a graph screen and a measured speed display screen), with the "mode setting" button displayed below. The graph on the speed display screen shows the speed in five speed settings. The right half of the display unit 31 displays the "forward" button, "backward" button, and "stop" button, with the "alarm" button displayed below. The "forward" button and "backward" button are set to activate after a long press (for example, 2 seconds). After pressing the straight travel stabilization button 35, the direction of the straight travel assist wheels is fixed in the straight travel direction, and the straight travel direction is stabilized. In addition, when turning, the straight travel assist wheels can be released from the straight travel direction by pressing the "turn button 34", allowing the carrier to manually turn the bed.

[0073] Figure 11 The operation screen for manual movement is displayed. After pressing the manual movement button 33, it switches to the manual movement mode. At this time, the vehicle is not moved by the drive wheels, but by the manual force of the carrier. The left half of the screen of the display unit 31 displays the battery remaining display screen and the speed display screen (measured speed display screen), and the "Mode Setting" button is displayed below it. The right half of the screen of the display unit 31 displays the "Manual Free" button and the "Manual Stabilization" button, and "Alarm" is displayed below it. When the "Manual Free" button is pressed, the direction of the straight-moving auxiliary wheel in the straight-moving direction is not fixed; when the "Manual Stabilization" button is pressed, the direction of the straight-moving auxiliary wheel in the straight-moving direction will be fixed. In addition, in the operation screen for manual movement, if any one or both of the steering button 34 and the straight-moving stabilization button 35 are pressed, it will switch back to the electric assist mode.

[0074] based on Figure 12 , the operation sensor 71 and the stop sensor 72 are described. Figure 12 This is a diagram of the carrier H and the frame (operating handle) at hand as seen from above. Figure 12 As shown, the operation sensor 71 can be mounted on the operating handle of the bed 6. When the carrier H grasps the operation sensor 71, it detects that the carrier H is holding the operating handle. Upon detecting that the carrier H is holding the operating handle, the control unit controls the drive motor 112 to rotate. Furthermore, when the control unit does not detect that the carrier H is holding the operating handle, the drive motor 112 is not controlled to rotate. In other words, transport assistance for the bed 6 is only available when the carrier H is holding the operating handle; otherwise, transport assistance is not available.

[0075] like Figure 12As shown, the stop sensor 72 is mounted on the lower portion of the operating panel 3 provided on the bed 6. When the control unit detects contact between the stop sensor 72 and a part of the body of the carrier H, it controls the drive motor 112 to stop the rotational drive. That is, when the carrier H is trapped between the bed 6 and a wall, etc. for some reason, the movement of the bed 6 will stop, thereby preventing accidents such as pinching. In this example, the stop sensor 72 is mounted on the lower portion of the operating panel 3 provided on the bed 6, but it can also be mounted on part or all of the operating handle or the frame of the bed 6. For example, the stop sensor 72 can be set on the side of the bed 6 opposite to the operating handle so that it can act as a stop sensor when it comes into contact with a person in the direction of travel of the bed 6.

[0076] based on Figure 12 and Figure 13 , further explaining the electric travel function. Figure 12 As shown, the operating handle of the bed 6 is provided with a handle 7 including a hard key button serving as an electric travel button 73. The location of the handle 7 including the electric travel button 73 is not particularly limited. By pressing the electric travel button 73 to activate the electric travel function, the control unit controls the rotation drive of the drive motor 112 so that the bed 6 is not affected by the force applied to the bed 6 by the carrier H and moves at a constant speed. Figure 12 , the electric travel button 73 and the handle 7 are connected by wiring, but the present invention is not limited to this. Figure 17 Another example of the operation panel 3 and the handle 7 is shown. Figure 17 As shown in (A), the operation panel 3 and the handle 7 can be a separable structure. Figure 17 As shown in (B), the operation panel 3 and the handle 7 can also be an integrated structure. From the perspective of avoiding the risk of disconnection of the wiring between the operation panel 3 and the handle 7, it is preferred Figure 17 (B) method.

