Conveying assist device
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- REIF
- Filing Date
- 2024-02-19
- Publication Date
- 2026-08-03
Smart Images
Figure 0007898696000001 
Figure 0007898696000002 
Figure 0007898696000003
Abstract
Description
Technical Field
[0001] The present invention relates to a conveyance assist device.
Background Art
[0002] In a hospital, when transporting a patient, the patient may be transported while lying on a bed. When transporting a patient while lying on a bed, at least two people are required: a person who steers while pulling the bed on the front side in the traveling direction of the bed, and a person who pushes the bed on the rear side in the traveling direction of the bed. However, since the bed itself is heavy and the patient is often heavy, and since many of the nurses involved in the transportation are female, it is difficult to transport with two people, and usually three to four people are required for transportation, which is extremely strenuous work and a complicated operation. To solve this problem, a bed conveyance device for assisting the conveyance of a bed has been proposed. For example, Patent Document 1 discloses a bed conveyance device that is coupled to the side surface of a bed and conveys the bed by the driving force of drive wheels.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] However, in this bed conveyance device, since the drive wheels are always in contact with the ground, it is necessary to drive the drive wheels even when moving the bed conveyance device other than when conveying the bed, and as a result, power is consumed.
[0005] Therefore, an object of the present invention is to provide a conveyance assist device that can be moved without using drive wheels other than when conveying a bed.
Means for Solving the Problems
[0006] To achieve the above objective, the transport assist device of the present invention is Including the main body of the device and the device-side engaging part, The engagement portion on the device side is capable of engaging with the side of the conveyed object. The main body of the device includes a drive unit, a driven unit, and a lifting unit. The drive unit includes the drive wheels, The driven part includes a driven wheel, The lifting unit lowers the drive wheels to a ground-contact state when assisting the transport of the transported object, and raises the drive wheels to a ground-contact state and lowers the driven wheels to a ground-contact state when not assisting the transport of the transported object. It is a device. [Effects of the Invention]
[0007] According to the present invention, for example, when not transporting a bed or the like, the drive wheels are not in contact with the ground, and the vehicle can be moved by the driven wheels. Therefore, it can be moved manually by, for example, a nurse, and thus saves power. [Brief explanation of the drawing]
[0008] [Figure 1] Figure 1 is a perspective view showing an example of the transport assist device of the present invention. [Figure 2] Figure 2 is an explanatory diagram of the configuration of the transport assist device shown in Figure 1, where Figure (A) is a top view, Figure (B) is a front view, Figure (C) is a left side view, and Figure (D) is a right side view. [Figure 3] Figure 3 shows the transport assist device from Figure 1 positioned on the side of the bed. Figure (A) is a view from above the bed, Figure (B) is a view from the front-to-back direction of the bed, and Figure (C) is a view from the side of the bed. [Figure 4] Figure 4 shows the lifting and lowering of the drive wheels and driven wheels of the transport assist device in Figure 1. Figure (A) shows the state before bed transport, and Figure (B) shows the state during bed transport. [Figure 5] Figure 5 shows the state in which the bed is being transported by the transport assist device shown in Figure 1. [Figure 6] Figure 6 shows the movement of the straight-line auxiliary wheels of the transport assist device in Figure 1. Figures (A) and (B) show the bed being moved in a straight-line direction, while Figure (C) shows the bed being moved in a non-straight-line direction. [Figure 7] Figure 7 illustrates the process of transporting a bed using the transport assist device of the present invention. Figure (A) shows the bed viewed from above, and Figure (B) shows the bed viewed from the side. [Figure 8] Figure 8 shows an example of the control panel screen. [Figure 9] Figure 9 shows another example of the control panel screen. [Figure 10] Figure 10 shows yet another example of a control panel. [Figure 11] Figure 11 shows yet another example of a control panel. [Figure 12] Figure 12 is a view of the transporter and the frame (operating handle) from above. [Figure 13] Figure 13 is a flowchart showing the control logic for electric assist and electric driving. [Figure 14] Figure 14 shows an example of detecting a user's grip on the operating handle using an infrared sensor (nearby sensor). [Figure 15] Figure 15 shows an example of a lifting mechanism. [Figure 16] Figure 16 is a side view of the concave portion of this device and the jig-side engagement portion (pin) of the bed. [Figure 17] Figure 17 shows another example of the control panel and grip. [Modes for carrying out the invention]
[0009] In the conveying assist device of the present invention, the device-side engaging portion is disposed on the side surface with respect to the advancing direction of the device main body portion, and further includes a control portion. The control portion controls the driving portion and the elevating portion. The driving portion further includes a driving motor, and the driving wheel is connected to the driving motor. The driving wheel is disposed on the device main body portion such that a propulsive force capable of moving back and forth in the advancing direction of the device main body portion can be generated. The driven wheel of the driven portion is disposed on the device main body portion in a state where it can rotate in the horizontal direction. The control portion controls the elevation of the driving wheel and the driven wheel by the elevating portion. Such an aspect may be adopted.
