JP2015530217A - Mobile lifting device equipped with a driving assistance system capable of adjusting the rotational force - Google Patents

Abstract

The present invention relates to a mobile lifting device provided with a travel assist system capable of adjusting a separate rotational force, a base having a plurality of moving wheels, a bed portion on which a user is seated, And an ascending / descending frame that is coupled to the base and extends in the upper direction, supports the bed part to be positioned above a certain height from the ground, and selectively adjusts the height of the bed part. A lifting unit including a driving wheel coupled to the base and grounded to the ground, and a driving assisting unit having a driving motor for supplying power to the driving wheel, wherein the rotational force of the driving wheel is selectively adjusted, A handle connected to the lifting unit and gripped by a user; a sensor provided on the handle for sensing an external force acting on the handle and transmitting it by an electrical signal; and the sensing Depending on the electrical signal measured by the Nsa and a controller for adjusting the operating condition and the rotational force of the driving wheel. [Selection] Figure 1

Description

  The present invention relates to a mobile lifting device. More specifically, the present invention relates to a rotational force in which the rotational force of a driving wheel that assists the traveling of the lifting device varies depending on the load of the lifting device and the strength of an external force provided by a user. The present invention relates to a mobile lifting device provided with a travel assist system capable of adjusting the above.

  Recently, there is a lot of interest in research and development of elderly-friendly products that can improve the convenience of users according to the rapid increase of the elderly population and reduce the economic burden due to medical protection.

  In general, medical treatment protection for elderly people is carried out at home or in elderly medical treatment facilities, and meals, baths, defecation, and transportation and movement are divided into main activities in the ability to perform daily life.

  Especially for elderly people whose behavior is inconvenient, help around them is urgently needed. Therefore, the development of the technology related to this is required.

  In such an environment, recently, products related to various types of beds or transfer devices have been developed for transferring users, but the development of products through systematic research is still insufficient.

  In particular, in order to reduce the external force used when the user directly moves after the user is seated on the bed, a variety of carriers having a separate driving assistance unit have been developed.

  However, in the conventional apparatus, the user may assist the traveling when the bed on which the caregiver rides, but it is difficult for the user to adjust the traveling speed and the rotational force of the traveling assistance unit. was there. In particular, when going up an inclined road, the user needs more force due to the load on the bed portion, and accordingly, there is a problem that it is difficult to operate the traveling speed and the rotational force of the travel assisting unit.

  An object of the present invention is to solve the problems of the conventional mobile lifting device, which is different from the conventional mobile lifting device that had to be operated passively, and has a separate driving wheel to provide a lifting unit. In addition to assisting the movement of the vehicle, the mobile lifting device is equipped with a travel assist system that is equipped with a control unit and can adjust the rotational force of the drive wheels in response to an external force generated between the user and the lifting unit Is to provide.

  And this invention is comprised so that a driving wheel may be stopped by the user's selection during driving | running | working of a lifting unit using the rotation stopper with which the driving assistance unit was equipped, and a user is made safer. Provided is a mobile lifting device equipped with a driving assistance system capable of adjusting a rotational force that can be used.

  The problem of the present invention is not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

  In order to solve the above-described problems, the present invention provides a base having a plurality of moving wheels, a bed portion on which a user is seated, and a base that is connected to the base and extends upward. A lifting unit including an ascending / descending frame that supports the bed part to be positioned at a certain height or more and selectively adjusts the height of the bed part, and is connected to the base and driven to ground. A wheel, and a driving motor that provides power to the driving wheel, and a driving assist unit that selectively adjusts the rotational force of the driving wheel, a handle connected to the lifting unit and gripped by a user, and the handle A sensing sensor that senses an external force acting and transmits it as an electrical signal, and an operating state and rotation of the driving wheel according to the electrical signal measured by the sensing sensor. A control unit including a control unit for adjusting the force.

  The controller may change the rotational force of the drive motor according to the intensity of the electrical signal measured by the sensing sensor.