[0077] Figure 13 The control logic for electric assist and electric travel is shown. Activating the electric assist function in standby mode enters assist mode. Furthermore, when the operation sensor 71 is on (i.e., when the carrier H is holding the operating handle), the bed 6 is in a travelable state. In this case, if the force detection sensor 15 detects that the carrier H is applying force to the bed 6, the electric assist control is activated, and the device returns to standby mode after stopping.

[0078] When the electric travel function (electric travel button) is turned on, the bed enters electric travel mode. Furthermore, when the operation sensor 71 is on (i.e., when the carrier H is holding the operating handle), the bed 6 is in a movable state. As long as the electric travel button remains on, the bed 6 is moved without being affected by the carrier H's force on the bed 6, and is instead controlled electrically. When the electric travel button is turned off, the bed returns to standby mode.

[0079] When both the electric assist function and the electric travel function are turned off, the carrier H can carry the hospital bed 6 manually.

[0080] exist Figure 12 In the embodiment, the operation sensor 71 is a contact sensor, but the present invention is not limited thereto. For example, a non-contact sensor such as an infrared sensor may be used to detect the carrier H holding the operation handle. For example, an infrared sensor may be provided in the operation panel 3 to detect the carrier H holding the operation handle. In addition, for example, Figure 14 As shown, an infrared sensor (proximity sensor) 74 may be provided near the electric travel button 73 to detect the carrier H gripping the operating handle. Figure 14 In the figure, 36 is a status display light and 63 is a bed board. In addition, in the present invention, for example, the operation panel 3 and the operation sensor 71 can also be integrated, that is, the operation panel 3 has the function of the operation sensor 71.

[0081] The present invention has been described above with reference to the embodiments, but the present invention is not limited to the embodiments. A person skilled in the art can make various changes to the configuration and conditions of the present invention within the scope of the present invention.

[0082] Industrial Applicability

[0083] According to the present invention, the driving wheels are in a non-grounded state except when transporting a bed, for example, and can be moved by the driven wheels. This allows movement by, for example, a nurse, thereby saving energy. The present invention has a wide range of applications and is very useful in various fields, including medical facilities and nursing facilities.

[0084] This application claims the benefit of priority based on Japanese patent application No. 2023-028998 filed on February 27, 2023, and Japanese patent application No. 2024-023273 filed on February 19, 2024, the disclosures of which are incorporated herein in their entirety.

[0085] Description of Reference Numerals

[0086] 1 Device main body

[0087] 11. Drive unit

[0088] 111 driving wheel

[0089] 112 drive motor

[0090] 12 Driven part

[0091] 121 driven wheel (free caster)

[0092] 13(131) Straight-moving training wheels

[0093] 132 Rotating fixed part

[0094] 133 Spring

[0095] 134 Rotation control unit

[0096] 14 Lifting unit

[0097] 141 Connecting parts

[0098] 142 Lifting Device

[0099] 143 lifting parts

[0100] 144 casters

[0101] 15 Force detection sensor

[0102] 2 handle

[0103] 3 Operation panel

[0104] 31 Display unit (display)

[0105] 32 Emergency stop button

[0106] 33 Manual Move Button

[0107] 34 Turn button

[0108] 35 Straight-line stabilization button

[0109] 36 Status indicator lights

[0110] 4(41) Device side engaging portion (concave portion)

[0111] 5. Install the fixture

[0112] 5a Connection

[0113] 5b Installation

[0114] 51 Clamp side engaging portion (pin)

[0115] 52 guide wheel

[0116] 6 beds

[0117] 61 Upper bed

[0118] 62 Lower part of hospital bed

[0119] 63 bed board

[0120] 7 handles

[0121] 71 Operation Sensor

[0122] 72 Stop sensor

[0123] 73 Electric travel button

[0124] 74 Non-contact sensors (infrared sensors, proximity sensors)

Claims

1. A transport assist device, It includes a device main body and a device side engaging portion, The device side engaging portion can engage with the side of the transported object. The main body of the device includes a driving part, a driven part and a lifting part. The driving part includes a driving wheel, The driven part includes a driven wheel, The lifting unit lowers the driving wheel to a grounded state when assisting the transport of the transported object, and raises the driving wheel to a non-grounded state and lowers the driven wheel to a grounded state when not assisting the transport of the transported object.