[0010] In the conveying assist device of the present invention, the elevating portion includes a connecting member and an elevating device. One end of the connecting member is connected to the driving wheel, and the other end of the connecting member is connected to the driven wheel. A part between the one end and the other end of the connecting member is pivotally supported in a rotatable state such that the driving wheel and the driven wheel can move up and down in the vertical direction. The elevating device may be configured such that at least one of the driving wheel and the driven wheel can be elevated.
[0011] In the conveying assist device of the present invention, it further includes a mounting jig for the conveyed object. The mounting jig can be attached to the conveyed object. The mounting jig includes a jig-side engaging portion. The jig-side engaging portion may be disposed on the side surface of the conveyed object and engageable with the device-side engaging portion.
[0012] In the conveying assist device of the present invention, the mounting jig further includes a guide portion. The guide portion may be configured to guide the device-side engaging portion to the jig-side engaging portion.
[0013] In the conveying assist device of the present invention, the main body of the device may further include a straight-line auxiliary wheel, wherein the straight-line auxiliary wheel is in a ground-contact state when assisting the conveying of the conveyed object, and when the conveyed object is moving in the front-rear direction of the direction of travel of the main body of the device, the direction of travel of the straight-line auxiliary wheel may be fixed in the direction of travel of the main body of the device. In this embodiment, when the conveyed object is turning, the straight-line auxiliary wheel may be released from its fixation and become rotatable in the horizontal direction.
[0014] In the conveyance assist device of the present invention, the main body of the device may further include an action force detection sensor, the action force detection sensor detects the force applied by the conveyor to the conveyed object and transmits it to the control unit, and the control unit controls the rotational drive of the drive motor according to the action force.
[0015] In the transport assist device of the present invention, the control unit may be configured to perform 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 direction of travel of the conveyed object, control the rotational drive of the drive motor to accelerate the conveyed object. (b) When the speed of the conveyed object reaches a preset speed, control the rotational drive of the drive motor to ensure that the conveyed object travels at a constant speed. (c) When the force detection sensor detects a force acting in the opposite direction to the direction of travel of the conveyed object, control the rotational drive of the drive motor to decelerate the conveyed object. (d) When the force detection sensor detects a force acting on the drive wheel that causes the conveyed object to rotate in the left-right direction while the drive wheel is rotating outward, the rotational drive of the drive motor is controlled to allow the conveyed object to travel at a constant speed. (e) When the force detection sensor detects a force acting on the drive wheel that causes the transported object to rotate in the left-right direction, control the rotational drive of the drive motor to allow the transported object to travel at a constant speed. (f) When the transported object is moving up an incline, control of the rotational drive of the drive motor to ensure that the transported object travels at a constant speed. (g) When the conveyed object is moving down an incline, control the rotational drive of the drive motor to ensure that the conveyed object travels at a constant speed.
[0016] The transport assist device of the present invention may further include an operation sensor, the operation sensor being attachable to the operation handle of the transported object, the operation sensor being capable of detecting the transporter gripping the operation handle, and the control unit rotating the drive motor when the operation sensor detects the grip, and not rotating the drive motor when the operation sensor does not detect the grip.
[0017] The transport assist device of the present invention may further include a stop sensor, the stop sensor being attachable to part or all of the transported object, and the control unit stopping the rotational drive of the drive motor when the stop sensor detects contact with a part of a human body.
[0018] The transport assist device of the present invention may further be configured to raise and lower the lifting section of the device body.
[0019] Next, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the following embodiments. In the following drawings, the same parts are denoted by the same reference numerals. Furthermore, unless otherwise specified, the descriptions of each embodiment can be used interchangeably with those of the others, and unless otherwise specified, the configurations of each embodiment can be combined.
