JP2016064082A - Movable carriage - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-traveling movable carriage which is capable of suspending a transported object or person requiring care by a wire member and is a device capable of adjusting balance in the suspension.SOLUTION: The movable carriage includes: a base part 1 including a drive wheel 12 and a loading table 20; a support post 2 erected on the base part; a boom 3 projecting laterally from a tip of the support post; and a wire member 4 capable of being suspended from a tip of the boom. On a lower side of the base part are arranged: an auxiliary leg 5 capable of advancing/retracting laterally; a restriction part contacting a lower edge of the auxiliary leg and restricting downward movement; an auxiliary wheel 51 attached rollably at a tip of the auxiliary leg; a pivot enabling both ends of the auxiliary leg to oscillate vertically; and a guide member restricting an advancing direction of the auxiliary leg together with the pivot.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a mobile carriage, and more particularly to a mobile carriage having a function of lifting and loading a transported object or a function of assisting transfer of a human body.

  A normal moving carriage can move in a state where a transported object is loaded, and the transfer of the transported object is performed by a crane device or the like separate from the moving carriage. Further, as a device for assisting transfer of a human body, a device that transfers a care recipient to a moving means such as a wheelchair by a lift that suspends a sling seat is generally used.

  By the way, in recent years, a moving device for care for a care recipient has been developed. For example, there is a device in which a care lift is self-propelled (see Patent Document 1). This type of device is convenient if it is moved to a close place, but the care recipient is in a state of being lifted by a lift, so the posture of the care recipient is not stable and the device needs to be moved over a long distance. It was unsuitable for.

  Then, the movement apparatus with a lift function which can move a care recipient in the sitting position is developed (refer patent documents 2 and 3). Patent Document 2 discloses that a care recipient can move up and down in a sitting position by winding a belt-shaped sheet for sitting with a winding device, and a base frame to be a base is It was a caster, and it was not a mechanism that could run on its own. On the other hand, what is disclosed in Patent Document 3 is such that a support body including a support portion for supporting a care recipient's buttocks is moved up and down by a cylinder operation, and the care recipient requires a seating posture on the buttocks support portion. It was lifted up. In this postoperative operation, wheels are provided, but the structure is not capable of self-propelled.

  Both of these techniques are devices for moving a care recipient in a sitting position, and cannot transfer a care recipient lying on a bed. Therefore, in addition to the seat, a footrest and a backrest are rotatably provided, and a wheelchair has been developed that can be placed on the upper surface of the bed with the seat, the footrest and the backrest being in a flat state (see Patent Document 4). ).

JP 2004-33533 A JP 2006-314600 A JP 2010-246792 A JP 2012-147881 A

  As described above, the technique disclosed in Patent Document 4 is configured such that the seat portion, the footrest, and the backrest are in a flat state. However, the lift mechanism is a foot pedal equipped with a cam. This was due to the operation, and only allowed upper and lower height fluctuations. Also, the leg frame extends forward, and the leg frame penetrates into the lower part of the bed, so that the care recipient lying on the bed is kept in balance when moved to a flat seat or the like. Although it can be done, since the installation range of this leg frame is such that it faces the seating surface or the like, it did not enter greatly from one side of the bed to the other side. In addition, since the seating surface and the like are installed on the bed surface in a flat state, it is necessary to assist the patient to lie on the bed when transferring a care recipient who is lying down. In addition, since the said apparatus is comprised as a general wheelchair which does not have a driving wheel, assistance of a caregiver became essential about the movement of the care recipient who transferred to the said apparatus itself.

  The present invention has been made in view of the above-described points, and an object of the present invention is to provide a self-propelled mobile carriage that can suspend a conveyed object or a person requiring care by a wire member. An object of the present invention is to provide a device capable of adjusting the balance when suspended.

  Accordingly, the present invention provides a base having a drive wheel and a loading platform, a support erected on the base, a boom protruding laterally from the front end of the support, and a wire member that can be suspended from the front end of the boom. A movable carriage comprising: an auxiliary leg that can be moved back and forth horizontally below the base, a restricting portion that abuts against a lower edge of the auxiliary leg to restrict downward movement, and can roll to the tip of the auxiliary leg. An auxiliary wheel mounted; a pivot for allowing both ends of the auxiliary leg to swing up and down; and a guide member for restricting the advance and retreat direction of the auxiliary leg together with the pivot; When the pivot moves forward beyond the restricting portion, the swing of the auxiliary leg is restricted from swinging downward, and when the pivot is positioned rearward of the restricting portion, the auxiliary Release the rear swing of the leg And characterized in that for.

  According to the said structure, it can be self-propelled fundamentally with the drive force of the drive wheel installed in a base. The auxiliary leg can be moved back and forth along the guide member, and an auxiliary wheel is provided at the tip of the auxiliary leg, so that the auxiliary leg can be extended while rolling the auxiliary wheel. It will be. The auxiliary leg is swingable when the pivot is supported by the guide member, and the downward movement is restricted by the restricting portion. According to the relative positional relationship, the swinging state of the auxiliary leg can be changed. That is, the pivot is provided at an intermediate position in the longitudinal direction of the auxiliary leg, the front end side and the rear end side are swung in the vertical direction, and moves inside the guide member as the auxiliary leg advances and retreats. Although it is always in a state of being supported by the guide member, since the restricting portion is positioned either forward or rearward of the pivot, the downward swinging of either one is limited. is there. Moreover, the fact that any one of the downward swings is restricted means that the other upward swing is also restricted at the same time. By this upward regulation, when a load is applied to the tip of the auxiliary leg having the auxiliary wheel, the function of supporting the load is exhibited together with the auxiliary wheel, and second, the restriction is released, so that the upward movement is prevented. It becomes possible. By enabling this upward movement, only the driving wheel functions as a wheel when the moving carriage moves (self-propelled). The above regulation is based on the time when the auxiliary leg is extended (advanced), and the release of the regulation is based on the time when the auxiliary leg is retracted (retreated), so that the object to be conveyed by the wire member or the care recipient The entire apparatus can be stabilized by extending (advancing) the auxiliary legs when lifting.

