JP4535818B2 - Bed electric transfer device - Google Patents

Description

  The present invention relates to an electric transfer device for a highly safe bed (including a hospital bed, an ICU bed, a stretcher, a home bed, etc.) capable of reliably preventing a malfunction due to an unintended operation.

  Conventionally, in a hospital or the like, a bed is transported by human power, and in particular, often performed by a nurse (nurse). However, recent hospital beds, especially ICU beds, are becoming more prominent due to their increased functionality, and it takes a lot of effort to move such beds by themselves. It is a big burden for nurses.

  Therefore, an electric transfer device that assists the transfer is provided on the transfer bed, and an activation switch is provided in the grip portion for bed transfer so that the electric transfer device is driven only by the carrier holding the grip portion. Transport equipment has been developed. However, such a transport bed may cause a malfunction of the transport device even if a person or an object collides with a handle that is a gripping portion, or even if an object is caught on the handle. In addition, since the conventional technology has a configuration in which the operation unit can be easily confirmed from the patient on the bed, the electric device may be driven by an unintended operation of the patient.

  On the other hand, an arrangement cart has been proposed in which an operation handle is provided so as to be swingable, and the electric transfer device is driven by pushing the handle forward or pulling it backward. However, such a cart is easy to operate with one hand, but there is a risk of malfunction such that the transport device is activated simply by touching the handle.

  For example, Japanese Patent Application Laid-Open No. 8-317953 is given as a conventional technique related to the electric bed transfer apparatus.

  FIG. 22 is an explanatory view of main parts showing a conventional transfer bed. In FIG. 22, the transfer bed mainly includes a bed main body 101 and a bed transfer device 103 attached to the frame 102 of the head portion or foot portion of the bed main body 101. A moving caster 104 is provided at the lower end of the leg frame 102 of the bed main body 101. The bed transport device 103 includes a device main body 106 having a pair of drive wheels 105 and an operation unit 107 provided on the upper portion of the device main body 106.

  Four guide rods 108 extending in the vertical direction are provided on the lower surface of the operation unit 107, and the guide rods 108 are inserted into guide holes provided on the upper surface of the apparatus main body 106. When the operation unit 107 is moved up and down by manual operation, the guide rod 108 slides up and down in the guide hole, whereby the height of the operation unit 107 can be adjusted.

  Inside the apparatus main body 106, a motor for driving the drive wheels 105, a battery for supplying electric power to the motor, and a control device (not shown) for controlling the current supplied to the motor are provided.

  The transfer bed is operated by gripping the grip portion 109 of the operation portion 107, and the magnitude of the force that presses the grip portion of the operator is detected by the control device (not shown), so that the optimum driving force is detected. Then, the conveyance of the bed is started (Patent Document 1, paragraphs 0073 to 0077, FIG. 10 and the like).

JP-A-8-317953

  However, the bed transport device in the above prior art is started when the operator grips the grip portion 109 of the operation unit 107. For example, a person who does not intend to operate only touches the grip portion or the bag. Even if it is hooked, there is a risk that it will start against the will of the carrier, which is not always sufficient for safety.

  The present invention has been made in view of such a problem, and by providing an operation unit of the electric transfer device and an operation unit as an operation constraint condition unit separately, it is possible to reliably drive due to a malfunction that is not intended by the operator. An object of the present invention is to provide a bed electric transfer device with high safety that can be prevented.

The bed electric transfer device according to the present invention includes a bed carriage provided with a moving caster, an electric assist unit provided on the carriage and having drive wheels, a control device for controlling the electric assist unit, and the electric assist unit. A pair of left and right operating levers for outputting an assist signal for instructing the assist contents to the control device, and a permission signal provided to each of the operation levers for permitting driving of the electric assist unit is output to the control device. And when the assist signal is output from one or both of the operation levers in a state where the permission signal is output from both of the two switches. is an operation in accordance with the assist signal to units, permission from both signals is the output of the two switches After the assist signal is output from one or both of the two operation levers in a state where the permission signal from one of the two switches is turned off, the control device characterized that you continue operating for a predetermined time of the electric assist unit.

A bed electric transport apparatus according to the present invention, before Symbol controller before SL and have you at the time after a predetermined time, when the enable signal from both of the two switches is inputted again, the two operations it is preferable that controls the electric assist unit based on the state of the assist signals from one or both of the levers.

  In the electric bed transfer apparatus according to the present invention, the swing direction of the operation lever is preferably different from the pressing direction of the switch.

  In the bed electric transfer device according to the present invention, it is preferable that the operation surface of the switch provided on the operation lever is directed to the bed conveyer side.