[0020] The objects transported by the transport assist device of the present invention are not particularly limited and include, for example, beds, wheelchairs, serving tables, medical equipment, transfer devices, walkers, mobility devices, etc. Furthermore, the facilities in which the transport assist device of the present invention is intended to be used are not particularly limited and include, for example, medical facilities (hospitals, clinics), nursing homes, care facilities, schools, daycare centers, companies, government offices, various organizations, theme parks, shopping malls, accommodation facilities (hotels, inns, etc.), event venues, tourist destinations, etc.
[0021] [Embodiment 1] An example of the transport assist transport device of the present invention (hereinafter referred to as "the device") is shown in Figures 1 and 2. Figure 1 is a perspective view of the device, and Figures 2(A) to (D) are diagrams illustrating the configuration of the device.
[0022] As shown in Figure 1, the device comprises a main body 1, a handle 2, an operation panel 3, a device-side engagement part 4, and a control unit (not shown). The main body 1 has a step at its upper part, making it easy to insert into the bed below. The handle 2 is located at the upper end of the main body 1 (upward in the figure), and the handle 2 is extendable and retractable. A terminal is located near the handle 2 on the upper part of the main body 1, and one end of the cord C is inserted into the terminal. The operation panel 3 is detachably located at the right end of the main body 1 in the figure, and the other end of the cord C is connected to the operation panel. The lower side surface of the main body 1 has two recesses that constitute the device-side engagement part 4.
[0023] As shown in the configuration diagrams in Figures 2(A) to (D), the main body of the device 1 comprises a drive unit 11, a driven unit 12, and a lifting unit 14. The drive unit 11 comprises a drive motor 112, a drive wheel 111, and a spring 113. The drive motor 112 and the drive wheel 111 are connected, and the drive wheel 111 rotates due to the rotational force of the drive motor 112, resulting in a thrust force that allows the main body of the device 1 to move forward and backward in the direction of travel. The driven unit 12 includes a driven wheel (free caster) 121, which is positioned on the main body of the device 1 so as to be rotatable in the horizontal direction. "Horizontal direction" refers to, for example, "a plane direction parallel to the ground surface" or "a direction parallel to a vertical plane in the vertical direction." The lifting unit 14 comprises a connecting member 141 and a lifting device 142. One end of the connecting member 141 is connected to the drive wheel 111, and the other end of the connecting member 141 is connected to the driven wheel 121. A portion of the area between the two ends of the connecting member 141 is pivotally supported so that the drive wheel 111 and the driven wheel 121 can move up and down vertically. The lifting device 142 can raise and lower the driven wheel 121 by raising and lowering the drive wheel 111. In this device, when the drive wheel 111 is raised (not on the ground), the driven wheel 121 is lowered (on the ground), and when the drive wheel 111 is lowered (on the ground), the driven wheel 121 is raised (not on the ground). Figure 2 shows the state where the drive wheel 111 is on the ground and the driven wheel 121 is not on the ground. In Figure 2, etc., G indicates the ground surface (ground, floor, etc.). The lifting unit 14 may further raise and lower the main body 1 of the device. Figure 15 shows an example of the lifting unit. As shown in Figure 15(A), the lifting section 14 includes a lifting member 143. The lifting member 143 is not particularly limited as long as it can lift the main body of the device 1, but for example, it may be made of an elastic member (having a suspension mechanism) as shown in the figure. The elastic member is, for example, a spring. In the figure, a suspension caster further equipped with a caster 144 is shown as an example, but it is not limited to this. The lifting member 143 may also be provided at any location on the main body of the device 1. In the figure, the lifting member 143 is provided below the concave portion 41 in Figure 2(C). If the main body of the device 1 can be lifted and lowered by the lifting section 14, it becomes easier to engage it with the side of the bed 6 of the device, for example.For example, if there is a step or other difference in height on the contact surface of the device or bed 6, and the height of the recessed portion 41 (described later) and the jig-side engaging portion (pin) 51 do not match, then in the case of a device without a lifting member 143, as shown in Figure 15(B) (in Figure 15(B), a device with only casters is shown as an example), it is not easy to engage the device with the side of the bed 6. On the other hand, if a device with a lifting member 143 is provided, as shown in Figure 15(A), the height of the recessed portion 41 can be adjusted to the height of the jig-side engaging portion (pin) 51 by the lifting unit 14. This makes it possible to successfully engage the device with the side of the bed 6 even if there is a step or other difference in height on the contact surface of the device or bed 6, and the height of the recessed portion 41 (described later) and the jig-side engaging portion (pin) 51 do not match. Therefore, the lifting height (width of lifting movement) of the device body 1 by the lifting unit 14 is not particularly limited and can be adjusted arbitrarily as long as it is a lifting height that facilitates engagement of the device with the side of the bed 6.