  In the above invention, the auxiliary leg is formed by superposing a plurality of leg portions having a stepwise smaller cross section, restricting the advancing and retreating direction of the leg portion having a small cross section using the leg portion having a large cross section as a guide, and expanding and contracting as a whole. It can be made possible.

  In such a configuration, the auxiliary leg can be expanded and contracted and extended in a plurality of stages, so that the auxiliary wheel can be disposed at a position relatively away from the base, and the conveyed product at a position away from the base. It can also be stabilized when lifting a care recipient. The pivot axis of the auxiliary leg in the above configuration is installed on the auxiliary leg having the largest cross-sectional area, and the positional relationship between the pivot axis and the restricting portion when the auxiliary leg advances and retreats along the guide member is as described above. The swing of the entire auxiliary leg is determined.

  In each of the above inventions, the auxiliary legs may be arranged so as to be able to advance and retreat in parallel at least at two locations in the forward direction by the drive wheels.

  According to the above configuration, the auxiliary leg can be advanced and retracted in the forward direction of the drive wheel. Therefore, by stopping the moving carriage while the drive wheel is advanced, the auxiliary wheel is rotated further forward. You can move forward while moving. In addition, by making it possible to advance and retreat in at least two places, auxiliary legs can be arranged on both sides with respect to the advancing direction of the drive wheel, and by moving back and forth in parallel, the load acting on both sides can be evenly distributed. Can be supported. In addition, this auxiliary leg is not limited to parallel, For example, it may be advanced and retracted so that a width | variety may expand toward a front-end | tip. In the case of parallel movement, the advance / retreat width of the auxiliary leg does not change, so it can be moved back and forth within the range of the movable carriage.However, if the auxiliary leg is extended far away, it can be driven by expanding the width interval. The stability of the cart can be ensured.

  Further, in each of the above inventions, the support column includes a column base fixed to the base and an extension that can be moved up and down with reference to the column base, and the wire member passes through the inside of the boom. Thus, the extension portion can be provided so as to be wound.

  According to the said structure, the length of the whole support | pillar can be expanded-contracted with a column base part and an extension part. Since the length of the column can be changed in this way, the column is shortened when the hanging operation such as moving is not performed, and a boom is necessary when lifting a transported object or a person requiring care. Can be raised to height. In addition, when the transported object is installed at a high position, or when the height of the bed on which the care recipient is lying is higher than usual, the suspension operation is performed at a position higher than the general position. Even if it exists, the required height can be ensured. In this case, since the wire member can be wound around the extension portion, the length of the wire member does not change even if the length of the support column changes.

  And the extension part in the said invention is provided with the winding means which has a motor for winding the said wire member, and this winding means is the tension | tensile_strength direction of the said wire member from the position used as a reference | standard. The tension acting on the wire member is detected by measuring the reaction force required to stop or restore the reference position when the winding means is displaced by the fluctuation of the tension of the wire member. Tension detection means can be provided.

  In such a configuration, the wire member is wound by the winding means of the extension, and the winding by the winding means is, for example, a structure in which the winding drum is wound directly by a motor. In addition, there may be a configuration in which a worm gear is engaged with a spur gear provided on the winding drum, and a driving gear engaged with the worm gear is driven by a motor. And the tension | tensile_strength which acts on a wire member is measured by the tension | tensile_strength detection means. The measurement result of the tension is an index indicating the magnitude of the bending with respect to the boom. For such tension measurement, winding means including a motor are integrated so that they can move forward and backward in the tension direction of the wire member, and when that position changes, it stops or restores at the reference position. It can be obtained by measuring the reaction force for That is, when tension acts on the wire member, the winding means is pulled by the tension and moves in the tension direction. At this time, the reference position of the winding means is determined, and the reaction force required to stop the winding means at the reference position is measured. An instrument such as a load cell can be used for such measurement. In this case, the winding means can be fixed at the reference position by the load cell, and an external force in the tension direction acting on the winding means can be detected.

  Further, in the invention having the above-described configuration, it is possible to further include a control unit that operates the motor so as to eliminate the tension change in accordance with the tension change of the wire member detected by the tension detecting means.

  According to the said structure, the power assist function in the case of the movement to the raising / lowering direction of the conveyed product and care recipient who were lifted by the wire member can be exhibited. In other words, in the state where the transported object is lifted, only the weight of the transported object or the like acts on the wire member, so that the tension of the wire member basically does not change. When applied, the tension acting on the wire member decreases, and conversely, when an external force is applied downward, the tension acting on the wire member increases. Therefore, the motor is operated so as to assist in the direction in accordance with the external force acting on the conveyed object or the like. The controller controls the change in tension and the operation of the motor.

  Further, in each of the above-described inventions in which the support is provided with the extension, the boom includes a boom base fixed to the extension of the support and a telescopic arm provided to be able to advance and retreat from the tip of the boom base. Also good.

  Furthermore, in this case, the boom base portion is provided with a rolling member installed to smoothly advance and retract the telescopic arm between the inner surface and the outer surface of the telescopic arm, and the number of rotations of the rolling member. A potentiometer for detecting the amount of movement of the telescopic arm in the forward / backward direction, and the controller controls the winding state of the wire member by the motor according to the amount of movement of the telescopic arm. it can.

  According to the above configuration, the boom includes the boom base, and the boom base is fixed to the extension of the support column. The base part is also raised and lowered, and the entire boom including the telescopic arm can be raised and lowered along with the raising and lowering of the extension part. In addition, since the telescopic arm can be moved back and forth from the boom base, the length (protrusion length) of the boom projecting sideways from the support column can be changed.

  At this time, the length of the wire member suspended from the boom tip (tip of the telescopic arm) can be adjusted by detecting the amount of movement of the telescopic arm by the potentiometer. In other words, the wire member is wound around a boom (an extension of the column) via the inside of the boom. When the boom length changes, the length of the wire member passing through the inside of the boom also changes. As a result, the length depending on the boom tip changes as a result. Therefore, by changing the length of the wire member according to the amount of movement of the telescopic arm by the potentiometer, the length of the wire member hanging from the tip of the boom can be maintained in the same state.