  According to the bed electric transfer device according to the present invention, a pair of left and right operation levers provided with a switch for outputting a permission signal for permitting driving is provided on one side of the bed, for example. Since the control device causes the electric assist unit to operate according to the assist signal only when an assist signal is output from one or both of the operation levers in a state where is output, as a rule, with one hand The operation becomes impossible, and the electric assist unit can be driven only when an appropriate operation is performed with both hands. Therefore, malfunctions contrary to the will of the operator are eliminated, and safety is improved.

In addition , after an assist signal is output from one or both of the two operation levers in a state where a permission signal is output from both of the two switches, the signal from either one of the two switches If the enable signal is turned off, the control device, the operation of the electric assist unit continues for a predetermined time, and have you at a later time the predetermined time, the input enabling signal from both of the two switches again In this case, since the electric assist unit is controlled based on the state of the assist signal from one or both of the two operation levers, operability and safety are improved.

  According to the bed electric transfer device according to claim 3 of the present application, since the swinging direction of the operation lever is different from the pressing direction of the switch, both the operation lever and the switch are turned on by one operation. Because there is no, there is no unexpected malfunction.

  According to the bed electric transfer device according to claim 4 of the present application, the operation surface of the switch provided on the operation lever faces the bed carrier side, so that the patient on the bed can easily see the operation surface of the switch. Therefore, it is possible to prevent an erroneous operation due to a patient operation unintended by the operator.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 to FIG. 7 are explanatory views showing an electric bed transfer apparatus according to an embodiment of the present invention, FIG. 1 is a perspective view thereof, and FIG. 2 is a schematic view showing a carriage portion in a state where the electric assist unit is flipped up. 3 is a side view of FIG. 2, and FIG. 4 is an enlarged view of a main part of FIG. FIGS. 5 to 7 are diagrams corresponding to FIGS. 2 to 4, respectively, and are diagrams showing the cart portions in a state where the driving wheels of the electric assist unit are in contact with the floor surface.

  In FIG. 1, the electric bed transfer apparatus mainly includes a carriage 2 that supports and conveys the bed body 1, and an electric assist unit (described later) provided between the frames of the carriage 2. The bottom part 4 of the bed body 1 is placed on the base frame 3 of the carriage 2. The base frame 3 is formed by a pair of vertical frames 5 extending in the vertical direction and two front and rear horizontal frames 6 that connect and fix the left and right vertical frames 5. A head guard 7 is fixed to the front horizontal frame 6, and a foot guard 8 is fixed to the rear horizontal frame 6. A right side guard 9 is attached to the right vertical frame 5, and a left side guard 10 is attached to the left vertical frame 5.

  A pair of operating levers 13 for operating the electric assist unit are attached to the left and right ends of the rear horizontal frame 6 respectively.

  In FIG. 2, the carriage 2 is formed by a pair of left and right longitudinal frames 22 and a pair of horizontal shafts 23 that are arranged perpendicular to the longitudinal frames 22 and connect the two longitudinal frames 22 to each other. Moving casters 21 are provided at both ends of the vertical frame 22.

  Four high / low links 24 are provided at four corners of the carriage 2 so as to be adjacent to the moving caster 21, and a linear actuator (not shown) for operating the high / low links 24 is provided between the pair of horizontal shafts 23. Has been placed. The high / low link 24 adjusts the height of the bed body 1 placed on the carriage 2 with respect to the floor surface.

  An electric assist unit 25 is disposed between a pair of horizontal shafts 23 that are the central portion of the carriage 2. The electric assist unit 25 is mainly composed of a housing 26 swingably attached to the carriage 2 and a pair of drive wheels 27 provided on both sides of the housing 26. The distance between the drive wheels 27 is smaller than the width of the carriage 2. In the housing 26 are mounted a right motor 28 and a left motor 29 for driving the drive wheels 27, a control device (controller) 50, and a power source unit (not shown) that functions as a battery, a DC power source or a charger. Yes.

  A support base 30 extends from the bottom surface of the housing 26 toward the rear side of the carriage 2, and a receiving member 32 that is connected to an activation shaft 33 of a ground driving device 31 described later is provided on the support base 30. ing. The receiving member 32 is provided with a flat portion facing the end surface of the housing 26, and the starting shaft 33 of the ground driving device 31 is connected so as to penetrate the flat portion. The housing 26 is supported by the receiving member 32 so that the lug (projection piece) 34 fixed to the horizontal shaft 23 of the carriage 2 can be pivoted.