[0024] When not transporting beds or the like, the driven wheels 121 are in contact with the ground and the drive wheels 111 are not, allowing the device to be easily moved by hand using the handle 2, similar to a carry bag with casters. On the other hand, when transporting beds or the like, the drive wheels 111, which are in contact with the ground, provide the propulsion force to transport the beds or the like.
[0025] Furthermore, the main body of the device 1 is equipped with a straight-line auxiliary wheel 13 (131), which is attached to a rotation fixing part 132, and a spring 133 is attached to the rotation fixing part 132. The operation of the straight-line auxiliary wheel 131 will be described later.
[0026] The main body of the device 1 is equipped with two device-side engaging parts 4, which are located on the side of the main body of the device with respect to the direction of travel. Each device-side engaging part has a concave portion 41. The engagement of the device-side engaging parts 4 with the bed will be described later.
[0027] The engagement of the bed 6 with respect to the side of this device will be explained based on Figure 3. Figure (A) is a view from above the bed, Figure (B) is a view from the direction of travel of the bed, and Figure (C) is a view from the side of the bed. As shown in the figure, the bed 6 consists of a bed upper part 61 on which the patient is placed, and a bed lower part 62 that supports the bed upper part and has casters. The bed lower part 62 has a rectangular frame structure, and casters are placed at each of the four corners of the frame. A mounting jig 5 is attached to the bed lower part 62. The mounting jig 5 consists of two mounting parts 5b that are attached to the left and right side frames of the bed lower part 62, and a connecting part 5a that connects the two mounting parts. Each of the mounting parts 5b has two jig-side engaging parts (pins) 51 that are positioned facing outwards on the side of the bed. For reference, Figure 16 shows a side view of the concave portion 41 of the device and the jig-side engaging portion (pin) 51 of the bed. Guide rollers 52 are also positioned at each end of the mounting portion 5b. When the device body 1 is inserted into the bed 6 from the side, the guide rollers 52 guide the jig-side engaging portion (pin) 51 into the two recesses of the device-side engaging portion 4 of the device body 1, and the device body 1 and the bed 6 become engaged. When engaged, the propulsive force of the drive wheels 111 is transmitted to the bed during bed transport, assisting in the transport of the bed.
[0028] The raising and lowering of the drive wheel 111 and the driven wheel 121 will be explained based on Figure 4. As shown in Figure (A), when not transporting a bed or the like, the operation of the lifting device 142 causes the drive wheel 111 to rise and become ungrounded, and the action of the connecting member 141 causes the driven wheel 121 to lower and become grounded. As shown in Figure (B), when transporting a bed or the like, the operation of the lifting device 142 causes the drive wheel 111 to lower and become grounded, and the action of the connecting member 141 causes the driven wheel 121 to rise and become ungrounded.
[0029] Based on Figure 5, the assistance state during transport of bed 6 will be explained. In the figure, 15 is a force detection sensor. The force detection sensor 15 detects the force (pushing force, pulling force, turning (left / right) force, etc.) applied by the transporter H to the bed and transmits it to the control unit. For example, if the force detection sensor 15 detects a pushing force from the transporter H (a force in the same direction as the direction of travel), the control unit controls the rotational drive of the drive motor 112 to accelerate. Conversely, if the force detection sensor 15 detects a pulling force from the transporter H (a force in the opposite direction to the direction of travel), the control unit controls the rotational drive of the drive motor 112 to decelerate. Also, if the force detection sensor 15 does not detect any force (pushing force, pulling force) from the transporter H, the control unit controls the rotational drive of the drive motor 112 to maintain a constant speed. When the speed of bed 6 reaches a preset speed, the control unit controls the rotational drive of the drive motor 112 so that bed 6 maintains a constant speed. When bed 6 travels at a constant speed, it may do so using, for example, an electric drive function as described later. The force detection sensor 15 is, for example, a sensor that detects the strength of a force, a sensor that detects the direction of a force, or a sensor that detects inertial force (moment), and includes, for example, a force sensor, a load cell, an acceleration sensor, etc.