  In addition, the above-mentioned advancement / retraction of the telescopic arm can be performed by a configuration in which an actuator provided in a horn shape is provided between the extension portion of the support column and the telescopic arm.

  Here, the horned shape means a state in which it is arranged in an inclined state between an extension portion standing in the vertical direction and an extendable arm extending in the horizontal direction. Therefore, by installing the actuator in such a state, it can function as a reinforcing member for the bending direction of the telescopic arm extending in the horizontal direction. In addition, since one end of the actuator is connected to the extension portion of the support column, the state of the actuator does not change by changing the height of the support column (elevating the extension unit). Therefore, the actuator is operated when the boom length is changed (the retractable arm is advanced or retracted).

  In the invention having the above-described configuration, the tip of the telescopic arm is provided with a swing sensor that detects a swing angle in a horizontal plane with respect to the hanging wire member, and the control unit swings the wire member detected by the swing sensor. The driving force for the driving wheel can be controlled so as to eliminate the change in angle.

  According to the above configuration, when a lateral external force is applied to the transported object or the like in a state where the transported object or the like is lifted, the swing angle of the hanging wire member is detected and the direction in which the wire member is swinging is detected. The entire moving carriage will be moved and the power assist function will be exhibited. Since the movement of the telescopic arm at this time is in the forward / backward direction of the telescopic arm, there are two types of movement of the transported object, for example, the direction away from or the direction of approaching the support column, and is usually away from the support column. It is used when a transported object or the like lifted at a position is moved in a direction approaching the column.

  In each of the above inventions, the drive wheel is preferably a steerable drive wheel. Here, the steerable drive wheel means that the drive wheel is provided on the steering shaft, and the driving force transmitted from the drive source is transmitted for rolling the wheel and also transmitted to the steering shaft. It means a mechanism that uses a planetary gear or the like to disassemble the driving force and transmit it to both. Decomposition of the driving force to the steering shaft can be performed by control by the control unit. Therefore, the movable carriage of the present invention can be used as a self-propelled movable carriage that can be steered.

  In this case, a reinforcement frame that is erected on the base and supports the support column and a six-axis force sensor that detects an external force acting on the reinforcement frame, the reinforcement detected by the six-axis force sensor. It can be set as the structure provided with the control part which drives the said drive wheel which can be steered in the direction which cancels | releases the external force of a flame | frame.

  According to the above configuration, the support frame is reinforced by the reinforcement frame, and the movable carriage can be moved manually by operating the reinforcement frame in a state where the driving force is not transmitted to the drive wheels. Further, when the driving force is transmitted to the driving wheel, it is possible to detect the external force by the 6-axis force sensor and drive the driving wheel in the direction of the external force. Thus, by applying an external force in the direction in which the reinforcing frame should be driven, the power assist function can be exhibited for movement in the direction.

  In each of the above inventions, the loading platform can be provided with a seating surface that allows the human body to sit.

  With the above configuration, when used as a nursing cart for nursing care, even if the care recipient is lifted by the wire member, even if it is a sling seat, the care recipient can be seated on the seating surface. It is possible to move to a target location together with the moving carriage in the state. Although it is possible to move in a state where it is lifted by a sling seat, it will cause the care recipient to feel shaking during movement, so the care recipient can move without shaking by sitting on the seat. It will be possible.

  According to the present invention, a conveyed object or the like can be suspended by a wire member suspended from a boom projecting sideways from a support column, and can be self-propelled by a drive wheel mounted on a base. is there. The loading platform is appropriately changed depending on the object to be transported. In the case of a moving cart for transporting the transported item, the loading platform has a box shape that can accommodate the transported item. In some cases, the shape may have a seating surface on which a care recipient can sit.

  Since the auxiliary leg is provided below the base so as to be able to advance and retreat, the traveling carriage can be supported by the auxiliary wheel at the tip of the auxiliary leg in addition to the driving wheel by advancing the auxiliary leg greatly. . Accordingly, even when the boom is extended and a transported object or the like away from the column is lifted, the balance of the entire traveling carriage including the column can be secured.

  Further, the boom is provided with an extendable arm that can be moved back and forth from the boom base, and the tip of the boom can be reached to a place away from the support column, and the transported object and the like lifted in that state can be moved to the vicinity of the support column. Furthermore, by adjusting the length of the wire member that accompanies the extension / retraction of the telescopic arm, the length of the wire member that hangs down from the tip of the boom can be kept constant. And, the tension when the tension acts on the wire member is measured, the deflection angle of the wire member at the tip of the boom is detected, and the winding wire or the actuator is operated according to these changes, thereby demonstrating the power assist function. This reduces the burden on the operator. Furthermore, in the reinforcing frame suspended between the base and the support column, it is possible to detect the moving direction by the 6-axis force sensor, so that it is possible to run by power assist without operating the operation panel or the like. Is.

It is a perspective view which shows embodiment of this invention. It is explanatory drawing which shows the surrounding state of a base. It is explanatory drawing which shows the relationship between a base and a support | pillar. It is explanatory drawing which shows the state of advance / retreat of an auxiliary leg. It is explanatory drawing which shows the relationship between a support | pillar and a boom, and the relationship with a wire member. It is explanatory drawing which shows the operating state of a mobile trolley | bogie. It is explanatory drawing which shows the operation | movement aspect in using it as a transfer device of a care recipient. It is explanatory drawing which shows the operation | movement aspect in using it as a transfer device of a care recipient.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, the outline of the mobile carriage according to the present embodiment will be described. FIG. 1 is a diagram showing an entire mobile carriage. As shown in this figure, the movable carriage 100 has a boom 3 projecting laterally from the tip of a support column 2 erected on the base 1, and the wire member 4 is suspended from the tip of the boom 3. It is provided as follows. In addition, a wheel base 11 is provided in a part of the base 1, and a drive wheel 12 is provided in a lower portion of the wheel base 11, and traveling is possible by driving of the drive wheel 12. Although details are not shown in the figure, a motor for driving the drive wheel 12 and a transmission mechanism for transmission are mounted, and the wheel base 11 is steered to enable the drive wheel 12 to be steered. A shaft is provided. As this type of mechanism, a steerable drive mechanism described in Japanese Patent Application Laid-Open No. 2008-279848 or WO2010 / 147100 developed by the applicants of the present application can be used. In this embodiment, three drive wheels 12 are used, and two as front wheels and one as rear wheels.