  The controller may divide the intensity of the electrical signal measured by the sensing sensor into a plurality of regions so that the drive motor can operate with a uniform rotational force in each region.

  The control unit may be configured to rotate the drive wheel with a different rotational force for each of a plurality of regions according to the strength of the electrical signal measured by the sensing sensor. Features.

  The control unit may selectively rotate the driving wheel without load according to the intensity of an external force acting on the detection sensor.

  The handle is hinged to the ascending / descending frame, and a coupling angle is selectively adjusted by an external force.

  Here, the detection sensor detects an external force acting according to a rotation angle of the ascending / descending frame and the handle so that an electrical signal can be changed.

  The handle may be coupled to the ascending / descending frame so that the handle can be tilted back and forth or vertically.

  Further, the handle is formed so as to be able to contract and pull in the front-rear direction depending on the moving direction of the lifting unit.

  The sensor may detect an external force acting according to the degree of contraction and pulling of the handle to change an electrical signal.

  The driving wheel is selectively grounded to the ground.

  Further, the travel assist unit is characterized in that the base is configured to elastically support the drive wheel.

  The travel assistance unit may further include a separate rotation stopper that selectively stops the operation of the drive wheels.

  The ascending / descending frame has a vertical axis of rotation and is coupled to the base so as to be rotatable so as to selectively adjust the position of the bed portion.

  According to the present invention, there are the following effects in order to solve the above problems.

  Unlike the conventional lifting device, it has a separate driving assistance unit that assists driving while moving and reduces the physical burden on the user. At the same time, a separate sensor is attached to the handle that the user grips. By adjusting the rotational force of the driving wheel according to the load of the mobile lifting device and the strength of the pressure generated by the external force provided by the user, by the load acting according to the traveling direction of the mobile lifting device At the same time as selectively assisting the running, the speed and strength are adjusted according to the magnitude of the load.

  In addition, the travel assist unit is provided with a separate connection link and a buffer member, and elastically supports the drive wheel, so that when the mobile lifting device moves, the grounding force increase with the ground and the impact due to the ground condition can be mitigated. There is.

  In addition, the travel assistance unit is equipped with a separate rotation stopper so that the user can selectively stop the rotation state of the drive wheels, so that the traveling of the mobile lifting device can be stopped in the state desired by the user. This has the effect of preventing accidents.

1 is a diagram schematically illustrating a configuration of a mobile lifting device according to an embodiment of the present invention. The figure which showed the state which a bed part raises / lowers with the mobile lifting apparatus of FIG. The figure shown about the structure of the handle with which the movable lifting apparatus of FIG. 1 was equipped. 2 is a diagram illustrating a state in which the rotational force of a driving motor is adjusted according to the intensity of an electrical signal generated by an external force acting on a sensing sensor in the lifting device of FIG. 1. The figure which showed schematically the structure with which the handle of the form deform | transformed with the lifting apparatus of FIG. 1 was provided. FIG. 6 is a diagram illustrating a configuration of a handle provided in the mobile lifting device of FIG. 5. The drawing which showed about the structure which the driving wheel elastically contacts with the ground in the mobile lifting apparatus of FIG.

  A preferred embodiment of a mobile lifting device equipped with a traveling assistance system capable of adjusting a rotational force according to the present invention will be described with reference to the accompanying drawings. However, this is not intended to limit the present invention to a specific form, but to assist in a clearer understanding through the examples.

  In the description of the present embodiment, the same name and the same reference numeral are used for the same configuration, and an additional description thereof will be omitted.

  First, referring to FIG. 1 to FIG. 3, the configuration of a mobile lifting device equipped with a travel assist system capable of adjusting the rotational force according to an embodiment of the present invention is as follows.

  FIG. 1 is a diagram schematically illustrating a configuration of a mobile lifting device according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating a state in which a bed portion is raised and lowered by the mobile lifting device of FIG. 3 is a view showing the structure of a handle provided in the mobile lifting device of FIG.