[0030] Furthermore, for example, if the force detection sensor 15 detects a force acting on the drive wheel 111 to rotate outwards and cause the bed 6 to turn left or right, the control unit controls the rotational drive of the drive motor so that the bed 6 travels at a constant speed (for example, by increasing the speed of the drive wheel 111). For example, if the force detection sensor 15 detects a force acting on the drive wheel 111 to rotate inwards and cause the bed 6 to turn left or right, the control unit controls the rotational drive of the drive motor so that the bed 6 travels at a constant speed (for example, by decreasing the speed of the drive wheel 111). Note that when the bed 6 is rotated left or right, since the drive wheel 111 of the main body of the device 1 is a single wheel, it does not prevent rotation in the left or right direction, and rotation by the force of the transporter H is also possible.
[0031] When bed 6 is moving uphill, the control unit controls the rotational drive of the drive motor 112 (for example, by increasing the driving force of the drive motor 112) in order for bed 6 to travel at a constant speed. When bed 6 is moving downhill, the control unit controls the rotational drive of the drive motor 112 (for example, by decreasing the driving force of the drive motor 112) in order for bed 6 to travel at a constant speed.
[0032] The straight-line auxiliary wheel 131 will be described based on Figure 6. Figure (A) is a view from above the bed. The straight-line auxiliary wheel 131 is positioned in the main unit 1 so as to be able to rotate horizontally, and a rotation fixing part 132 is connected to the upper part of the straight-line auxiliary wheel 131, and a concave engaging part is formed in the rotation fixing part 132. A rotation control unit 134 is also positioned in the main unit 1 of the device, and the rotation control unit 134 is composed of a silinoid and a pin. The pin can be inserted into the engaging part of the rotation fixing part 132. As shown in Figure (B), when the bed is moving straight, the pin protrudes from the silinoid and is inserted into the engaging part of the rotation fixing part 132, fixing the horizontal rotation of the straight-line auxiliary wheel 131 and fixing the orientation of the straight-line auxiliary wheel 131 in the straight-line direction. On the other hand, except when the bend is rotating or the bed is being transported, the pin is pulled out from the engagement part of the rotation fixing part 132 by the silicon oscilloscope, and as a result, the straight auxiliary wheel 131 can rotate horizontally.
[0033] Based on Figures 7 to 11, the operation of the control panel 3 during the transport of the bed 6 will be explained. Figure 7(A) is a view from above the bed, and Figure 7(B) is a view from the side of the bed. First, as shown in Figure 7, the control panel 3 is attached to the frame (operating handle) at the hand of the transporter H on the top 61 of the bed. The control panel 3 is connected to the main unit 1 of the device by code C (not shown in Figure 7), and the operation of the control panel 3 is transmitted to the control unit.
[0034] As shown in Figures 8 to 11, the control panel 3 includes a display unit 31, an emergency stop button 32, a manual movement button 33, a turning button 34 for electric assist, and a straight-line stability button 35 for electric assist.
[0035] In Figure 8, the display unit 31 shows an example of the mode setting screen after startup. This display allows you to set the assist level. The display unit 31 shows a screen for selecting the assist speed (for example, levels 1 to 5), a screen for selecting the assist strength, and a screen for displaying the load weight. On the display unit 31, the assist speed can be selected using the "UP" and "DOWN" buttons, and in the figure, the selected speed "3" is displayed on the selection screen. The assist speed can also be displayed as an actual speed such as kilometers per hour, but in this example, the actual speed is displayed in 5 levels from 1 to 5. Also on the display unit 31, the assist strength can be selected using the "Strong" and "Weak" buttons, and the selected strength is displayed as a large black circle, and in the figure, the "Strong" assist strength is selected. The assist strength indicates the degree of assistance; the stronger the strength, the closer it is to autonomous driving, and the less force the transporter needs to apply, while if the strength is weak, the transporter's force will be required. In this example, the assist strength has two levels, "strong" and "weak," but the present invention is not limited to this, and there may be three or more levels, such as "medium." In this example, the assist speed and assist strength are selected, and the selected settings are set when the "Confirm" button at the bottom of the display unit 31 is pressed. The load weight screen on the display unit 31 displays "~40 (less than 40)," "40~70 (40 or more, less than 70)," "70~100 (70 or more, less than 100)," and "100~ (100 or more)" depending on the load weight (kg). In this example, the weight of the person being transported on the bed is measured by the force detection sensor 15 or another force detection sensor (weight sensor, etc.), and the load weight is displayed as "40~70" on the display unit 31. The assist speed and assist strength can be set by referring to the transporter, for example, the load weight.