  The base 1 is provided with a loading platform 20 on which a transport object (such as a transport object or a care recipient) can be loaded or transferred. In this embodiment, the loading platform 20 is supported at two locations by the support column 2 and is pivotably supported so that it can be folded as described later. The support column 2 is erected on the base 1, and can be configured to move together with the support column 2 when the support column 2 has a mechanism for moving in the forward / backward direction. The base 1 is composed of a lower frame 10a that exclusively supports the support column 2 and the drive wheel 12, and an upper frame 10b that is provided at a higher level. A control box (not shown) is mounted on the upper frame 10 b and is configured integrally with the column 2. This control box has a built-in control device, and the control device inputs detection values from various detection means described later and outputs a command signal to the drive system device. The control related to the rolling and steering of the drive wheel 12 is also controlled by this control device.

  In addition, two rod-shaped reinforcing frames 18 are erected on the upper frame 10b, and the reinforcing frames 18 are suspended between the supporting columns 2 to reinforce the supporting columns 2. The upper frame 10b is provided on the side opposite to the loading platform 20 with the support column 2 as the center, and is provided so as to be able to withstand the weight of the object to be transported loaded or transferred to the loading platform 20. The reinforcement frame 18 may be configured to include force sense detecting means (6-axis force sensor) 19 for performing a power assist function described later. In the present embodiment, the boom 3 is assumed to project in one predetermined direction, and the side in the projecting direction will be described below as the front of the movable carriage 100. Therefore, as for the movement by the drive wheel 12, the forward movement is the protruding direction of the boom 3, and the backward movement is the opposite direction. In this case, the loading platform 20 is in a state provided on the front side with respect to the column 2, and the reinforcing frame 18 is in a state provided on the rear side. The lower frame 10 a supports the column 2 in addition to the drive wheel 12 and is a basic component of the base 1. Accordingly, a driving device and a battery (not shown) are mounted on a part of the lower frame 10a, and are configured to provide a driving force for the driving wheels 12 and the like.

  The column 2 is composed of a column base 21 and an extension 22 that can be moved up and down from the column base 21, and the extension 22 is housed inside the column base 21. The entire column 2 can be expanded and contracted by moving up and down along the axial direction of the portion 21. This elevation is driven by a drive device (not shown) mounted on the lower frame 10a. Further, the boom 3 is fixed to the upper end of the extension portion 22, and the boom 3 includes a boom base portion 31 and an extendable arm 32. The rear end of the boom base 31 is fixed to the upper end of the extension portion 22 of the support column 2 and moves up and down integrally with the extension portion 22. The telescopic arm 32 is accommodated in the boom base 31 and the boom The boom 3 is configured to extend and retract by advancing and retracting with the base 31 as a guide.

  Accordingly, the position of the tip of the boom 3 can be moved in the vertical direction by raising and lowering the extension portion 22 of the support column 2, and can be moved in the front-rear direction by moving the telescopic arm 32 forward and backward. As described above, when the support column 2 is elongated due to the extension 22 and when the boom 3 is elongated due to the advancement of the telescopic arm 32, the support state by the base 1 is unstable. It is expected to be. Therefore, the support state is stabilized by the extension of the auxiliary leg 5 and the grounding of the auxiliary wheel 51 described above.

  A wire member 4 that hangs down is provided at the tip of the boom 3 (extensible arm 32), and the position of the tip 41 of the wire member 4 is moved up and down by winding or unwinding the wire member 4. Can do it. The winding means 6 for winding is installed on the extension portion 22 of the support column 2 described above, and the wire member 4 extends from the tip of the boom 3 (extensible arm 32) to the rear of the boom 3 (boom base portion 31). In the range reaching the end, the boom 3 (the boom base 31 and the telescopic arm 32) is disposed so as to pass through, and is continued from the rear end of the boom 3 (boom base 31) to the winding means 6.

  In addition, an actuator 7 suspended in an oblique direction is provided between the extension 22 of the support column 2 and the telescopic arm 32 of the boom 3, and the operation unit 71 moves forward and backward by the operation of the actuator 7. The extension / retraction of the telescopic arm 32 is operated by the driving force. In addition, the actuator 7 is suspended in the oblique direction as described above, so that it can withstand bending acting on the boom 3. That is, the actuator 7 has an electromagnetic brake function, and fixes the position of the operating unit 71 in a state where the operating unit 71 is not advanced or retracted (operation stopped state). It is functioning.

  Here, details of the base 1 will be described. FIG. 2 is an enlarged view of the periphery of the base 1. For convenience of explanation, the loading platform 20 is omitted in FIG. As shown in this figure, the base 1 is provided with auxiliary legs 5 that can be advanced and retracted in the vicinity of the wheel base 11. One auxiliary leg 5 is disposed on each of the left and right sides, and is configured to extend forward in the traveling direction. Although a specific configuration will be described later, an auxiliary wheel 51 is provided at the tip of the auxiliary leg 5. A general caster is used for the auxiliary wheel 51, and the auxiliary wheel 51 can roll when grounded. The auxiliary leg 5 is supported by the base 1 in a swingable state, but its swinging is limited by extending to a predetermined length. Therefore, it can be swung in the retracted (contracted) state, and the auxiliary wheel 51 can be lifted by the swinging of the auxiliary leg 5 when overcoming an obstacle such as a step when the driving wheel 12 is self-propelled. It has become. Further, when the forward movement (extension) is performed, the swinging of the auxiliary leg 5 is limited, so that the auxiliary wheel 51 can support a downward load without rising.