  As shown in the figure, the mobile lifting device according to the embodiment of the present invention mainly includes a lifting unit 100, a travel assisting unit 200, and a control unit 300.

  The lifting unit 100 has a configuration similar to that of a general mobile lifting bed, and includes a base 110, a bed part 120, and an ascending / descending frame 130.

  The base 110 supports the entire mobile lifting device and includes a plurality of moving wheels 112 so that the lifting unit 100 can be moved by an external force.

  The bed part 120 may be disposed on an upper part of the base 110 to be seated by a user, and may have a general bed shape. Here, the bed 120 may be configured to transport not only the shape of the bed on which the user is seated, but also heavy objects.

  In this embodiment, the bed part 120 is configured as a bed on which a user is seated, and includes a reclining bed in which a partial inclination angle can be adjusted by rotation.

  The ascending / descending frame 130 is coupled to the base 110 and extends upward, and supports the bed part 120 so as to be positioned at a certain height or more from the ground. Here, the ascending / descending frame 130 is configured to selectively adjust the height of the bed 120.

  Looking at a configuration in which the position of the bed part 120 is adjusted in the vertical direction by the ascending / descending frame 130, the ascending / descending frame 130 is coupled to the bed part 120 on one side and wraps a part along the vertical direction. A coupling guide 132 formed in a shape and coupled to the ascending / descending frame 130 is provided.

  As described above, the coupling guide 132 is configured so that the bed 120 is coupled to the ascending / descending frame 130 and at the same time, ascending / descending along the vertical direction of the ascending / descending frame 130. The height of the bed part 120 is adjusted.

  Meanwhile, the ascending / descending frame 130 is rotatably coupled to the base 110 so that the position of the bed 120 can be adjusted. That is, as shown in the drawing, the ascending / descending frame 130 is connected to the upper surface of the base 110 so that the ascending / descending frame 130 has a vertical axis of rotation. The position of the bed part 120 is adjusted through.

  The lifting unit 100 configured as described above is configured such that the bed 120 can be moved up and down as shown in FIG.

  In the present embodiment, the lifting unit 100 is configured in the form of a general lifting bed that moves up and down in the vertical direction. Unlike this, however, not only the lifting unit 100 but also a general tray or carrier is used. You can also.

  The driving assistance unit 200 includes a driving wheel 210 and a driving motor 220, and the driving wheel 210 is coupled to the base 110 and is configured to be grounded to the ground. The drive motor 220 is connected to the drive wheel 210 and is configured to rotate the drive wheel 210.

  That is, the travel assist unit 200 is additionally provided in addition to the plurality of moving wheels 112, and the drive motor 210 operates to rotate the drive wheel 210. Here, the driving wheel 210 is rotated by the driving motor 220, and the driving motor 220 is configured to adjust the rotational force.

  As shown in the figure, the driving wheel 210 and the driving motor 220 can be directly connected. Unlike this, the driving wheel 210 and the driving motor 220 are arranged apart from each other and are provided with a separate power transmission means (not shown) to transmit power. It can also be configured.

  The driving wheels 210 are disposed between the moving wheels 112 so as not to obstruct the traveling direction when the lifting unit 100 is moved by an external force.

  As described above, the travel assisting unit 200 is configured to selectively operate the driving wheel 210, so that the travel assisting unit 200 can assist travel when the lifting unit 100 moves.

  Meanwhile, in the travel assist unit 200, the driving wheel 210 may be configured to be selectively grounded with the ground. Although not shown, when the driving wheel 210 is selectively grounded to the ground, when the lifting unit 100 is moved by the user, the user can selectively adjust the use of the lifting unit 100. it can.