[0036] Figure 9 shows the mode setting screen after selection. As shown in the figure, the assist speed "3" and assist strength "Strong" are selected and set. Also, the "Main Operation" button and the "Detailed Functions" button are displayed at the bottom of the display unit 31. On the mode setting screen after selection, by selecting and pressing the hard key buttons "Manual Movement Button 33", "Turning Button 34" for electric assist, and "Straight Stability Button 35" for electric assist, the display unit 31 switches to the operation screen.
[0037] Figure 10 shows the operation screen. The operation screen shown in this figure is the main operation screen and is the operation screen when both or either of the electric assist buttons, the "Turn (turn) button 34" and the "Straight-line stability button 35," are pressed. The left half of the display unit 31 shows the remaining battery level screen and the speed display screen (graph screen and actual speed display screen), and the "Mode setting" button is displayed below these. The graph on the speed display screen shows the speed in 5 speed settings. The right half of the display unit 31 shows the "Forward" button, the "Reverse" button, and the "Stop" button, and the "Alert" is displayed below these. The "Forward" and "Reverse" buttons start working when pressed and held (for example, for 2 seconds). When the straight-line stability button 35 is pressed, the direction of the straight-line support wheels is fixed in the straight-line direction, and the movement in the straight-line direction becomes stable. Furthermore, when turning, pressing the "Turn (Turn) Button 34" releases the straight-line auxiliary wheels from being fixed in the straight-line direction, allowing the transporter to manually turn the bed.
[0038] Figure 11 shows the operation screen during manual movement. Pressing the manual movement button 33 activates manual movement mode, where movement is achieved by the user's manual force rather than the drive wheels. The left half of the display unit 31 shows the remaining battery level and the speed (actual speed) display screen, with the "Mode Setting" button below them. The right half of the display unit 31 shows the "Manual Free" button and the "Manual Stabilization" button, with "Alert" displayed below them. Pressing the "Manual Free" button does not fix the direction of the straight-line assist wheels, but pressing the "Manual Stabilization" button fixes the direction of the straight-line assist wheels. Also, in manual movement mode, pressing both or either the turn (turn) button 34 and the straight-line stabilization button 35 switches to electric assist mode.
[0039] The operation sensor 71 and stop sensor 72 will be described based on Figure 12. Figure 12 is a view of the transporter H and the frame (operation handle) in front of him from above. As shown in Figure 12, the operation sensor 71 can be attached to the operation handle of the bed 6. When the transporter H grasps the operation sensor 71, the operation sensor 71 detects that the transporter H is gripping the operation handle. The control unit detects that the transporter H is gripping the operation handle and controls the drive motor 112 to rotate. Also, if the control unit does not detect that the transporter H is gripping the operation handle, it controls the drive motor 112 not to rotate. In other words, transport assistance of the bed 6 is possible only when the transporter H is gripping the operation handle, and transport assistance is not possible when the transporter H is not gripping it.
[0040] As shown in Figure 12, the stop sensor 72 is mounted on the lower part of the operation panel 3 attached to the bed 6. The control unit controls the rotational drive of the drive motor 112 to stop when the stop sensor 72 detects contact with a part of the transporter H's body. In other words, if the transporter H is trapped between the bed 6 and a wall or the like for any reason, the movement of the bed 6 will stop, thus preventing accidents such as being trapped. In this example, it is mounted on the lower part of the operation panel 3 attached to the bed 6, but it may also be mounted on the operation handle or part or all of the frame of the bed 6. For example, the stop sensor 72 may be placed on the opposite side of the bed 6 from the operation handle and function as a stop sensor that detects contact with a person in the direction of the bed 6's movement.
[0041] The electric travel function will be further explained based on Figures 12 and 13. As shown in Figure 12, the operating handle of the bed 6 is provided with a grip 7 that includes a hard key button that functions as an electric travel button 73. There are no particular restrictions on the location where the grip 7 including the electric travel button 73 is provided. By pressing the electric travel button 73 and activating the electric travel function, the control unit controls the rotational drive of the drive motor 112 so that the bed 6 travels at a constant speed, regardless of the force applied to the bed 6 by the transporter H. In Figure 12, the electric travel button 73 and the grip 7 are shown connected by wiring, but this is not the only option. Figure 17 shows another example of the operation panel 3 and grip 7. As shown in Figure 17(A), the operation panel 3 and grip 7 may be detachable. Alternatively, as shown in Figure 17(B), the operation panel 3 and grip 7 may be an integrated structure. However, from the viewpoint of avoiding the risk of disconnection of the wiring connecting the operation panel 3 and grip 7, the configuration shown in Figure 17(B) is preferable.