  In addition, two restriction shafts 13 are arranged on the lower frame 10 a of the base portion 1 with their axes oriented in the front-rear direction, and have a slide mechanism so that they can move along the restriction shaft (first) 13. A plate portion 14 is disposed. The base end (lower end) of the support column 2 is fixed to the plate portion 14 so that the support column 2 can move in the advancing / retreating direction as the plate portion 14 moves. On the other hand, the upper frame 10b is configured to be movable along the second restriction shaft 17 suspended between the support members 15 and 16 erected from the lower frame 10a, and is configured as a plate-like member as a whole. ing. A control box (not shown) is mounted on the surface of the plate-like member. Further, the rear end side of the upper frame 10 b has a slide mechanism that can move along the second restriction shaft 17, and the front end side is fixed to the column 2.

  The mechanism of the lower frame 10a and the upper frame 10b is shown in FIG. As shown in this figure, the plate portion 14 provided on the lower frame 10 a and the upper frame 10 b are continuous via the support column 2, and both can slide along the restriction shafts 13 and 17. Therefore, when the support column 2 moves along with the first restriction shaft 13 together with the plate portion 14, the upper frame 10b can also move in the advancing and retracting direction integrally therewith. The slide mechanism is constituted by a cylindrical member surrounding the regulating shafts 13 and 17 and may be configured to be slidable simply by a rod-like member and a cylindrical member. It is good also as a structure which provides a sliding bearing.

  As described above, the base 1 may be divided into the lower frame 10a and the upper frame 10b, but may be a single structure on the same plane. In any case, with respect to the base 1, the plate portion 14 that supports the support column 2 in the lower frame 10 a and the upper frame 10 b are part of the base 1, and by including these, the entire base 1 is configured. It is what is done. Further, in the case where the support column 2 is configured to move together with the plate portion 14, the auxiliary leg 5 may be advanced and retracted in conjunction with the plate portion 14.

  Next, the configuration of the auxiliary leg 5 will be described. FIG. 4 is a diagram showing a configuration of the auxiliary leg 5. 4A shows the side surface in a state where the auxiliary leg 5 is retracted, FIG. 4B shows the IIIB-IIIB cross section, and FIG. 4C shows the side surface in the state where the auxiliary leg 5 has advanced. . In addition, in this embodiment, although it is the structure which provides the auxiliary leg 5 in two right and left places as mentioned above, the figure has shown only one side for convenience of explanation. In addition, although it is possible to extend the auxiliary leg 5 in two stages (see FIG. 1 and FIG. 2), here, the state of the extension in one stage is shown and described along this drawing.

  As shown in FIG. 4A, the auxiliary leg 5 has a configuration in which a long leg portion 52 is arranged with its longitudinal direction horizontal, and an auxiliary wheel 51 is provided at the tip thereof. The leg 52 is provided with a pivot 53, and the pivot 53 is supported by a support member 54. The pivot 53 is rotatable with respect to the support member 54, and as a result, the entire leg portion 52 can swing around the pivot 53. Further, a guide portion 55 parallel to the longitudinal direction of the leg portion 52 is provided, and the support member 54 is movable along the guide portion 55. Specifically, as illustrated in FIG. 4B, the guide portion 55 is configured by a rail member having a U-shaped cross section, and a rolling member 56 in which an upper portion of the support member 54 rolls inside the guide member 55, 57 is supported. Therefore, when the rolling members 56 and 57 roll inside the guide portion (rail member) 55, the support member 54 moves, and the entire auxiliary leg 5 can move in the forward and backward direction along with the movement. It has become. Note that the leg portion 52 and the guide portion 55 are not provided side by side in the extending direction, and the guide portion 55 is biased to either side of the leg portion 52 so that the leg portion 52 can swing freely. Is provided. The support member 54 may be moved manually, but may be driven by a driving device.

  The guide portion 55 is fixed to the base portion 1 (FIG. 1), but a restriction frame 58 is provided on the guide portion 55 (or directly to the base portion 1). A restricting portion 59 that supports the lower portion of the leg portion 52 of the leg 5 is provided. That is, the restricting portion 59 is fixed to the base portion 1 directly or indirectly. And since the regulation part 59 supports the lower part of the leg part 52 of the auxiliary leg 5, it does not enable upward regulation. Therefore, when the leg portion 52 swings, the swinging direction is restricted by the restricting portion 59 in the downward direction, but the upward swinging is not restricted. And when it has the mechanism in which the support | pillar 2 moves, it is good also as a structure which fixes the support member 54 to the plate part 14 (FIG. 3) to which the base end (lower end) of the support | pillar 2 is fixed. In this case, the 1st control shaft 13 (FIG. 3) will function as a guide part.

  From such a configuration, the swingable direction of the leg portion 52 is determined by the positional relationship between the pivot 54 provided on the leg portion 52 and the restricting portion 59. That is, when the pivot 53 is located behind the restricting portion 59 (the state shown in FIG. 4A), the pivoting with the tip 50a of the auxiliary leg 5 facing upward is possible. On the other hand, when the pivot 53 is positioned in front of the restricting portion 59 (the state shown in FIG. 4C), the swing with the tip 50a facing downward is possible. However, the downward swing in this case is actually limited by the grounding of the auxiliary wheel 51.

  The restriction of the swinging of the auxiliary leg 5 as described above is important in whether or not the auxiliary leg 5 is in a used state. That is, the auxiliary leg 5 is for stabilizing the base 1 (FIG. 1), and is normally (particularly during movement) in a retracted state (the state shown in FIG. 4A). In particular, when the movable carriage 100 is traveling (while the drive wheel 12 is rolling), there is no need to use the auxiliary leg 5, so the traveling auxiliary leg 5 is in a retracted state. At this time, it is the driving wheel 12 that is grounded to the floor surface, and the auxiliary wheel 51 is slightly lifted, or is in a state of being driven even when grounded. Since the tip 50a of the auxiliary leg 5 can swing upward as described above, when passing through an obstacle such as a step, the auxiliary wheel 51 comes into contact with the obstacle, and according to the step, The tip 50a can freely move upward.

  On the other hand, when stabilizing the base 1 by the auxiliary leg 5, especially when lifting a conveyed product, the tip 50a of the auxiliary leg 5 is moved forward (state shown in FIG. 4C) so that the tip 50a is Since the upward swinging is restricted, a part of the load acting on the base 1 can be supported by the auxiliary wheel 51 contacting the floor surface.