  The drive wheel 210 further includes a separate clutch (not shown), and is configured to be able to perform no-load rotation when the drive wheel 210 is in contact with the ground but the user does not want to operate. be able to. That is, when the driving wheel 210 is grounded and rotates together with the lifting unit 100, the driving wheel 210 is configured not to transmit the rotational force to the driving motor 220. 220 can be prevented from being damaged.

  The control unit 300 is configured to adjust the operation state of the driving assistance unit 200, and includes a handle 310, a sensor 320, and a control unit (not shown).

  The handle 310 is coupled to the lifting unit 100 to be gripped by a user, and allows the user to move the lifting unit 100. In the present embodiment, the handle 310 is coupled to the coupling guide 132 as illustrated. Here, the handle 310 may be configured in various forms. In this embodiment, the handle 310 has a square ring shape, and a part thereof is configured to be coupled to the coupling guide 132.

  More specifically, as illustrated in FIG. 2, the handle 310 is extended in a symmetrical form with respect to the ascending / descending frame 130 and protrudes in an inverted U shape with a middle portion folded. The fixed member 314 is formed, and the operation member 312 is formed in a similar shape to the fixed member 314 and coupled to correspond to each other to form a square shape. Here, the fixing member 314 and the operating member 312 are respectively arranged in the moving direction of the lifting unit 100 and the direction facing the lifting unit 100 so as to be able to be tensioned and contracted in a region where they are coupled to each other by an external force. Composed.

  Therefore, when the user grips the handle 310 and pushes the lifting unit 100, the fixing member 314 and the operating member 312 contract each other. When the user pulls the lifting unit 100, the fixing member 314 The operating member 312 is configured to pull.

  The sensing sensor 320 is provided on the handle 310 and is configured to sense an external force acting and transmit it by an electrical signal. As shown in the drawing, the sensing sensors 320 are arranged symmetrically on the handle 310 in the shape of a square ring, and convert an external force acting on the handle 310 into an electrical signal.

  In the present embodiment, as shown in the drawing, the sensing sensor 320 is provided such that a pair is symmetrical with each other in a region where the fixing member 314 and the operation member 312 are coupled. An electric signal is generated by the tension and contraction of the fixing member 314 and the operating member 312, and the intensity of the generated electric signal also changes depending on the strength.

  The controller (not shown) adjusts whether or not the drive wheel 210 can operate and the rotational force according to the electrical signal measured by the sensing sensor 320. That is, the control unit adjusts whether or not the driving wheel 210 can be operated by applying an external force to the lifting unit 100 so that the intensity of the pressure measured by the sensing sensor 320 is transmitted as an electrical signal. To do. More specifically, the sensor 320 measures the pressure generated by the handle 310 and changes the intensity thereof into an electrical signal, and the controller receives the signal and operates the driving motor 220.

  Meanwhile, the controller may be configured to change the rotational force of the driving motor 220 according to the intensity of the electrical signal measured by the sensing sensor 320. That is, the sensing sensor 320 senses the intensity of the external force generated by the user who grips the handle 310 and the load of the lifting unit 100, and the controller controls the driving motor 220 according to the sensed external force intensity. Change the strength of the rotational force.

  As described above, the handle 310 includes the fixing member 314 and the operation member 312, and is formed so that it can contract and pull in the front-rear direction depending on the moving direction of the lifting unit 100. As a result, the fixing member 314 and the operating member 312 are contracted and pulled by an external force applied to the handle 310 and the lifting unit 100, and are generated by being detected by the sensor 320 according to the degree of contraction and tension. The signal strength is configured to change.

  According to the intensity of the electrical signal generated by the sensing sensor 320, the controller adjusts whether the driving motor 220 can rotate and the intensity of the rotating force.

  For example, when the user presses the lifting unit 100 and climbs an uphill that is inclined, a greater force is required than when the user presses the lifting unit 100 on a general flat ground. For this reason, when going up an uphill slope, the detection sensor 320 detects not only the force by which the user pushes the lifting unit 100 but also the load of the lifting unit 100, and the rotational force of the driving motor 220 is detected. To be adjusted.