  Another horizontal axis is arranged between the pair of longitudinal frames 22 of the carriage 2 on the rear end side (operator side), and a grounding drive device 31 is provided in the central portion of the horizontal axis. Yes. The ground driving device 31 exhibits a function of grounding the driving wheel 27 of the electric assist unit 25 to the floor surface.

  The ground driving device 31 is a linear motion actuator, and its starting shaft 33 is driven forward and backward in the axial direction. The starting shaft 33 is connected via a biasing spring 35 to a receiving member 32 provided on a support base 30 extending from the bottom surface of the housing 26 of the electric assist unit 25.

  That is, a retaining pin 36 is provided at the tip of the starting shaft 33 inserted through the receiving member 32 (see FIGS. 3 and 4), and the biasing spring 35 is held between the receiving member 32 and the base side. A collar-shaped stopper 37 is provided. The urging spring 35 is, for example, a compression coil spring. The urging spring 35 and the retaining pin 36 provided on the starting shaft 33 are used to keep the housing 26 in the right direction in FIG. 3 or 4 through the receiving member 32. The driving wheel 27 is urged to be pulled away from the floor surface.

  8 and 9 are explanatory diagrams of an operation lever that outputs an assist signal to the electric assist unit to the control device, FIG. 8 is a perspective view showing a mounting portion thereof, and FIG. 9 is an enlarged view of a tip portion. . As shown in FIG. 8, one operating lever 13 is provided in a pair of left and right, respectively, at both ends of the horizontal frame 6 on the head side or the foot side forming the base frame 3 of the electric bed transfer apparatus. In order to make it easy to grip each operating lever 13, it has a generally square shape having two bent portions from the base portion to the base end portion, and is generally bent toward the inside.

  That is, the operation lever 13 extends from the mounting portion 41 so as to spread outward, bends at the first bent portion 43 and extends upward in the vertical direction, and extends at the second bent portion 44 at the first bent portion 43. It bends more than the degree of bending and bends inward in a substantially horizontal direction, and a grip 42 is formed at the tip (see FIG. 10).

  8 and 9, the mounting position of the switch 45 that permits driving of the electric assist unit, that is, the end side surface of the grip portion 42 of the operation lever 13 is inclined to the operator side.

  FIG. 10 is a view of the grip portion 42 at the tip of the operation lever 13 as viewed from the patient side on the bed. In FIG. 10, the operation surface of the switch 45 provided on the side surface of the distal end portion of the operation lever 13 is inclined not to the patient side but to the operator side so that it cannot be easily seen from the patient on the bed. Has been.

  11 shows the operation direction of the operation lever 13, FIG. 11 (a) is a plan view, FIG. 11 (b) is a front view, and FIG. 11 (c) is a side view. In FIG. 11A, the upper side of the figure is the patient side, that is, the front side during transportation, for example, and the lower side is the operator side, that is, the rear side during transportation, for example. The operating lever 13 is configured to be swingable and displaceable in the front-rear direction of conveyance around the mounting portion 41, and the switch 45 disposed on the side surface of the distal end portion of the grip portion 42 is pressed and operated to the left side in the drawing. The swinging direction of the operating lever 13 and the operating direction of the switch 45 are different and are substantially orthogonal.

  Therefore, the operation lever 13 that outputs an assist signal to the electric assist unit and the switch 45 that outputs a drive permission signal are operated simultaneously in a single operation in which the operation lever is simply pushed forward or pulled backward. The electric assist unit is not driven unless the operator is aware of the operation. Although the switch 45 is shown as a push button provided at the tip of the operation lever 13, an infrared sensor or a press sensor can be used instead of the switch. In this case, the same configuration is adopted. Also, by providing two switches and enabling the control signal to be valid only when both switches are operated, even if the swinging direction of the operating lever 13 and the pressing direction of the switch 45 are the same. Incorrect operation can be avoided.

  In FIG.11 (b), the operation lever 13 is exhibiting the shape of a substantially square-shape, and is generally bent toward the inner side. The operating lever 13 is formed so as to be rotatable about the mounting portion 41, and can be stored at the same level as the horizontal frame 6 by rotating the operating lever 13 in the right direction in the figure in the installation state where the bed is not transported. Can do.

  In FIG. 11C, the operation lever 13 is swingable in the front-rear direction of the conveyance, and is operated in a direction in which the operation lever 13 is pushed up slightly and is operated in a direction in which the operation lever 13 is slightly lowered.

  The operation lever 13 is provided with, for example, an operation angle detection means (not shown) at the shaft near the attachment portion 41. The output signal of the operation angle detection means is output to a control device (controller) 50 (see FIG. 12) described later as an operation signal by the operator. As the operation angle detection means, for example, a potentiometer, a slit disk sensor, or the like can be used.