  In the present embodiment, the guide portion 55 is configured by an independent member. However, a part of the base portion 1 may be used. Further, in the case of the structure in which the support column 2 is advanced and retracted (FIG. 3), for example, the restriction frame 58 is made continuous with the plate unit 14 for moving the support column 2 forward and backward, thereby assisting integrally with the plate unit 14. A mechanism for advancing and retracting the leg 5 may be used. In this case, the restriction shaft (first) 13 that restricts the plate portion 14 functions as the guide portion 55, and the auxiliary leg 5 can be advanced and retracted in a predetermined direction without providing the rolling members 56 and 57.

  Next, the configuration of the upper end of the support column 1 (the upper end of the extension 22) and the boom 3 will be described in detail. FIG. 5 is a cross-sectional view of the boom 3 and shows the internal structure thereof. FIG. 5A shows a state in which the telescopic arm 32 is housed, and FIG. 5B shows a state in which the telescopic arm 32 is extended. As shown in these drawings, the boom 3 includes a boom base 31 and an extendable arm 32. The boom base 31 is configured in a cylindrical shape, and the extendable arm 32 is located inside the boom base 31. Is provided. The interior of the telescopic arm 32 is hollow, and the wire member 4 is stretched so as to pass through the hollow interior and the interior of the boom base 31.

  The wire member 4 protrudes outward from the distal end 32a of the telescopic arm 32 and hangs downward outward. The length of the wire member 4 is adjusted so that the tip 41 of the wire member 4 is stopped at an appropriate height. For this length adjustment, the rear of the wire member 4 is wound by the winding means 6. The rear side of the wire member 4 is once taken out from the rear end 31 b of the boom base 31, and the direction is changed by the pulley 33 to reach the inside of the winding means 6. The winding means 6 includes a winding drum 61 and a motor 62 for rotationally driving the winding drum 61, and the winding member 61 is wound around the winding drum 61 at the back of the wire member 4. The entire length of the wire member 4 is adjusted by rotation (forward or reverse) of the rotating drum 61. By adjusting the overall length of the wire member 4, the length of the wire member 4 suspended from the tip 32a of the telescopic arm 32 can also be adjusted.

  Further, the winding means 6 is not fixed to the side surface of the support column 2 (extension portion 22), and is movable in the longitudinal direction of the support column 2 (extension portion 22) (usually slidable in the vertical direction). It has become. A load cell 8 as a tension detecting means is provided so as to be continuous with the winding means 6. That is, the winding means 6 is supported by the load cell 8, and when the winding means 6 receives the load in the upward direction due to the tension of the wire member 4, the displacement can be detected to detect the tension. It is configured. The tension detected here is input to the control device in the control box and converted into the amount of bending of the boom 3. In accordance with the amount of deflection, an actuator 7 described later is operated to enable deflection correction. Furthermore, the movement of the suspended conveyance object is detected by the change in the load detected by the load cell 8, and the motor 62 is operated so as to assist the movement direction. It is also possible to exert a power assist function for movement. The operation of the motor 62 at this time is controlled by a control device in the control box.

  In addition, potentiometers 34 and 35 are provided between the boom base 31 and the telescopic arm 32. The potentiometers 34 and 35 are for detecting the relative positional relationship of the telescopic arm 32 with respect to the boom base 31 and may be either a rotary type or a linear type. In the present embodiment, a rotary potentiometer that provides a roller on the inner bottom surface of the boom base 31 and measures the rotation angle of the roller is used. Thus, by measuring the positional relationship of the telescopic arm 32, the length that the telescopic arm 32 extends can be calculated, and the motor 62 of the winding means 6 is controlled according to the extent of the extension. The length of the wire member 4 is adjusted by operating.

  That is, as shown in FIG. 5 (b), when the total length of the boom 3 is changed by moving the telescopic arm 32 forward and backward, the length of the wire member 4 passing through the inside of the boom 3 also changes. Although the position (height) of the tip 41 goes up and down, the position (height) of the tip can be kept constant by adjusting the length of the wire member 4. The length of the wire member 4 is adjusted by measuring the displacement of the extension length L of the telescopic arm 32 with the potentiometers 34 and 35 and operating the motor 62 to rewind the winding drum 61 according to the result. is there. The rotation angle of the winding drum 61 is adjusted so that the unwinding amount at this time is the same length as the extension length L. When the telescopic arm 32 is contracted, the motor 62 is operated so that the wire member 4 is wound up by the winding drum 61, contrary to the above.

  Further, an oscillation angle sensor unit 9 is provided below the distal end 32a of the telescopic arm 32. Specifically, the main body is formed in an annular shape, and an oscillation angle sensor is provided on the inner circular edge. The wire member 4 is inserted into the hollow interior, and the deflection angle of the wire member 4 passing through the annular main body is detected. For this detection, an optical detection method using a CCD camera, a gyro sensor, or the like can be used. By detecting the swing angle, it is possible to detect the movement of the conveyance object (change in the horizontal direction). Therefore, by performing the expansion / contraction operation of the telescopic arm 32 according to the change, the power in the movement of the conveyance object. The assist function can be semi-annual.

  The expansion / contraction operation of the expansion / contraction arm 32 is performed by the actuator 7 that is suspended in an oblique shape (angled shape) between the extension portion 21 of the support column 2 and the expansion / contraction arm 32. Since the base end 70a of the actuator 7 is pivotally connected to the extension portion 21 of the support column 2, and the distal end 70b of the operating portion 71 is also pivotally connected in the vicinity of the distal end of the telescopic arm 32, the telescopic arm 32 is provided. Even if the axis of the actuator 7 changes (tilts) according to the expansion and contraction of the actuator, the angle can be freely changed by rotating both ends. Further, when the actuator 71 is moved forward and backward by the operation of the actuator 7, the position of the tip 32 a of the extendable arm 32 can be moved in the horizontal direction, thereby enabling the extendable arm 32 to expand and contract. The actuator 7 has an electromagnetic brake function, and can be fixed in a state where the operating portion 71 is advanced and retracted appropriately. By actuating this electromagnetic brake, the boom 3 can function as a reinforcing member in the bending direction. Furthermore, it is also possible to eliminate the bending by slightly changing the length of the operating portion 71 according to the amount of bending of the boom 3.

