JP2019141161A - Bed conveying device - Google Patents

Abstract

To provide a bed conveying device capable of suppressing an affection due to variations in a positional relation in the vertical direction between a connection part and a connection place of a bed.SOLUTION: When a bed conveying device and a bed pass a road surface with steps, waves and inclination, there are possibly generated variations in the vertical direction between a connection part 50 and a connection place of the bed. On the other hand, the bed conveying device includes a vertical motion-allowing mechanism 52 for allowing vertical motion of the connection part when the connection part 50 is connected to the bed. Therefore, when variations in a positional relation in the vertical direction between the connection part 50 and the connection place of the bed are generated, the connection part 50 performs vertical motion due to being allowed by the vertical motion-allowing mechanism 52. Consequently, it is possible to suppress an affection due to variations in a positional relation in the vertical direction between the connection part 50 and the connection place of the bed.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a bed conveying apparatus.

  As a bed conveyance device, for example, one described in Patent Document 1 is known. In the bed conveyance device described in Patent Document 1, a drive device is attached to one end side in the front-rear direction of the bed, and an operation device for an operator to operate is attached to the other end side.

JP 2014-008189 A

  However, in the bed transport apparatus as described above, since it is necessary to provide apparatuses at both ends in the front-rear direction of the bed, there is a problem that the total length in the front-rear direction is increased. Thus, when the total length of the bed with the bed transport device becomes large, for example, there is a problem that a sufficient space cannot be secured when riding on an elevator having a small depth. In order to solve such a problem, it is conceivable to connect the bed transport device to the side surface of the bed instead of both ends in the front-rear direction. However, such a bed transport apparatus and bed may pass through a road surface having a step, a swell, and a gradient during the transport of the bed. In such a case, the fluctuation in the vertical positional relationship between the connecting portion and the connecting portion of the bed causes an influence such as disconnection of the bed and the bed transport device or load on the connecting portion. Could have been affected.

  The objective of this invention is providing the bed conveying apparatus which can suppress the influence by the fluctuation | variation of the positional relationship of the up-down direction between a connection part and the connection location of a bed.

  A bed transport device according to the present invention is a bed transport device for transporting a bed, and is provided on a side surface on one side of the main body, a wheel for moving the main body, and the main body. A connecting portion connected to the bed; and a first mechanism that allows the connecting portion to move up and down when the connecting portion is connected to the bed.

  The bed transport apparatus according to the present invention includes a connecting portion that is provided on a side surface on one side of the main body portion and that is connected to the bed on the side surface of the bed, and a wheel that moves the main body portion. When such a bed transport device and a bed pass through a road surface having a step, a swell, a gradient, etc., the positional relationship in the vertical direction between the connecting portion and the connecting portion of the bed may vary. On the other hand, the bed transport device includes a first mechanism that allows the connecting portion to move up and down when the connecting portion is connected to the bed. Therefore, when the positional relationship in the vertical direction between the connecting portion and the connecting portion of the bed varies, the connecting portion moves up and down by being allowed by the first mechanism. By the above, the influence by the fluctuation | variation of the positional relationship of the up-down direction between a connection part and the connection location of a bed can be suppressed.

  Moreover, in the bed transport apparatus according to the present invention, at least a pair of connecting portions are provided in the first direction, and when the connecting portions are connected to the bed, a pair around the second direction orthogonal to the first direction. There may be further provided a second mechanism that allows the connecting portion to rotate. When at least a pair of connecting portions are provided in the first direction, the bed is relatively around the second direction with respect to each connecting portion when the bed transport device and the bed pass through a road surface having a step, a swell, a gradient, and the like. May tilt. On the other hand, the bed transport device further includes a second mechanism that allows rotation of the pair of connecting portions around the second direction orthogonal to the first direction when the connecting portion is connected to the bed. Prepare. Therefore, when the bed is inclined relative to the respective connecting portions around the second direction, the second mechanism allows the pair of connecting portions to correspond to the inclination of the bed in the second direction. Rotate around. Thereby, the connection state between each connection part and a bed can be maintained. As described above, it is possible to suppress the disconnection between the bed transfer device and the bed.

  Moreover, the bed conveyance apparatus which concerns on this invention WHEREIN: A 1st mechanism may have a spring extended and contracted with the vertical motion of a connection part. Thereby, since the elastic force of a spring acts when a connection part performs a vertical motion, the 1st mechanism can absorb the impact accompanying the vertical motion of a connection part.

  In the bed transport apparatus according to the present invention, the second mechanism may include a spring that expands and contracts as the connecting portion rotates. Thereby, since the elastic force of a spring acts when a connection part rotates, the 2nd mechanism can absorb the impact accompanying rotation of a connection part.

  The bed transport apparatus according to the present invention may further include a load detection unit that detects a load acting on the coupling unit. Thereby, based on the load detected by the load detection part, the presence or absence of connection with the bed by a connection part can be judged.

  ADVANTAGE OF THE INVENTION According to this invention, the bed conveying apparatus which can suppress the influence by the fluctuation | variation of the positional relationship of the up-down direction between a connection part and the connection location of a bed can be provided.

It is a perspective view of a bed conveyance device concerning an embodiment of the present invention. It is a figure which shows an example of the drive mechanism and turning mechanism of a wheel. It is a figure which shows a mode when the bed conveying apparatus is conveying the bed. It is a figure which shows a mode when the bed conveying apparatus is conveying the bed. It is a figure which shows the structure of a remote control. It is a perspective view which shows the structure of a connection part periphery. It is a perspective view which shows the structure of a connection part periphery. It is a schematic sectional drawing in alignment with the VIII-VIII line of FIG. It is the schematic for demonstrating operation | movement of a vertical movement allowance mechanism. It is the schematic for demonstrating operation | movement of a vertical movement allowance mechanism. It is the schematic for demonstrating operation | movement of a vertical movement allowance mechanism. It is the schematic which looked at the rotation permission mechanism from the negative side of the Y-axis direction. It is a block diagram which shows the system configuration | structure of a bed conveying apparatus.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a preferred embodiment of a bed conveying apparatus according to the invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a perspective view of a bed transport apparatus according to an embodiment of the present invention. The bed transport apparatus 100 is an apparatus for an operator to transport a bed by one person when transporting the bed in a hospital or a nursing facility. As shown in FIG. 1, the bed transport apparatus 100 includes a main body unit 1, wheels 3, and a frame unit 40.