  The control unit 300 thus configured senses and measures the external force acting through the handle 310 gripped by the user and the strength of the force generated by the load of the lifting unit 100 to measure and measure the driving assist unit 200. When the user moves the lifting unit 100, the vehicle can be easily assisted in traveling.

  On the other hand, although not shown in the drawing, the handle 310 further includes separate operation means (not shown), and the travel assisting unit 200 is operated by the operation means, and the driving wheel 210 is selectively rotated. And a rotation stopper (not shown) for stopping the operation.

  Therefore, when the lifting unit 100 is traveling, the user can stably stop the lifting unit 100 by operating the rotation stopper with the operation means. Thus, the rotation stopper can be further provided to prevent an accident that may occur while the lifting unit 100 is traveling.

  Various configurations can be applied to the configuration for stopping the rotation of the drive wheel 210. In this embodiment, the configuration is a general brake shape, and the rotation state of the drive wheel 210 is operated by the operation means. Is configured to be stopped.

  Next, referring to FIG. 4, a state in which the rotation speed of the driving wheel 210 is adjusted by the control unit 300 is as follows.

  FIG. 4 is a diagram illustrating a state in which the rotational force of the driving motor 220 is adjusted according to the intensity of the electrical signal generated by the external force acting on the sensing sensor 320 in the lifting device of FIG.

  The controller is configured to be able to adjust the rotational force of the driving motor 220 according to the intensity of an electrical signal generated by an external force detected by the sensing sensor 320. In this embodiment, the rotational force of the driving motor 220 is adjusted. Is configured to increase step by step without changing continuously. Here, in each step, the driving motor 220 is rotated with uniform strength.

  Referring to the graph, the X axis indicates the intensity of the external force detected by the detection sensor 320, and the Y axis indicates the intensity of the rotational force of the driving motor 220.

  Referring to the illustrated graph, A is a continuous change in the intensity of the electrical signal generated by the external force sensed by the sensing sensor 320, and the change in response to the external force applied to the handle 310. The intensity increases continuously.

  B indicates the strength of the rotational force that the drive motor 220 rotates according to the value detected by the detection sensor 320.

  However, as illustrated, the graph of A is illustrated in a continuous form, but the graph of B is divided into a plurality of regions, and the drive motor 220 rotates with the same intensity in each region. It turns out that it is comprised.

  That is, the controller divides the intensity of the electrical signal measured by the sensing sensor 320 into a plurality of regions, and the driving motor 220 operates with a uniform rotational force in each region. Is configured to rotate the driving wheel 210 with different rotational forces for each region according to the intensity of the electrical signal measured by the sensing sensor 320.

  Accordingly, the control unit divides the electrical signal measured by the sensing sensor 320 into a plurality of regions according to the intensity thereof, and the driving motor 220 has a predetermined rotational force in each of the corresponding regions. The driving wheel 210 is rotated.

  The controller senses the intensity of the electrical signal generated by the sensing sensor 320 and rotates the driving wheel 210 with a rotational force in a region to which the detected electrical signal intensity belongs.

  For example, referring to the illustrated graph, when the external force is sensed by the sensing sensor 320 and the generated electrical signal strength is 5 and 6, the driving motor 220 is driven at a rotational force of about 15. When the motor 220 is rotated and the intensity of the electrical signal generated by the sensing sensor 320 is 9, the driving motor 220 rotates the driving motor 220 with a rotational force of about 25.

  As described above, the driving motor 220 rotates the driving motor 220 with a rotational force in a corresponding region according to the intensity of the electrical signal generated by the sensing sensor 320.

  Meanwhile, the controller may be configured to selectively rotate the driving wheel 210 without load according to the strength of an external force acting on the sensing sensor 320. That is, when the external force acting on the detection sensor 320 is below a certain level, the controller does not operate the drive motor 220 and allows the drive wheel 210 to rotate without load. Here, the drive wheel 210 may include a separate clutch as described above, and may be configured such that the drive wheel 210 can rotate without load so that the drive motor 220 does not fail.