2. The transport assisting device according to claim 1, The device-side engaging portion is arranged on a side relative to the direction in which the device main body moves. Also includes a control unit, The control unit controls the driving unit and the lifting unit. The driving unit further includes a driving motor, The driving wheel is connected to the driving motor, The driving wheel is arranged on the main body of the device in a manner capable of generating a propulsion force that can move forward and backward along the direction of travel of the main body of the device. The driven wheel of the driven part is arranged on the device main body in a state where it can rotate in the horizontal direction. The control unit controls the lifting and lowering of the driving wheel and the driven wheel through the lifting unit.

3. The transport assisting device according to claim 1, The lifting part includes a connecting component and a lifting device. One end of the connecting component is connected to the driving wheel, and the other end of the connecting component is connected to the driven wheel. A portion between the one end and the other end of the connecting component is supported by an axis in a rotatable state, so that the driving wheel and the driven wheel can be lifted and lowered in the up and down directions. The lifting device can lift or lower at least one of the driving wheel and the driven wheel.

4. The transport assisting device according to claim 1, Also included is a mounting fixture for the transported object, The mounting fixture can be mounted on the transported object. The mounting fixture includes a fixture side engaging portion, The clamp-side engaging portion is disposed on a side surface of the conveyed object and is engageable with the device-side engaging portion.

5. The transport assisting device according to claim 4, The mounting fixture further includes a guide portion, The guide portion can guide the device-side engaging portion to the jig-side engaging portion.

6. The transport assisting device according to claim 1, The main body of the device also includes straight-moving auxiliary wheels, The straight travel assist wheels are in a grounded state when assisting transport of the transported object, and when the transported object moves in the front-rear direction of the travel direction of the device main body, the travel direction of the straight travel assist wheels is fixed to the travel direction of the device main body.

7. The transport assisting device according to claim 6, When the transported object turns, the fixing of the straight-moving auxiliary wheels is released and the wheels can rotate in the horizontal direction.

8. The transport assisting device according to claim 2, The device body also includes a force detection sensor, The force detection sensor detects the force applied by the carrier to the transported object and sends the detected force to the control unit. The control unit controls the rotational driving of the driving motor according to the acting force.

9. The transport assisting device according to claim 8, The control unit implements at least one of the following controls (a), (b), (c), (d), (e), (f), and (g): (a) When the force detection sensor detects a force acting in the same direction as the traveling direction of the conveyed object, the drive motor is controlled to rotate and drive so as to accelerate the conveyed object. (b) When the speed of the conveyed object reaches a preset speed, the drive motor is controlled to rotate and drive the conveyed object so that the conveyed object moves at a constant speed. (c) When the force detection sensor detects a force acting in a direction opposite to the traveling direction of the conveyed object, the rotational drive of the drive motor is controlled to decelerate the conveyed object. (d) When the force detection sensor detects a force that rotates the conveyed object in the left-right direction due to the turning of the drive wheel, the rotational drive of the drive motor is controlled so that the conveyed object travels at a constant speed. (e) When the force detection sensor detects a force caused by the drive wheel turning inward to rotate the conveyed object in the left-right direction, the drive motor is controlled to rotate so that the conveyed object moves at a constant speed. (f) When the conveyed object goes uphill, the rotational drive of the drive motor is controlled so that the conveyed object moves at a constant speed. (g) When the conveyed object is moving downhill, the rotational drive of the drive motor is controlled so that the conveyed object moves at a constant speed.

10. The transport assisting device according to claim 9, Also includes operating sensors, The operation sensor can be installed on the operating handle of the transported object. The operation sensor can detect the carrier's grip on the operation handle. The control unit drives and rotates the drive motor when the grip of the operation sensor is detected, and does not drive and rotate the drive motor when the grip of the operation sensor is not detected.

11. The transport assisting device according to claim 9, Also includes stop sensor, The stop sensor may be installed on a part or all of the transported object. The control portion stops the rotational driving of the drive motor when the stop sensor detects contact with a part of a human body.

12. The transport assisting device according to claim 9, The lifting unit also lifts the device main body.

Images