  The main body 1 is a member that extends in the front-rear direction. In the present embodiment, the main body 1 includes an upper member 1A that extends in the front-rear direction at the upper part and a lower member 1B that extends in the front-rear direction at the lower part. The upper member 1A extends outward from the lower member 1B at both ends in the front-rear direction. Thereby, a space for providing the wheel 3 is secured outside the both ends of the lower member 1B. Note that a control device such as the control unit 300 (see FIG. 5), a drive mechanism, and the like are accommodated inside the main body unit 1. Here, unless otherwise specified, the expression “front-rear direction” used for the bed transport apparatus 100 indicates the front-rear direction when the bed transport apparatus 100 moves in parallel. However, the bed transport apparatus 100 can switch which of the front and rear ends of the main body 1 is “front” and which is “rear” (details will be described later).

  The wheel 3 is for moving the main body 1. At least one wheel 3 is provided on one side and the other side in the front-rear direction of the main body 1. In the following description, the wheel 3 provided on one side in the front-rear direction is referred to as a wheel (drive unit) 3A. The wheel 3 provided on the other side in the front-rear direction is referred to as a wheel (drive unit) 3B. The wheel 3A is provided below the one end portion 1a of the upper member 1A. The wheel 3B is provided below the other end 1b of the upper member 1A. With such an arrangement, the wheel 3A and the wheel 3B face each other in the front-rear direction and are arranged at positions separated from each other.

  The wheel 3A on the one side and the wheel 3B on the other side are drive wheels, respectively. That is, both the wheel 3A and the wheel 3B have a drive mechanism. Further, the wheel 3A on the one side and the wheel 3B on the other side can each turn independently. That is, both the wheel 3A and the wheel 3B have a turning mechanism (steering mechanism).

  With reference to FIG. 2, an example of the drive mechanism and the turning mechanism of the wheel 3 will be described. Fig.2 (a) is a figure when the wheel 3 is seen from the front-back direction. FIG.2 (b) is a figure when the wheel 3 is seen from upper direction. These drive mechanism and turning mechanism are provided on both the wheel 3A and the wheel 3B. Note that the configuration shown in FIG. 2 is merely an example, and the detailed configuration can be changed as appropriate. As shown in FIG. 2, one end of the rotating shaft 17 of the wheel 3 is supported by the support member 11, and a drive motor 12 is provided at the tip. The support member 11 includes a facing portion 11 b that faces the end surface of the wheel 3 and extends in the up-down direction, and a horizontal portion 11 a that extends in the horizontal direction above the wheel 3. The rotating shaft 17 is supported by the facing portion 11 b of the support member 11. The horizontal portion 11 a of the support member 11 is connected to a turning shaft 19 that extends upward and is supported by the fixing member 13. A pulley 14 is provided at the upper end of the pivot shaft 19, and the pulley 14 is connected to the steering motor 16 via a belt 18. The fixing member 13 is fixed to the main body 1, while the support member 11 is separated from the fixing member 13. Accordingly, according to the rotation of the steering motor 16, the support member 11, the rotation shaft 17, the drive motor 12, and the wheel 3 rotate 360 ° around the turning shaft 19.

  As described above, the wheel 3A and the wheel 3B are provided with the drive mechanism and the turning mechanism, and thus can be driven and turned independently of each other. Therefore, by combining the rotation and turning of the two wheels, the main body 1 can perform operations such as parallel movement in an arbitrary direction, a curve, and turning on the spot. Note that the turning angle of the wheel 3 does not have to be 360 °, and it is sufficient that the wheel 3 can turn at least 180 °.

  The frame part 40 extends to the back side of the bed 20. The frame portion 40 is provided so as to protrude from the side surface 1Ba of the lower member 1B of the main body portion 1. In a state in which the main body 1 is connected to the lower horizontal frame 23, the frame 40 extends further to the back side of the bed 20 than the lower horizontal frame 23 (see FIG. 4). Thereby, the bed conveying apparatus 100 keeps the posture at the time of connection with the bed 20 by letting the frame portion 40 under the lower horizontal frame 23 of the bed 20 (see FIG. 4). The frame part 40 has wheels 41. The wheel 41 may be a wheel (free roller) that does not have a drive unit or a steering unit. However, the wheel 41 may be a drive wheel having a drive unit or a steering unit.

  Next, with reference to FIG.3 and FIG.4, a mode when the bed conveying apparatus 100 is conveying the bed 20 is demonstrated. 3 and 4, the connecting portion 50 is simplified. As shown in FIG. 3, the bed 20 includes an upper plate 22, a column portion 24 extending downward from the four corners of the upper plate 22, a wheel 21 provided at the lower end of the column portion 24, and the lower end of the column portion 24. And a lower horizontal frame 23 that connects the vicinity of the pillar portion 24 to each other. During bed conveyance, the bed conveyance device 100 is disposed adjacent to each other at a position facing the side surface 20a of the bed 20. At this time, the direction (predetermined direction) in which the main body 1 of the bed transport apparatus 100 extends is substantially parallel to the direction in which the upper plate 22 of the bed 20 extends. As shown in FIGS. 3 and 4, the bed transfer device 100 and the bed 20 are connected to each other. Therefore, the bed 20 can be moved in the same manner as the bed transport apparatus 100 moves.

  As shown in FIG. 4, the frame portion 40 extends to the back side of the bed 20 from the lower horizontal frame 23. Further, the wheel 41 is attached to the lower surface of the frame portion 40 at a position on the back side of the bed 20 with respect to the lower horizontal frame 23. The upper surface of the frame portion 40 is positioned below the lower surface of the lower horizontal frame 23 so as not to interfere with the lower horizontal frame 23 when the frame portion 40 is brought into the lower side of the bed 20. As a result, the bed transport apparatus 100 is supported by the frame portion 40 even when a moment is applied such that the main body portion 1 falls to the bed side due to a load acting on the lower side of the main body portion 1. Is done. Therefore, the bed transport apparatus 100 can transport the bed 20 in a stable posture.

  As shown in FIG. 5, the bed transport apparatus 100 can be operated with the remote controller 30. The remote controller 30 can operate the bed transport apparatus 100 by wireless communication. However, the remote controller 30 may operate the bed transport apparatus 100 by wired communication. As shown in FIG. 4, the remote controller 30 includes a joystick 31 that operates in the moving direction of the bed transport apparatus 100, a travel mode switch 32 that switches the travel mode, a travel direction switch 33 that switches the travel direction, And a lift switch 34 that lifts and lowers the connecting portion 50. The travel mode changeover switch 32 is a switch that can switch travel modes such as “parallel movement mode”, “curve mode”, “lateral movement mode”, and “spot turn mode”.