  Next, referring to FIGS. 5 and 6, the deformed form of the handle 310 will be described as follows.

  FIG. 5 is a schematic view illustrating a configuration in which the handle 310 is deformed by the mobile lifting device of FIG. 1, and FIG. 6 is a configuration of the handle 310 provided in the mobile lifting device of FIG. It is drawing shown about.

  As shown in the drawing, the basic configuration is the same as the above-described configuration, but the configuration of the handle 310 is modified, and the handle 310 is configured in a pair so that the lifting unit 100 moves in the traveling direction. On the other hand, the coupling guide 132 is extended and protruded so as to be symmetrical in both directions.

  As shown in the drawing, the handle 310 includes a first member 316 and a second member 318, each of which has a predetermined length, and one side is coupled to the coupling guide 132. Here, each of the first member 316 and the second member 318 is coupled symmetrically with respect to the coupling guide 132, and the sensing sensor 320 is coupled to the coupling guide 132. Is provided.

  More specifically, referring to FIG. 6, the first member 316 and the second member 318 are hinged to the coupling guide 132 and selectively coupled by an external force. Configured to adjust the angle. That is, each of the first member 316 and the second member 318 is rotated in the front-rear direction according to the advancing direction of the lifting unit 100 so that the coupling angle with the coupling guide 132 changes.

  In addition, the sensor 320 is provided in a region where each of the first member 316 and the second member 318 is coupled to the coupling guide 132, and the first member 316 and the second member 318 are rotated according to the rotation state of the first member 316 and the second member 318. An external force acting on the lifting unit 100 and the handle 310 is detected.

  Here, the sensing sensor 320 is configured such that the intensity of an electrical signal generated by the sensing sensor 320 is changed according to the rotation angle of the first member 316 and the second member 318, and the control unit 320 controls the sensor. The rotational force of the drive motor 220 is adjusted.

  Next, referring to FIG. 7, the configuration of the travel assisting unit 200 is as follows.

  FIG. 7 is a view showing a configuration in which the driving wheel 210 is elastically grounded to the ground in the mobile lifting device of FIG.

  As shown in the figure, in the travel assist unit 200, the drive wheel 210 is configured to be elastically grounded to the ground. Looking at the configuration of the travel assist unit 200, the driving wheel 210 is coupled to a separate connection link 230 connected to the base 110 so as to be rotatable, and the connection link 230 is coupled to the base 110 so as to be rotatable. ing. Here, the connecting link 230 is connected to a buffer member 240 that elastically pressurizes in the lower direction, and pressurizes the drive wheel 210 in the lower direction.

  As shown in the figure, the buffer member 240 has one side connected to an intermediate portion along the longitudinal direction of the connection link 230 and the other side connected to a fixing bracket 114 formed protruding from the base 110 to connect the connection link 230. Is configured to pressurize in the downward direction.

  Accordingly, the buffer member 240 pressurizes the connecting link 230 so that the driving wheel 210 is elastically grounded with the ground, and at the same time, the driving wheel 210 can actively move in the vertical position depending on the state of the ground. Configured as follows.

  As described above, the travel assist unit 200 further includes the connection link 230 and the buffer member 240, so that the driving wheel 210 is elastically grounded to the ground, and thereby the shock transmitted through the driving wheel 210 by the buffer member 240. Is not transmitted to the lifting unit 100.

  In the present embodiment, the driving assist unit 200 elastically supports the driving wheel 210 through a configuration including the connection link 230 and the buffer member 240, but unlike the above, a hydraulic damper, a pneumatic damper, a spring, etc. Thus, the driving wheel 210 can be applied to elastic support. However, the present invention is not limited to this, and any configuration can be applied as long as the shock transmitted from the ground through the driving wheel 210 can be buffered.