  Next, an overall operation mode of the mobile carriage 100 will be described. FIG. 6 shows the entire movable carriage 100. As shown in this figure, the base 1 can travel by driving a front wheel (two front drive wheels) 12a and a rear wheel (one rear drive wheel) 12b. During traveling, the auxiliary leg 5 is retracted and is in a state in which it can swing (moves upward at the tip). When lifting the object to be transported, the auxiliary leg 5 can be moved forward and the column 2 can be moved forward as necessary. Then, the boom 3 is expanded and contracted (extension arm 32 is extended) until the tip 41 of the wire member 4 reaches just above the conveyance object, and the length of the wire member 4 is adjusted to reach the conveyance object. 4 tip 41 is lowered. These parts are moved by the motor 62, the actuator 7, and a driving device (not shown) as described above. These driving devices are operated by an operator using a touch panel, a joystick, or a power assist function.

  In addition, the loading platform 20 is a retractable type and can move from an upright state (a dashed-dotted line portion in the drawing) having a surface portion (seat surface) in a vertical direction to a horizontally oriented state (a solid line portion in the drawing). Yes. When the loading platform 20 is not used, it is stored in an upright state, and when it is used, it is tilted so that the surface portion (seat surface) protrudes in the horizontal direction. Such a movable system is referred to as a retractable type in this embodiment. Thus, in order to make the loading platform 20 retractable, it is pivotally supported on the support column 2 by the rotation shaft so that the rear end edge side of the loading platform 20 can be rotated. The base of the loading platform 20 is formed by a plurality of rod-like members (circular pipes or round bars) 20a, one of which is arranged as a regulating rod 20b. A slider 20c that can slide while surrounding the regulating rod 20b is provided, and the support member 20d is pivotally supported near the lower end of the column 2 (a position different from the rear end edge side of the loading platform 20). At the same time, the free end side of the support member 20d is pivotally attached to the slider 20c. Therefore, the support member 20d is configured so that the angle can be changed according to the position where the slider 20c moves along the regulating rod 20b. In addition, by biasing the support member 20d to stand upright, it is possible to place the loading platform 20 in an upright state and a sideways state only during use.

  Further, rod-like members 20a and 20e orthogonal to the restriction rod 20b are arranged in the vicinity of both ends of the restriction rod 20b so that the slider 20c can slide within the range where the rod-like members 20a and 20e are provided. It has become. That is, in the upright state (the dashed line portion in the figure), the slider 20c moves to a position approaching the rotation axis of the loading platform 20, and in the sideways state (the solid line portion in the drawing), the slider 20c approaches the tip of the loading platform 20. It moves to. Thus, by confirming the movement range of the slider 20c, the loading platform 20 can be easily selected from two forms of an upright state and a lateral state.

  Here, the mode of operation of this embodiment will be described when the care recipient is transferred. The procedure is shown in FIG. 7 and FIG. First, as shown to Fig.7 (a), the moving trolley | bogie 100 is moved to the side of the bed B where a care recipient needs to lie down. The movement at this time is performed by the traveling body by the driving force of the driving wheel 12. And as FIG.7 (b) shows, the moving trolley | bogie 100 is stopped in the state which moved to the side of the bed B. FIG. For the movement at this time, for example, a 6-axis force sensor 19 for detecting an external force acting on the reinforcing frame 18 is provided, and the drive wheel is moved in a direction to cancel the external force detected by the 6-axis force sensor 19. By guiding the 12 moving directions, the moving carriage 100 can be moved to a desired position while exhibiting the power assist function. Thereby, basically, the movable carriage 100 can be moved in the same manner as an artificial operation (manual movement), and the movement state can be controlled while performing a slight adjustment. Thus, after moving the mobile trolley | bogie 100 to a desired position, it transfers to operation which lifts a care recipient. The figure shows a state in which a hanger H is attached to the tip of the wire member 4, and by connecting a sling sheet or the like to the hanger H, a care recipient who is lying down can be placed on the sling sheet.

  In the state shown in FIG. 7B, the movable carriage 100 is brought as close to the bed B as possible, but the wire member 4 cannot reach the center of the bed B. Therefore, as shown in FIG. 8A, the column 2 is moved forward together with the boom 3 toward the center of the bed B. At this time, considering the weight balance of the base 1, the auxiliary leg 5 is advanced, and the auxiliary wheel 51 is grounded to the floor to stabilize the base 1. In the figure, the wire member 4 has reached the center of the bed B by the movement of the support column 2, but the boom 3 can be extended if necessary. Further, instead of moving the column 2, only the boom 3 may be extended.

  As described above, the tip (hanger H) can be lowered by rewinding the winding of the wire member 4 in a state where the tip of the wire member 4 can be arranged at the center of the bed B (FIG. 8B). )). Since the sling sheet is provided at the front end of the hanger H, the care recipient is surrounded by the sling sheet, and the wire member 4 is wound around again to be lifted above the bed B.

  In this manner, the driving wheel 12 can be driven and conveyed while the care recipient is lifted by the sling sheet, but the care recipient can also be moved while sitting on the loading platform 20. In addition, the loading platform 20 is configured to have a seating surface so that a care recipient can maintain the sitting posture, and the seating surface can be a tiltable type as described above. 7 (b), 8 (a) and 8 (b) show a form in which the loading platform 20 is accommodated (in an upright state) in order to approach the side of the bed B, and FIG. 7 (a). In the figure, a state in which the loading platform 20 is tilted to be usable (sideways state) is shown. Therefore, when a care recipient is transferred to the loading platform 20, as shown in FIG. 7A, the movable carriage 100 is separated from the bed B, and the loading platform 20 is brought down to be usable. . In this way, the movable carriage 100 can be moved closer to the bed B by making the loading platform 20 tiltable.