  The traveling direction switch 33 is a switch for switching the traveling direction of the bed transport apparatus 100 when the “forward” and “rear” operations are performed with the joystick 31. Thereby, the operator can switch the front side and the rear side in the traveling direction between one side and the other side in the front-rear direction. For example, when the operator stands on the end 1a side of the main body 1 and faces the end 1b, the end 1b of the main body 1 is “front” for the operator, and the end 1a The side is “rear”. Therefore, if the operator sets the end 1b side to “front” with the traveling direction switch 33 and presses “front” with the joystick 31, the bed transport apparatus 100 travels toward the end 1b. On the other hand, when the operator stands on the end 1b side of the main body 1 and faces the end 1a, the end 1a side of the main body 1 is “front” for the operator, and the end 1b. The side is “rear”. Accordingly, the operator switches the traveling direction by operating the traveling direction switch 33. Accordingly, when “front” is pushed with the joystick 31, the bed transport apparatus 100 travels toward the end 1a. However, the direction of the remote controller 30 itself may be changed by changing the orientation of the remote controller 30 to cope with the change in the traveling direction of the main body 1. The main body unit 1 may be provided with a traveling direction display unit or the like that indicates which is “front” in the current setting. The advancing direction display unit may indicate the front and back of the advancing direction by, for example, lighting or blinking colors or displaying arrows with liquid crystal.

  Next, a specific configuration around the connecting portion 50 will be described with reference to FIGS. Hereinafter, the structure that supports the connecting portion 50 so as to be movable will be referred to as a connecting portion support structure 200 and will be described. As shown in FIGS. 6 and 7, the connecting portion support structure 200 includes a connecting portion 50, a first support body 60, a second support body 61, a third support body 62, and a drive section 63. It is equipped with. Among these members, the first support body 60 and the drive unit 63 are fixed to the lower member 1 </ b> B of the main body unit 1. The second support 61 is provided so as to be movable in the vertical direction with respect to the first support 60. The third support 62 fixes the connecting portion 50 and is provided so as to be rotatable with respect to the second support 61. Further, the connecting portion support structure 200 includes a vertical movement allowance mechanism (first mechanism) 52 that allows the connecting portion 50 to move up and down when the connecting portion 50 is connected to the bed 20, and the connecting portion 50 includes the bed 20. And a rotation permission mechanism (second mechanism) 53 that allows the connection portion 50 to rotate.

  In the following description, the description may be made using the XYZ coordinate system. The X-axis direction is a direction corresponding to the front-rear direction of the bed transport apparatus 100. In the X-axis direction, the end 1b side is a positive side, and the end 1a side is a negative side. The Y-axis direction is a direction corresponding to the width direction orthogonal to the front-rear direction of the bed transport apparatus 100. In the Y-axis direction, the side from the main body portion 1 toward the distal end side of the connecting portion 50 is a positive side, and the opposite side is a negative side. The Z-axis direction is a direction corresponding to the vertical direction. In the Z-axis direction, the upper side is the positive side and the lower side is the negative side.

  The first support body 60 is a plate-like member fixed to the lower member 1 </ b> B of the main body 1. The first support body 60 extends along the XZ plane and has a rectangular annular shape having an opening 60a at the center. The first support 60 includes side portions 60A and 60B that face the X-axis direction and extend in parallel in the vertical direction, and side portions 60C and 60D that face the vertical direction and extend in parallel in the X-axis direction. ing. The side portion 60A is disposed on the positive side in the X-axis direction, and the side portion 60B is disposed on the negative side in the X-axis direction. The side portion 60C is disposed on the upper side, and the side portion 60D is disposed on the lower side. On the positive surface 60b of the first support 60 in the Y-axis direction, a guide portion 71A is provided on the side portion 60A, and a guide portion 71B is provided on the side portion 60B. The guide portions 71A and 71B extend in parallel in the vertical direction from the upper end portion to the lower end portion of the side portions 60A and 60B.

  The driving unit 63 includes a lifting motor (driving unit) 72 that generates a driving force for moving the connecting unit 50 in the vertical direction, a ball screw 73 that is rotated by the driving force of the lifting motor 72, and a driving force of the lifting motor 72. Is provided with a driving force transmission portion 74 that transmits the torque to the ball screw 73 and a nut portion 76 that moves in the vertical direction as the ball screw 73 rotates. The drive unit 63 is disposed at a substantially central position in the X-axis direction of the first support body 60. The drive unit 63 is fixed to the main body 1 by a bracket or the like (not shown).

  The lifting motor 72 is disposed on the negative side in the Y-axis direction with respect to the first support body 60 in the vicinity of the upper end portion of the first support body 60. A rotating shaft (not shown) of the lifting motor 72 extends straight from the upper end of the lifting motor 72 upward. A support plate 77 extending toward the positive side in the Y-axis direction is provided at the upper end of the lifting motor 72. The support plate 77 is a plate-like member that extends along the XY plane, passes through the upper end portion of the first support body 60, and extends from the upper end portion to the positive side in the Y-axis direction. Of the support plate 77, the rotary shaft of the lifting motor 72 is rotatably supported and protrudes upward in the negative region in the Y-axis direction, and the upper end portion of the ball screw 73 in the positive region in the Y-axis direction. Is supported rotatably and protrudes upward. The lower end portion of the ball screw 73 is rotatably supported by a bearing portion 78 provided on the lower side portion 60D of the first support body 60 (see FIG. 8).

  The driving force transmission unit 74 includes a pulley 74a provided on the rotating shaft of the elevating motor 72, a pulley 74b provided on the upper end of the ball screw 73, and a belt 74c wound around the pulley 74a and the pulley 74b to transmit the rotational force. It is equipped with. Accordingly, when the lifting motor 72 rotates, the pulley 74a rotates. When the pulley 74a rotates, the pulley 74b rotates through the belt 74c, and the ball screw 73 rotates. Accordingly, the nut portion 76 attached to the ball screw 73 moves in the vertical direction as the ball screw 73 rotates. The configuration around the nut portion 76 will be described later together with the description of the second support body 61.

  The second support body 61 is a member provided to face the first support body 60 on the positive side in the Y-axis direction with respect to the first support body 60. The second support 61 includes a plate-like portion 81 that extends along the YZ plane, and slide portions 82A and 82B that are provided on both ends of the plate-like portion 81 in the X-axis direction. The plate-like portion 81 extends between the guide portions 71A and 71B at a position on the positive side in the Y-axis direction with respect to the first support body 60. A support portion 86 for supporting the third support body 62 is formed at the center position of the positive surface 81 a in the Y-axis direction of the plate-like portion 81. The support portion 86 protrudes from the surface 81a by a predetermined amount toward the positive side in the Y-axis direction.