  As described above, the preferred embodiments of the present invention have been described. However, in addition to the above-described embodiments, the present invention can be embodied in other forms without departing from the spirit and scope of the present invention. Accordingly, the embodiments are not to be limited to a specific form, but are to be taken as illustrative, so that the invention is not limited to the above description and is within the scope of the appended claims and equivalents thereof. It can be changed within a range.

DESCRIPTION OF SYMBOLS 100 Lifting unit 110 Base 112 Moving wheel 114 Fixed bracket 120 Bed part 130 Ascending / descending frame 132 Coupling guide 200 Driving assistance unit 210 Drive wheel 220 Drive motor 230 Connection link 240 Buffer member 300 Control unit 310 Handle 312 Operation member 314 Fixing member 316 First 1 member 318 2nd member 320 sensor

Claims (14)

A base having a plurality of moving wheels, a bed part on which a user is seated, and a base part that is connected to the base and extends upward, and the bed part is located above a certain height from the ground. A lifting unit including an ascending / descending frame that supports and selectively adjusts the height of the bed part;
A driving wheel coupled to the base and grounded to the ground; and a driving assisting unit having a driving motor for supplying power to the driving wheel, wherein a rotational force of the driving wheel is selectively adjusted; and the lifting unit A handle that is connected and gripped by a user, a sensor that is provided on the handle and senses an external force acting on the handle and transmits it as an electrical signal, and an operation of the driving wheel according to the electrical signal measured by the sensor A control unit including a control unit for adjusting the state and the rotational force;
A mobile lifting device provided with a driving assistance system capable of adjusting the rotational force.   The driving assistance according to claim 1, wherein the controller changes a rotational force of the driving motor according to an intensity of an electrical signal measured by the sensing sensor. Mobile lifting device with system.   The controller may divide the intensity of the electrical signal measured by the sensing sensor into a plurality of regions so that the driving motor operates with a uniform rotational force in each region. A mobile lifting device provided with a travel assist system capable of adjusting the rotational force according to claim 2.   The control unit is configured to rotate the driving wheel with a different rotational force for each of a plurality of regions according to the strength of an electrical signal measured by the sensing sensor. A mobile lifting device provided with a travel assist system capable of adjusting the rotational force according to claim 3.   The control unit according to claim 2, wherein the controller can selectively rotate the driving wheel in a no-load manner according to an intensity of an external force acting on the detection sensor. A mobile lifting device equipped with a driving assistance system.   The travel support system according to claim 1, wherein the handle is hinged to the ascending / descending frame, and a coupling angle is selectively adjusted by an external force. Mobile lifting device.   The rotational force according to claim 6, wherein the sensing sensor senses an external force acting according to a rotation angle of the ascending / descending frame and the handle to change an electrical signal. A mobile lifting device with adjustable travel assistance system.   The mobile lifting device according to claim 6, wherein the handle is coupled to the ascending / descending frame so that the handle can be tilted in the front-rear direction or the up-down direction.   The travel support system according to claim 1, wherein the handle is formed to be able to contract and pull in a front-rear direction depending on a moving direction of the lifting unit. Mobile lifting device.   The rotational force according to claim 9, wherein the sensing sensor senses an external force acting according to a degree of contraction and tension of the handle to change an electrical signal. Mobile lifting device equipped with a simple driving assistance system.   The mobile lifting apparatus according to claim 1, wherein the driving wheel is selectively grounded to the ground.   The mobile lifting unit according to claim 1, wherein the travel assist unit is configured such that the base elastically supports the drive wheel. apparatus.   The travel assistance system according to claim 1, further comprising a separate rotation stopper that selectively stops the operation of the driving wheel. Mobile lifting device.   The rotational force according to claim 1, wherein the ascending / descending frame has a rotation shaft in a vertical direction and is coupled to the base so as to be rotatable so as to selectively adjust the position of the bed part. A mobile lifting device with adjustable travel assistance system.

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