[0042] Figure 13 shows the control logic for electric assist and electric drive. When the electric assist function is turned ON in the standby state, the system enters assist mode. Also, when the operation sensor 71 is ON (when the transporter H is gripping the operation handle), the bed 6 becomes capable of moving. At this point, if the force detection sensor 15 detects the force applied to the bed 6 by the transporter H, the electric assist control is turned ON, and when the device stops, it returns to the standby state.
[0043] When the electric drive function (electric drive button) is turned ON, the system enters electric drive mode. Also, when the operation sensor 71 is ON (when the transporter H is holding the operation handle), the bed 6 becomes capable of moving, and as long as the electric drive button is ON, the transport is electrically controlled regardless of the force applied to the bed 6 by the transporter H. When the electric drive button is turned OFF, the system returns to standby mode.
[0044] If both the electric assist function and the electric driving function are turned OFF, the transporter H can manually transport the bed 6.
[0045] In Figure 12, the operation sensor 71 is a contact-type sensor, but the present invention is not limited to this, and a non-contact sensor such as an infrared sensor may be used to detect the carrier H's grip on the operation handle. For example, an infrared sensor may be placed inside the operation panel 3 to detect the carrier H's grip on the operation handle. Alternatively, as shown in Figure 14, an infrared sensor (nearby sensor) 74 may be placed near the electric travel button 73 to detect the carrier H's grip on the operation handle. In Figure 14, 36 is a status indicator lamp and 63 is a bed board. Furthermore, in the present invention, for example, the operation panel 3 and the operation sensor 71 may be an integrated unit in which the operation panel 3 has the function of the operation sensor 71.
[0046] Although the present invention has been described above with reference to embodiments, the present invention is not limited to the embodiments described above. Various modifications to the configuration and conditions of the present invention are possible, as can be understood by those skilled in the art within the scope of the present invention. [Industrial applicability]
[0047] According to the present invention, for example, when not transporting beds or the like, the drive wheels are not in contact with the ground, and the vehicle can be moved using the driven wheels. This allows for manual movement by, for example, a nurse, resulting in energy savings. The scope of application of the present invention is broad and useful in various fields such as medical facilities and nursing care facilities. [Explanation of symbols]
[0048] 1. Main body of the device 11 Drive unit 111 Drive wheels 112 Drive motor 12 Driven part 121 Driven wheel (free caster) 13(131) Straight-line training wheels 132 Rotating fixing part 133 Spring 134 Rotation Control Unit 14 Lifting section 141 Connecting member 142 Lifting device 143 Lifting Member 144 casters 15. Force detection sensor 2. Handle section 3. Control Panel 31 Display Unit 32 Emergency Stop Button 33 Manual Movement Buttons 34. Turning (Turning) Button 35 Straight-line stability button 36 Status indicator lamp 4(41) Device-side engagement portion (recessed portion) 5. Mounting jig 5a Connecting part 5b Mounting part 51 Jig-side engaging portion (pin) 52 Guide rollers 6 beds 61 Upper part of the bed 62 Under the bed 63 Bed board 7 Grip 71 Operating Sensors 72 Stop Sensor 73 Electric drive button 74 Non-contact sensors (infrared sensors, proximity sensors)
Claims
1. Including the main body of the device and the device-side engaging part, The engagement portion on the device side is capable of engaging with the side of the conveyed object. The main body of the device includes a drive unit, a driven unit, and a lifting unit. The drive unit includes the drive wheels, The driven part includes a driven wheel, The lifting section includes a connecting member and a lifting device, and when assisting the transport of the transported object, the drive wheel is lowered to a grounded state, and when not assisting the transport of the transported object, the drive wheel is raised to a non-grounded state and the driven wheel is lowered to a grounded state. One end of the connecting member is connected to the drive wheel, and the other end of the connecting member is connected to the driven wheel. A portion of the connecting member between the one end and the other end is pivotally supported so that the drive wheel and the driven wheel can move up and down. The lifting device is capable of raising and lowering at least one of the drive wheel and the driven wheel. Conveying assist device.