  The slide portion 82A is provided at the positive end of the plate-like portion 81 in the X-axis direction, and is slidably attached to the guide portion 71A. The slide part 82B is provided at the negative end of the plate-like part 81 in the X-axis direction, and is slidably attached to the guide part 71B. With such a configuration, the second support 61 is movable in the vertical direction with respect to the first support 60 by being guided by the guide portions 71A and 71B via the slide portions 82A and 82B. An upper wall portion 83 extends from the upper end portion of the plate-like portion 81 toward the negative side in the Y-axis direction. A lower wall portion 84 extends from the lower end portion of the plate-like portion 81 toward the negative side in the Y-axis direction. The upper wall portion 83 and the lower wall portion 84 have through holes 83a and 84a through which the ball screw 73 is inserted (see FIG. 8). Since the through holes 83 a and 84 a have a gap with the ball screw 73, the second support body 61 can move in the vertical direction with respect to the ball screw 73. The upper wall portion 83 and the lower wall portion 84 are provided so that the leading ends enter the opening 60 a of the first support body 60. The second support 61 is connected to the nut portion 76 of the drive portion 63 at the negative portion of the plate-like portion 81 in the Y-axis direction. Accordingly, the second support body 61 moves in the vertical direction together with the nut portion 76 driven by the drive portion 63. The connection structure between the second support body 61 and the nut portion 76 will be described later together with the description of the vertical movement allowance mechanism 52.

  The third support body 62 is a member provided so as to face the second support body 61 on the positive side in the Y-axis direction with respect to the second support body 61. The third support body 62 is a member having a predetermined cross-sectional shape and extending in the X-axis direction. In the present embodiment, the third support body 62 has an oval shape extending in the vertical direction, but the cross-sectional shape is not particularly limited. The third support body 62 is supported by the front end portion on the positive side in the Y-axis direction of the support portion 86 of the second support body 61. Further, the third support body 62 is supported by the second support body 61 via a shaft portion 87 extending in the Y-axis direction at the distal end portion of the support portion 86. The shaft portion 87 is provided at a substantially center position in the X-axis direction of the first support body 60 and the second support body 61, and the third support body 62 is approximately at the center position in the X-axis direction. The support body 62 is supported. The third support body 62 is configured to be rotatable about the shaft portion 87. The detailed configuration will be described later together with the configuration of the rotation allowing mechanism 53. In addition, a notch 62 a extending by a predetermined amount in the X-axis direction is formed at the lower end of the third support body 62. A frame portion 40 extending from the main body portion 1 to the positive side in the Y-axis direction extends from the cutout portion 62a (see FIG. 4).

  Next, the structure of the connection part 50 is demonstrated in detail. The connecting part 50 is provided on the lower member 1 </ b> B (see FIG. 1) of the main body part 1. The connecting part 50 is a member for connecting to the bed 20. Specifically, the connecting portion 50 is provided so as to protrude from the side surface 1Ba of the lower member 1B. Accordingly, the bed transport apparatus 100 is connected to each other by allowing the connecting portion 50 to enter the lower horizontal frame 23 from the side surface 20 a of the bed 20 and supporting the lower horizontal frame 23 by the connecting portion 50. The connecting portion 50 is connected to the bed 20 by pressing the lower horizontal frame (structural member) 23 of the bed 20 from below. A pair of connecting portions 50 are provided in the front-rear direction. Here, the connecting portion 50 disposed on the end 1a side is referred to as “connecting portion 50A”, and the connecting portion 50 disposed on the end 1b side is referred to as “connecting portion 50B”. The connecting portion 50A and the connecting portion 50B are arranged at positions that sandwich the frame portion 40 in the horizontal direction. The connecting part 50A and the connecting part 50B have the same concept except for the position in the front-rear direction.

  Returning to FIGS. 6 to 8, the connecting portions 50 </ b> A and 50 </ b> B are provided so as to extend from the vicinity of the lower end of the third support body 62 to the positive side in the Y-axis direction. The connecting portion 50 </ b> A is provided in the vicinity of the negative end portion of the third support body 62 in the X-axis direction. The connecting portion 50 </ b> B is provided in the vicinity of the positive end of the third support body 62 in the X-axis direction. The connecting portions 50A and 50B protrude from the positive surface 62b of the third support 62 in the Y-axis direction to the positive side in the Y-axis direction. The connecting portions 50A and 50B have a rectangular cross-sectional shape when viewed from the Y-axis direction. However, the cross-sectional shapes of the connecting portions 50A and 50B are not particularly limited as long as the lower horizontal frame 23 can be placed on the upper surface 50b. A hook portion 50a that protrudes upward is formed at the end on the positive side in the Y-axis direction of the coupling portions 50A and 50B. The hook portion 50a is provided at a position away from the surface 62b of the third support body 62 toward the positive side in the Y-axis direction.

  The upper surfaces 50b of the connecting portions 50A and 50B function as portions that come into contact with the lower horizontal frame 23 of the bed 20. A receiving portion 88 that receives the lower horizontal frame 23 of the bed 20 in the horizontal direction (here, the Y-axis direction) is formed on the surface 62b of the third support body 62. The connecting portions 50A and 50B are connected to the lower horizontal frame 23 on the upper surface 50b between the receiving portion 88 and the hook portion 50a. The receiving portion 88 is provided with a low friction plate 89. The surface of the low friction plate 89 is set to have a lower coefficient of friction than the surface 62 b of the third support 62. In the present embodiment, the low friction plate 89 is provided at a location where the coupling portions 50A and 50B and the third support body 62 are connected and facing the hook portion 50a. The low friction plate 89 is also provided at a position adjacent to the connecting portions 50A and 50B in the X-axis direction on the surface 62b of the third support body 62. A high friction plate 90 is provided on a portion of the connecting portions 50A and 50B that contacts the lower horizontal frame 23, that is, on the upper surface 50b of the connecting portions 50A and 50B. The high friction plate 90 has a higher coefficient of friction than at least the low friction plate 89. The surface of the high friction plate 90 has a higher coefficient of friction than the surfaces of the members constituting the connecting portions 50A and 50B.

  Next, the vertical movement allowing mechanism 52 will be described with reference to FIGS. After the connection of the connecting portion 50 to the bed 20 is completed, the vertical movement allowance mechanism 52 is connected to the connecting portion 50 and the bed 20 when the bed 20 or the bed transport device 100 travels on a step, swell, inclination, or the like. This is a mechanism that allows the connecting portion 50 to move up and down due to the change when the position relationship between the change and the position changes. The vertical movement allowance mechanism 52 is provided at a connecting portion between the nut portion 76 and the second support body 61. The vertical movement allowance mechanism 52 mainly includes the nut portion 76, the support plate 91, the support columns 92A and 92B, and the springs 93A and 93B.

  The support plate 91 is a plate-like member fixed to the nut portion 76. The support plate 91 is fixed to the outer peripheral surface of the nut portion 76 in the space between the upper wall portion 83 and the lower wall portion 84 of the second support body 61 and extends in the X-axis direction. The support plate 91 faces the upper wall portion 83 and the lower wall portion 84 in parallel at positions spaced apart in the vertical direction. The support plate 91 is a plate-like member that can move in the vertical direction relative to the second support body 61.