  The embodiment of the present invention is as described above, but the above embodiment shows an example of the present invention, and the present invention is not limited thereto. Therefore, it is possible to adopt a configuration different from the above embodiment. For example, the shape of the loading platform 20 is a seat surface for use in transferring a care recipient, but may be configured in a box shape when used for transporting industrial products or the like. Moreover, although the structure which provides the hanger H, the sling sheet, etc. at the front-end | tip of the wire member 4 was demonstrated, when conveying industrial products etc., it can be set as the structure which provides another latching means. As for the support column 2, the form that can be advanced and retracted with respect to the base portion 1 is illustrated, but the support column 2 may be configured to be fixedly provided on the base portion 1. Even when the support column 2 does not advance or retreat, the boom can expand and contract, so that the wire member 4 can reach the object to be transported away from the support column 2.

  Furthermore, although the three drive wheels 12 are used for traveling of the movable carriage 100, four-wheel drive with four drive wheels may be used. In addition, the advance / retreat structure of the auxiliary leg 5 is described in detail for the advancement / retraction of one stage and not described in detail for the advancement / retraction of the two stages. Since whether or not the auxiliary leg 5 is allowed to swing is determined by the state of being arranged in any one of the front and rear, a configuration in which the second auxiliary leg simply advances and retreats is sufficient for the second stage advance and retreat. is there. Accordingly, it is assumed that the second-stage auxiliary leg is inserted into the first-stage auxiliary leg so that the first-stage auxiliary leg and the second-stage auxiliary leg are integrated. The stage auxiliary legs can be configured to be capable of moving back and forth in the axial direction using the first stage auxiliary legs as a guide.

DESCRIPTION OF SYMBOLS 1 Base part 2 Support | pillar 3 Boom 4 Wire member 5 Auxiliary leg 6 Winding means 7 Actuator 8 Load cell 9 Deflection sensor part 11 Wheel base part 12 Drive wheel 13 Restriction shaft (first)
14 Plate portions 15 and 16 Support member 17 Restriction shaft (second)
18 Reinforcement frame 19 6-axis force sensor 20 Loading platform 20a, 20e Rod member 20b Restriction rod 20c Slider 20d Support member 21 Column base 22 Extension part 31 Boom base 31b Boom base rear end 32 Telescopic arm 32a Telescopic arm tip 33 Pulley 41 Wire Member tip 51 Auxiliary wheel 52 Leg 53 Pivot 54 Support member 55 Guide part 56, 57 Rolling member 58 Restricting frame 59 Restricting part 61 Winding drum 62 Motor 70a Actuator base end 70b Actuating part distal end 71 Actuating part 100 Moving carriage B Bed H Hanger

Claims (13)

In a mobile trolley comprising a base having a drive wheel and a loading platform, a support erected on the base, a boom projecting laterally from the tip of the support, and a wire member that can be suspended from the tip of the boom,
Auxiliary legs that can be moved back and forth horizontally below the base part, a restricting part that abuts the lower end edge of the auxiliary legs and restricts downward movement, and an auxiliary wheel that is rotatably mounted at the tip of the auxiliary leg. A pivot for allowing both ends of the auxiliary leg to swing up and down, and a guide member for regulating the advance and retreat direction of the auxiliary leg together with the pivot,
The swinging of the auxiliary leg by the pivot restricts the backward swing of the auxiliary leg downward when the pivot moves forward beyond the restricting portion, and the pivot is rearward of the restricting portion. A moving carriage characterized in that when it is positioned, it releases rocking of the rear of the auxiliary leg.   The auxiliary legs are arranged by overlapping a plurality of leg portions having a stepwise reduced cross section, restricting the advancing and retreating directions of the leg portions having a small cross section using the leg portions having a large cross section as a guide, and can extend and contract as a whole. The movable carriage according to claim 1, which is a thing.   3. The movable carriage according to claim 1, wherein the auxiliary legs are arranged so as to be able to advance and retreat in parallel at least at two locations in a forward direction by the drive wheels.   The column includes a column base fixed to the base, and an extension that can be moved up and down based on the column base, and the wire member is wound around the extension via the inside of the boom. The movable carriage according to any one of claims 1 to 3, wherein said carriage is provided.   The extension includes winding means having a motor for winding the wire member, and the winding means is provided so as to be able to advance and retract in a tension direction of the wire member from a reference position. When the turning means is displaced by fluctuations in the tension of the wire member, tension detecting means for detecting the tension acting on the wire member by measuring a reaction force required to stop or restore the reference position is provided. Item 5. The moving carriage according to item 4.   The movable carriage according to claim 5, further comprising a control unit that operates the motor so as to cancel the tension change according to the tension change of the wire member detected by the tension detection unit.   The mobile boom according to any one of claims 4 to 6, wherein the boom includes a boom base fixed to an extension portion of the support column, and an extendable arm provided so as to be able to advance and retreat from the tip of the boom base.   The boom base includes a rolling member installed to smoothly advance and retract the telescopic arm between the inner surface and the outer surface of the telescopic arm, and the retracting direction of the telescopic arm depending on the number of rotations of the rolling member. A potentiometer for detecting the amount of movement of the telescopic arm, and the controller controls the winding state of the wire member by the motor in accordance with the amount of movement of the telescopic arm. Trolley.   The movable carriage according to claim 7 or 8, wherein an actuator provided in a horn shape is provided between the extension portion of the support column and the telescopic arm, and the telescopic arm is advanced and retracted by the actuator.   The tip of the telescopic arm is provided with a swing angle sensor that detects a swing angle in a horizontal plane with respect to the wire member that hangs down, and the control unit eliminates a change in the swing angle of the wire member detected by the swing angle sensor. The moving carriage according to claim 9, wherein the driving force with respect to the driving wheel is controlled so as to make it move.   The movable carriage according to claim 1, wherein the drive wheel is a steerable drive wheel.   A direction including a reinforcing frame standing on the base and a six-axis force sensor for detecting an external force acting on the reinforcing frame, and a direction for canceling the external force of the reinforcing frame detected by the six-axis force sensor The movable carriage according to claim 11, further comprising a controller that drives the steerable drive wheels.   The movable carriage according to any one of claims 1 to 12, wherein the loading platform includes a seating surface that enables a human body to sit.

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