2. Including the main body of the device and the device-side engaging part, The engagement portion on the device side is capable of engaging with the side of the conveyed object. The main body of the device includes a drive unit, a driven unit, and a lifting unit. The drive unit includes the drive wheels, The driven part includes a driven wheel, The lifting unit lowers the drive wheels to a ground-contact state when assisting the transport of the transported object, and raises the drive wheels to a ground-contact state and lowers the driven wheels to a ground-contact state when not assisting the transport of the transported object. The main body of the device further includes straight-line auxiliary wheels, When the straight-line auxiliary wheels are in contact with the ground during transport assistance for the transported object, and the transported object is moving in the front-rear direction relative to the direction of travel of the main body of the device, the direction of travel of the straight-line auxiliary wheels is fixed to the direction of travel of the main body of the device. Conveying assist device.
3. When the conveyed object is turned, the straight-line auxiliary wheels are released from their fixed position and are rotatable in the horizontal direction. The transport assist device according to claim 2.
4. The device-side engaging portion is positioned on the side of the device body with respect to the direction of travel. Furthermore, it includes a control unit, The control unit controls the drive unit and the lifting unit, The aforementioned drive unit further includes a drive motor, The drive motor is connected to the drive wheel, The drive wheels are arranged on the main body of the device so as to be able to generate a propulsive force that allows the main body of the device to move forward and backward in the direction of travel of the main body of the device. The driven wheel of the driven part is arranged on the main body of the device in a manner that allows it to rotate horizontally. The control unit controls the raising and lowering of the drive wheel and the driven wheel by the lifting unit. A transport assist device according to any one of claims 1 to 3.
5. Furthermore, including the mounting jig for the conveyed object, The mounting jig can be attached to the transported object, The mounting jig includes a jig-side engaging portion, The jig-side engaging portion is positioned on the side of the conveyed object and is capable of engaging with the device-side engaging portion. A transport assist device according to any one of claims 1 to 3.
6. The mounting jig further includes a guide section, The guide portion is capable of guiding the device-side engaging portion to the jig-side engaging portion. The transport assist device according to claim 5.
7. The main body of the device further includes an action force detection sensor, The force detection sensor detects the force applied by the transporter to the transported object and transmits it to the control unit. The control unit controls the rotational drive of the drive motor in accordance with the applied force. The transport assist device according to claim 4.
8. The control unit performs at least one of the following controls: (a), (b), (c), (d), (e), (f), and (g). The transport assist device according to claim 7. (a) When the force detection sensor detects a force acting in the same direction as the direction of travel of the conveyed object, control the rotational drive of the drive motor to accelerate the conveyed object. (b) When the speed of the conveyed object reaches a preset speed, control the rotational drive of the drive motor to ensure that the conveyed object travels at a constant speed. (c) When the force detection sensor detects a force acting in the opposite direction to the direction of travel of the conveyed object, control the rotational drive of the drive motor to decelerate the conveyed object. (d) When the force detection sensor detects a force acting on the drive wheel that causes the transported object to rotate in the left-right direction while the drive wheel is rotating outward, control the rotational drive of the drive motor to allow the transported object to travel at a constant speed. (e) When the force detection sensor detects a force acting on the drive wheel that causes the transported object to rotate in the left-right direction, control the rotational drive of the drive motor to allow the transported object to travel at a constant speed. (f) Control of the rotational drive of the drive motor to ensure that the transported object travels at a constant speed when the transported object is moving up an incline. (g) Controlling the rotational drive of the drive motor to ensure that the transported object travels at a constant speed when the transported object is moving down an incline.
9. Furthermore, including an operating sensor, The operation sensor can be attached to the operation handle of the transported object. The operation sensor is capable of detecting when the transporter grasps the operation handle. The control unit rotates the drive motor when it detects the gripping of the operation sensor, and does not rotate the drive motor when it does not detect the gripping of the operation sensor. The transport assist device according to claim 8.
10. Furthermore, including a stop sensor, The stop sensor can be attached to part or all of the conveyed object. The control unit stops the rotational drive of the drive motor when the stop sensor detects contact with a part of a human body. The transport assist device according to claim 8.
11. The transport assist device according to any one of claims 1 to 3, wherein the lifting unit further lifts and lowers the main body of the device.