  The support columns 92A and 92B are rod-shaped members extending in the vertical direction between the upper wall portion 83 and the lower wall portion 84. The struts 92 </ b> A and 92 </ b> B have an upper end portion fixed to the upper wall portion 83 and a lower end portion fixed to the lower wall portion 84. The support posts 92A and 92B are disposed adjacent to both sides in the X-axis direction with respect to the ball screw 73. The support columns 92A and 92B are inserted through the support plate 91 so as to sandwich the nut portion 76 in the X-axis direction. The support columns 92A and 92B are movable relative to the support plate 91 in the vertical direction. With this configuration, when the ball screw 73 rotates, the nut portion 76 moves in the vertical direction relative to the upper wall portion 83 together with the support plate 91. At this time, the nut portion 76 moves in the up-down direction in a state where movement in the rotation direction is restricted by the support columns 92A, 92B via the support plate 91. The springs 93A and 93B are attached to the columns 92A and 92B between the upper wall portion 83 and the support plate 91. The springs 93A and 93B expand and contract as the dimension between the support plate 91 and the upper wall portion 83 varies. The springs 93 </ b> A and 93 </ b> B expand and contract as the connecting portion 50 moves up and down when the connecting portion 50 is connected to the lower horizontal frame 23.

  Next, the operation of the vertical movement allowance mechanism 52 will be described with reference to FIG. FIG. 9A is a schematic view showing a state in which the connecting portion 50 is disposed at the descending end portion that is the lowest position in the movable range. FIG. 9B is a schematic view showing a state in which the connecting portion 50 is arranged at a position above the descending end and below the lower horizontal frame 23. FIG. 9C is a conceptual diagram showing a state where the connecting portion 50 is connected to the lower horizontal frame 23. In FIG. 9, the nut portion 76 and the ball screw 73 are omitted.

  As shown in FIG. 9A, in the state where the connecting portion 50 and the second support body 61 are arranged at the descending end portion, the dimension L between the upper wall portion 83 and the support plate 91 (at this time) The dimension is set to dimension t1), and the springs 93A and 93B are substantially in an uncompressed state. Next, when the support plate 91 moves upward as the nut portion 76 rises, the dimension L decreases and the springs 93A and 93B are compressed. As a result, an upward force acts on the entire second support body 61 via the upper wall portion 83. When the nut portion 76 and the support plate 91 are further raised so that the dimension L becomes the predetermined dimension t2 (<t1), the entire second support body 61 is lifted as shown in FIG. As the plate 91 rises, it moves upward together with the connecting portion 50. As the nut portion 76 and the support plate 91 continue to rise, the connecting portion 50 comes into contact with the lower horizontal frame 23. When the nut portion 76 and the support plate 91 rise in this state, the vertical position of the connecting portion 50 and the second support body 61 (that is, the upper wall portion 83) becomes constant at the position of the lower horizontal frame 23. L becomes smaller and the springs 93A and 93B are compressed. When the nut portion 76 and the support plate 91 are further raised and the dimension L becomes a predetermined dimension t3 (<t2) as shown in FIG. 9C, the load acting between the connecting portion 50 and the lower horizontal frame 23. However, it reaches the size necessary to obtain the frictional force required for the connection. In this state, the rise of the nut portion 76 and the support plate 91 stops.

  In a state where the connecting portion 50 is connected to the lower horizontal frame 23 as shown in FIG. 9C, the springs 93 </ b> A and 93 </ b> B are in an expandable / contractable state as the connecting portion 50 moves up and down. In this state, the springs 93A and 93B have a further compressible stroke. Accordingly, the connecting portion 50 is allowed to move up and down by the up and down movement allowing mechanism 52 when the connecting portion 50 is connected to the lower horizontal frame 23. Further, when the lower horizontal frame 23 moves relatively in the direction away from the connecting portion 50, the vertical movement allowance mechanism 52 moves upward so that the connecting portion 50 follows the lower horizontal frame 23 by the action of the springs 93A and 93B. Move to. Further, when the lower horizontal frame 23 moves relatively so as to be pushed into the connecting portion 50 side, the vertical movement allowance mechanism 52 causes the connecting portion 50 to load the lower horizontal frame 23 by the action of the springs 93A and 93B. While moving, the lower horizontal frame 23 is moved downward.

  With reference to FIG.10 and FIG.11, operation | movement of the vertical movement allowance mechanism 52 is demonstrated. First, with reference to FIG. 10, the operation of the vertical movement allowance mechanism 52 when the lower horizontal frame 23 moves away from the connecting portion 50 will be described. For example, when only the bed 20 rides on a high step, or when only the bed transport device 100 goes down to a low step, as shown in FIG. 10A, the lower horizontal frame 23 connected to the connecting portion 50 is It moves relatively away from the connecting portion 50 so as to be separated upward. At this time, the load acting on the connecting portion 50 instantaneously decreases. At this time, the compression force of the springs 93A and 93B in the compressed state is released. As shown in FIG. 10B, since the position of the support plate 91 is not moved, the springs 93 </ b> A and 93 </ b> B extend so as to push up the connecting portion 50 via the upper wall portion 83. Thereby, the upward movement of the connecting portion 50 is allowed, and the connecting portion 50 moves upward by the elastic force of the springs 93A and 93B. Thereby, since the connection part 50 follows the motion of the lower horizontal frame 23, it can suppress that the lower horizontal frame 23 of the bed 20 remove | deviates from the connection part 50. FIG.

  Next, with reference to FIG. 11, the operation of the vertical movement allowance mechanism 52 when the lower horizontal frame 23 is pushed into the connecting portion 50 side will be described. For example, when only the bed 20 goes down to a low step, or when only the bed transport apparatus 100 rides up to a high step, as shown in FIG. 11A, the lower horizontal frame 23 connected to the connecting portion 50 is It tries to move relatively so as to be pushed further into the connecting portion 50. At this time, the load acting on the connecting portion 50 increases momentarily. At this time, the compressive force of the springs 93A and 93B increases. Since the position of the support plate 91 does not move, the springs 93 </ b> A and 93 </ b> B contract so as to lower the connecting portion 50 via the upper wall portion 83. Thereby, the downward movement of the connecting portion 50 is allowed, and the connecting portion 50 moves downward by the elastic force of the springs 93A and 93B. The connection part 50 can suppress that the force which acts on the connection part 50 from the lower horizontal frame 23 increases rapidly by following so that it may move below with the force from the lower horizontal frame 23. FIG.

  Next, the rotation permission mechanism 53 will be described with reference to FIGS. The rotation permission mechanism 53 is provided at a connection portion between the second support body 61 and the third support body 62. The rotation permission mechanism 53 mainly includes the above-described shaft portion 87 and spring portions 96A and 96B.

  The shaft portion 87 is fixed to the support portion 86 of the second support body 61. A third support body 62 is rotatably attached to the shaft portion 87 via a support portion 95. Accordingly, the connecting portions 50 </ b> A and 50 </ b> B can rotate around the shaft portion 87 together with the third support body 62.

  The spring portions 96 </ b> A and 96 </ b> B are provided between the second support body 61 and the third support body 62. The spring portion 96A is provided at a position on the negative side in the X-axis direction from the shaft portion 87. The spring portion 96B is provided at a position on the positive side in the X-axis direction with respect to the shaft portion 87. The spring portions 96A and 96B include a case 97, a movable portion 98, and a spring 99.

  The case 97 is a housing body that houses the spring 99 and is a member that is fixed to the second support body 61. The case 97 includes an upper wall portion 97a and a side wall portion 97b. On the other hand, the movable portion 98 is fixed to the third support body 62. The movable portion 98 includes a fixed portion 98a fixed to the third support body 62, a shaft portion 98b extending upward from the fixed portion 98a toward the case 97, a partition portion 98c accommodated in the shaft portion 98b, Is provided. A spring 99 is provided between the partition portion 98 c and the upper wall portion 97 a of the case 97. When the movable portion 98 moves upward, the spring 99 is compressed, and when the movable portion 98 moves downward, the spring extends.

  With such a configuration, when the connecting portions 50A and 50B rotate around the shaft portion 87, the connecting portion 50A moves upward, and when the connecting portion 50B moves downward, the spring 99 of the spring portion 96A is compressed. Thus, the spring 99 of the spring portion 96B extends. Further, when the connecting portion 50A moves downward and the connecting portion 50B moves upward, the spring 99 of the spring portion 96A extends and the spring 99 of the spring portion 96B is compressed. Accordingly, the rotation permission mechanism 53 allows the connection portions 50A and 50B to rotate. Further, the rotation permission mechanism 53 absorbs an impact during rotation by the spring 99. Further, when the lower horizontal frame 23 is inclined, the connection state can be maintained by inclining the upper surfaces 50b of the connection portions 50A and 50B so as to follow the inclination.

  Next, the control unit 300 of the bed transport apparatus 100 will be described with reference to FIG. As illustrated in FIG. 13, the bed transport apparatus 100 includes a control unit 300 that controls the bed transport apparatus 100. The control unit 300 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. In the control unit 300, for example, various functions are realized by loading a program stored in the ROM into the RAM and executing the program loaded in the RAM by the CPU. The controller 300 may be composed of a plurality of electronic units. Control unit 300 receives operation information from remote controller 30. The control unit 300 also receives signals detected by the proximity sensor (proximity detection unit) 101 and the load sensor (load detection unit) 102. The control unit 300 transmits control signals to the drive motor 12, the steering motor 16, and the lift motor 72.

  The proximity sensor 101 is a sensor that detects that the bed transport apparatus 100 has approached the bed 20. The proximity sensor 101 may be configured by a non-contact type sensor such as an inductive proximity sensor using electromagnetic induction, for example. Or the proximity sensor 101 may be comprised by the switch etc. which detect the proximity | contact with the bed 20 by directly contacting with the structural member of the bed 20. FIG. The proximity sensor 101 is provided on the surface 62b on the positive side in the Y-axis direction of the third support body 62 (see FIG. 6). Here, the proximity sensor 101 is provided above a low friction plate 89 provided at a connection portion between the connection portions 50 </ b> A and 50 </ b> B and the third support body 62. Thereby, the proximity sensor 101 can detect the position of the lower horizontal frame 23. However, the arrangement of the proximity sensor 101 is not particularly limited as long as the proximity of the bed 20 can be detected.

  The load sensor 102 is a sensor that detects a load acting on the connecting portion 50. The load sensor 102 is provided at the lower end of the ball screw 73 (see FIG. 8). The load sensor 102 is disposed in a case 103 provided on the lower side of the ball screw 73. Thereby, when a load acts on the connecting part 50, the load acting on the connecting part 50 can be detected via the second support body 61, the third support body 62, the nut part 76 and the ball screw 73. However, the load sensor 102 may be provided at any position as long as the load acting on the connecting portion 50 can be detected.

  When the proximity sensor 101 detects the proximity of the bed transport apparatus 100 to the bed 20, the control unit 300 performs control to prevent the bed transport apparatus 100 from approaching the bed 20. For example, when the bed transport apparatus 100 is moved to the bed 20 side in order to connect the connecting portion 50 and the lower horizontal frame 23, the proximity sensor 101 is determined from a predetermined distance (this is the first threshold). If it is detected that the lower horizontal frame 23 is approaching the proximity sensor 101, the control unit 300 stops the drive motor 12. The first threshold value is set within a range of a distance at which the connecting portion 50 and the lower horizontal frame 23 can be connected. For example, a distance when the lower horizontal frame 23 contacts the receiving portion 88 may be set as the first threshold value. Moreover, the control part 300 performs control which positions the connection part 50 to the descent | fall end part in the movable range of the connection part 50, when the proximity sensor 101 has not detected the proximity to the bed 20 of the bed conveying apparatus 100. When the proximity sensor 101 detects that the lower horizontal frame 23 is disposed at a position farther than the proximity sensor 101 than a predetermined distance (this is the second threshold value), the control unit 300 displays the lifting motor 72 is controlled to position the connecting portion 50 to the descending end. The second threshold is set to a distance at which the connecting portion 50 and the lower horizontal frame 23 cannot be connected.

  Here, the control part 300 stops the electric power feeding with respect to the raising / lowering motor 72 which moves the connection part 50 up and down, and positions the connection part 50 to a descent | fall end part. The control unit 300 stops power supply to the lifting motor 72 by turning off the main power switch for the lifting motor 72. When power supply to the lifting motor 72 is stopped, the lifting motor 72 is in a free state. At this time, the ball screw 73 is also free. Accordingly, the nut portion 76 is lowered by the weight of the second support body 61 and the third support body 62 while rotating the ball screw 73 until the connecting portion 50 is positioned at the lower end portion.

  The controller 300 controls the lifting motor 72 based on the detection result of the load sensor 102. For example, when connecting the connecting unit 50 and the lower horizontal frame 23, the control unit 300 determines that the connection is completed based on the fact that the load detected by the load sensor 102 reaches a predetermined value, and the connecting unit 50. May move upward and stop. In addition, when the lower horizontal frame 23 is lifted and detached from the connecting portion 50, the load acting on the connecting portion 50 is reduced. Therefore, when the load detected by the load sensor 102 becomes smaller than a predetermined threshold, the control unit 300 may control the lifting motor 72 to move the connecting unit 50 upward. For example, when the state shown in FIG. 10B is reached, the control unit 300 may move the connecting unit 50 upward so that the load before the change occurs in the lower horizontal frame 23. Further, the control unit 300 may detect the detachment of the lower horizontal frame 23 from the connection unit 50 based on the decrease in the load of the load sensor 102. Alternatively, when sinking occurs in the lower horizontal frame 23, the load acting on the connecting portion 50 increases. Therefore, when the load detected by the load sensor 102 becomes larger than a predetermined threshold, the control unit 300 may control the lifting motor 72 to move the connecting unit 50 downward. For example, when the state shown in FIG. 11B is obtained, the control unit 300 may move the connecting unit 50 downward so that the load before the lower horizontal frame 23 is changed is obtained.

  Next, operations and effects of the bed transport apparatus 100 according to the present embodiment will be described.

  The bed transport apparatus 100 according to the present embodiment is provided on a side surface 1Ba on one side of the main body 1, and includes a connecting portion 50 that is connected to the bed 20 on the side of the bed 20, and wheels 3A that move the main body 1. 3B. In such a bed transport apparatus 100, the connecting portion 50 is connected to the bed 20 by pressing the lower horizontal frame 23 of the bed 20 from below. When the connecting portion 50 presses the lower horizontal frame 23 from the lower side, a load acts between the connecting portion 50 and the lower horizontal frame 23. Thereby, the connection part 50 and the lower horizontal frame 23 are connected by the frictional force between the connection part 50 and the lower horizontal frame 23. When the connecting portion 50 presses the lower horizontal frame 23, the connecting portion 50 and the lower horizontal frame 23 should be sufficiently connected even if the pressing force is such that the wheel 21 of the bed 20 does not float from the ground. Can do. However, a pressing force such that the wheel 21 of the bed 20 floats from the ground may be applied. Thereby, the bed conveying apparatus 100 can be easily connected to the bed 20 as described above.

  The bed transport apparatus 100 further includes a frame portion 40 that extends to the back side of the bed with respect to the connecting portion 50 when the connecting portion 50 is connected to the bed 20, and the frame portion 40 has wheels 3A and 3B. You can do it. Thereby, when the connection part 50 presses the lower horizontal frame 23 of the bed 20 and the load is applied to the connection part 50, the frame part 40 and the wheels 3 </ b> A and 3 </ b> B are in the posture of the bed transport device 100. Can be maintained. Therefore, when the connection part 50 is connected with the bed 20, it is possible to suppress the bed transport device 100 from falling.

  The bed transport apparatus 100 may further include a load sensor 102 that detects a load acting on the connecting portion 50. Thereby, based on the load detected by the load sensor 102, it is possible to determine whether or not the connecting portion 50 is connected to the bed 20.

  The bed transport apparatus 100 may further include a proximity sensor 101 that detects that the bed transport apparatus 100 has approached the bed 20. Thereby, the proximity sensor 101 can detect that the bed transport apparatus 100 has approached the bed 20.

  The bed transport apparatus 100 further includes a control unit 300 that controls the bed transport apparatus 100, and when the proximity sensor 101 detects the proximity of the bed transport apparatus 100 to the bed 20, the control unit 300 is configured so that the bed transport apparatus 100 is in bed. Control to prevent approaching 20 may be performed. Thereby, it can suppress that the bed conveying apparatus 100 collides with the bed 20. FIG.

  The bed transport apparatus 100 further includes a control unit 300 that controls the bed transport apparatus 100. When the proximity sensor 101 does not detect the proximity of the bed transport apparatus 100 to the bed 20, the control unit 300 You may perform control which positions the connection part 50 to the descent | fall end part in a movable range. Thereby, when the bed conveying apparatus 100 approaches the bed 20 in an attempt to connect the connecting portion 50 to the lower horizontal frame 23, the connecting portion 50 can be positioned at the descending end portion. Therefore, it can suppress that the connection part 50 interferes with the lower horizontal frame 23. FIG.

  In the bed transport apparatus 100, the control unit 300 may position the connecting unit 50 at the descending end by stopping power supply to the lifting motor 72 that moves the connecting unit 50 up and down. Thereby, for example, even when the battery of the remote controller 30 has run out or has failed and the connecting unit 50 cannot be lowered by the operation of the remote controller 30, the control unit 300 stops the power supply to the lifting motor 72. Thus, in a situation where the connecting portion 50 should be lowered, the connecting portion 50 can be automatically positioned at the lower end. Moreover, since the control part 300 stops the electric power feeding with respect to the raising / lowering motor 72, and positions the connection part 50 to a descent | fall end part, even when the error has arisen in the raising / lowering motor 72, without stopping the connection part 50 It can be moved downward. Therefore, it can be avoided that the connecting portion 50 remains connected to the bed 20.

  The bed transport apparatus 100 further includes a receiving portion 88 that receives the lower horizontal frame 23 of the bed 20 in the horizontal direction. The receiving portion 88 is provided with a low friction plate 89, and the lower horizontal frame 23 of the connecting portion 50 contacts A low friction plate 89 may be provided in the contacting portion. Accordingly, when the lower horizontal frame 23 of the bed 20 is received by the receiving portion 88, the lower horizontal frame 23 comes into contact with the low friction plate 89, thereby easily moving in the horizontal direction. Therefore, it becomes easy to align the horizontal direction before the connection between the connecting portion 50 and the lower horizontal frame 23 of the bed 20. On the other hand, a high friction plate 90 is provided in a portion of the connecting portion 50 that contacts the lower horizontal frame 23. Therefore, when the lower horizontal frame 23 of the bed 20 is connected to the connecting portion 50, the lower horizontal frame 23 is brought into contact with the high friction plate 90, thereby preventing the sliding with respect to the connecting portion 50.

  In addition, the bed transport apparatus 100 according to the present embodiment is provided on the side surface 1Ba on one side of the main body 1, and a connecting portion 50 that is connected to the bed 20 on the side surface of the bed 20 and a wheel that moves the main body 1. 3A, 3B. When such a bed conveying apparatus 100 and the bed 20 pass through a road surface having a step, a swell, and a gradient, a vertical shift may occur between the connecting portion 50 and the connecting portion of the bed 20. On the other hand, the bed transport apparatus 100 includes a vertical movement allowance mechanism that allows the coupling part to move up and down when the coupling part 50 is coupled to the bed 20. Therefore, when a change in the vertical positional relationship between the connecting portion 50 and the connecting portion of the bed 20 occurs, the connecting portion 50 moves up and down by being allowed by the up and down movement allowing mechanism 52. By the above, the influence by the fluctuation | variation of the positional relationship of the up-down direction between the connection part 50 and the connection location of the bed 20 can be suppressed.

  Further, in the bed transport apparatus 100, at least a pair of connecting portions 50 are provided on the X axis, and when the connecting portion 50 is connected to the bed 20, the pair of connecting portions 50 (50A, 50B) around the Y axis direction. You may further provide the rotation permission mechanism 53 which accept | permits rotation. When at least one pair of connecting portions 50 are provided in the X-axis direction, the bed 20 is relative to each connecting portion 50 around the Y-axis direction when the bed transport device 100 and the bed 20 pass through a road surface having an uneven surface. May lean to On the other hand, the bed transport apparatus 100 allows the rotation of the pair of connecting portions 50 (50A, 50B) around the Y-axis direction when the connecting portion 50 is connected to the bed 20. Is further provided. Accordingly, when the bed 20 is inclined relative to the respective connecting portions 50 around the Y-axis direction, the pair of connecting portions 50 (50A, 50B) are allowed to be Rotate around the Y-axis direction corresponding to the tilt. Thereby, the connection state between each connection part 50 and the bed 20 is maintainable. As described above, it is possible to further suppress the disconnection between the bed transport apparatus 100 and the bed 20.

  In the bed transport apparatus 100, the vertical movement allowance mechanism 52 may include springs 93 </ b> A and 93 </ b> B that expand and contract with the vertical movement of the connecting portion 50. As a result, the elastic force of the springs 93 </ b> A and 93 </ b> B acts when the connecting portion 50 moves up and down, so that the up and down movement allowing mechanism 52 can absorb the impact accompanying the up and down movement of the connecting portion 50.

  In the bed transport apparatus 100, the rotation permission mechanism 53 may include a spring 99 that expands and contracts as the connecting portion 50 rotates. Thereby, since the elastic force of the spring 99 acts when the connection part 50 rotates, the rotation permission mechanism 53 can absorb the impact accompanying rotation of the connection part 50.

  The present invention is not limited to the embodiment described above.

  For example, the configuration of the remote controller is not limited to that described above, and may be changed as appropriate without departing from the spirit of the present invention. Further, an operation unit may be provided in the main body unit instead of the remote control.

  Further, in the above-described embodiment, one wheel is provided on one side of the main body, and one wheel is provided on the other side. Instead of this, a plurality of (for example, two) wheels may be provided on one side of the main body, and a plurality of (for example, two) wheels may be provided on the other side. Moreover, the wheel provided in the frame part 40 may also be plural. Further, the number of frame portions 40 is not limited to one, and may be plural. That is, the number and position of the wheels provided in the bed transport apparatus 100 are not particularly limited. Moreover, in the above-mentioned embodiment, although the frame part 40 is a free roller and does not have a drive function, the wheel of the frame part 40 may be a drive wheel. In this case, it is good also considering the wheels 3A and 3B of the main-body part 1 as a free roller which does not have a drive function.

  Moreover, in the above-mentioned embodiment, although the tire was illustrated as a wheel, as long as the movement and control of the bed conveying apparatus 100 are possible, you may employ | adopt all types of wheels. For example, an omnidirectional movement mechanism such as an omni wheel or a sphere driving mechanism may be adopted as the wheel.

  Further, the number of connecting portions is not limited to two, and may be one or three or more.

  In the above-described embodiment, the configurations shown in FIGS. 6 to 12 are employed as the vertical movement allowance mechanism and the rotation allowance mechanism. However, the vertical movement allowance mechanism and the rotation allowance mechanism are not limited to these configurations, and the detailed configuration may be changed as appropriate. In the above-described embodiment, the vertical movement allowance mechanism and the rotation allowance mechanism include the springs, but other elastic members such as a rubber material may be used. Further, the vertical movement allowance mechanism and the rotation allowance mechanism are only required to allow the connecting portion to move up and down and rotate, and therefore may not have a restoring force such as an elastic force. For example, after the connecting portion is displaced in the vertical direction, the arrangement may be maintained at the position.

  In the above-described embodiment, the connecting portion performs the lifting operation by a combination of the lifting motor and the ball screw. However, the connecting portion is not particularly limited, and a lifting mechanism using another driving method using a linear motor or the like is employed. May be.

  Moreover, in the above-mentioned embodiment, although the bed conveying apparatus had the frame part, you may abbreviate | omit a frame part. Further, the number of frame portions is not limited to one, and a plurality of frame portions may be provided.

  In the above-described embodiment, the bed transport device has various sensors such as a proximity sensor and a load sensor, but these sensors may be omitted.

  Moreover, in the above-mentioned embodiment, the connection part was connected with the bed by pressing the structural member of a bed from the lower side. However, the configuration of the connecting portion is not particularly limited, and any configuration may be adopted as long as it can be connected to the bed. For example, a structure of connecting by sandwiching a bed may be adopted as the connecting portion. For example, the connecting portion may include a grip portion that sandwiches and grips the lower horizontal frame of the bed. In this case, the grip portion of the connecting portion may grip the lower horizontal frame from below, may be gripped from the side, or may be gripped from above. In addition, you may connect a connection part and a lower horizontal frame using members, such as a volt | bolt and a nut. A vertical movement allowance mechanism is provided to allow vertical movement of these connecting portions. Note that the rotation permission mechanism may be omitted.

  DESCRIPTION OF SYMBOLS 1 ... Main-body part, 3 ... Wheel, 20 ... Bed, 40 ... Frame part, 50 ... Connection part, 52 ... Vertical movement allowance mechanism (1st mechanism), 53 ... Turning permission mechanism (2nd mechanism), 100 DESCRIPTION OF SYMBOLS ... Bed conveying apparatus, 88 ... Receiving part, 89 ... Low friction plate, 90 ... High friction plate, 101 ... Proximity sensor (proximity detection part), 102 ... Load sensor (load detection part), 300 ... Control part.

Claims (5)

A bed transfer device for transferring a bed,
The main body,
Wheels for moving the main body,
A connecting portion that is provided on one side of the main body, and is connected to the bed on the side of the bed;
And a first mechanism that allows the connecting portion to move up and down when the connecting portion is connected to the bed. At least a pair of the connecting portions are provided in the first direction,
2. The apparatus according to claim 1, further comprising a second mechanism that allows a pair of the connection portions to rotate around a second direction orthogonal to the first direction when the connection portion is connected to the bed. The bed conveying apparatus as described.   The bed transport apparatus according to claim 1, wherein the first mechanism includes a spring that expands and contracts as the connecting portion moves up and down.   The bed transport apparatus according to claim 2, wherein the second mechanism includes a spring that expands and contracts as the connecting portion rotates. The bed transport apparatus according to any one of claims 1 to 4, further comprising a load detection unit that detects a load acting on the connection unit.

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