  Next, a controller in the electric bed transfer apparatus according to the present embodiment will be described with reference to FIG. FIG. 12 is a block diagram of a schematic configuration of the electric bed transfer apparatus according to the present embodiment. The controller (control device) 50 has a hardware configuration having a well-known microprocessor. For example, power is supplied to the undulation mechanism of the bottom 4 by an operation command from the operation panel 11 or the like, or power is supplied to the height adjustment mechanism so that the high / low link 24 is supplied. It has a function of operating or supplying a signal for displaying the posture state of the bottom portion 4 to the operation panel 11, and receives an operation signal from the operation lever 13 and the switch 45, and a state from the caster 21 and the high / low link 24. In response to the signal, the operation control procedure of the left and right motors 28 and 29 of the electric assist unit 25 is set and controlled.

  The electric assist unit 25 turns on the main power supply of the unit to turn on the ground driving device 31 to extend the starting shaft 33 against the urging force of the urging spring 35, and the housing through the receiving member 32. 26 is displaced to bring the driving wheel 27 into contact with the floor surface.

  Next, the setting of the operation control procedure of the electric assist unit 25 will be described. First, when the main power of the unit is turned on, the ground driving device 31 is turned on to bring the drive wheels 27 of the electric assist unit 25 into contact with the floor surface (see FIGS. 5 to 7).

  With the drive wheel 27 in contact with the floor surface, for example, commercial power is turned off, that is, the power cord plug of the bed body 1 has been pulled out from the insertion port, and the movement caster 21 in the carriage is locked off. In addition, the back assist angle and knee lift angle of the bottom 4 are within predetermined angles, and the voltage of the operation power battery (not shown) of the electric assist unit 25 is not less than a predetermined value. Only when the switches of the left and right switches 45 that transmit a signal for permitting driving are in the operated (pressed) state, an operation signal from both the left and right operating levers 13 is accepted, and the electric assist unit 25 Drive controlled. Unless a signal permitting driving of the electric assist unit is transmitted from the switch 45, the electric assist unit 25 is not driven even if other conditions are met.

  In the controller 50, setting is made based on the concept of (conveying force) = (human operating force) + (motor output according to input), and the electric assist unit 25 is driven.

  The human operating force is extracted as an operation signal by operating the operating lever 13 by tilting the operating lever 13, but is output as a backward command by tilting the operating lever 13 forward and tilting forward. It is set as follows. In that case, when taking out as an operation signal by the operation angle detection means, the operation signal corresponding to the inclination angle of the operation lever 13 is, for example, a preset dead zone threshold value ± F1, motion conversion threshold value ± F2, input threshold value. Compared with ± F3 (difference in the operation amount of both operation levers 13), it is assumed that an operation command corresponding to each threshold value has been made, and the right and left motors in the electric assist unit 25 are based on the operation command. Driving control is performed by applying power corresponding to 28 and 29.

  In this case, + F1 to + F3 indicate the push-in operation of the operation lever 13, and −F1 to −F3 indicate the pull-in operation.

  Based on such setting, when the controller 50 reaches the predetermined forward command speed from, for example, the (A) stop / fine adjustment mode by the operation of both the operating levers 13 as the operation mode, (B) forward / previous cornering. When the predetermined reverse command is reached (C), the mode is shifted to the reverse mode, and the electric assist unit 25 is driven based on the operation command set in each mode.

  The operation modes (A) to (C) will be described with reference to FIGS. 13 to 15 are explanatory diagrams showing operation commands for the electric assist unit, respectively. In FIG. 13 to FIG. 15, the push-in and pull-in operations of both operation levers 13 are taken on the vertical axis and the horizontal axis indicates the operation state of both operation levers 13 at that time. Yes. For example, (0, 0) indicates a state in which both operating levers 13 are gripped and not operated. (F1, F2) indicates that both the operating levers 13 are pushed in, one is the operating force of the dead zone threshold F1, and the other is the operation conversion threshold F2. Further, (−F1, F2) indicates that one operating lever is the operating force of the dead zone threshold value −F1 by the pulling operation, and the other is the operating force of the operation conversion threshold value F2 by the pushing operation.

Reference numeral described in FIGS. 13 to 15 is for indicating the operation command is set in the respective modes described below, the upper half is omitted since it is the symmetric lower half as described Yes.

  (A) In the stop / fine adjustment mode, a stop holding command, a forward command F, a corner forward (two-wheel speed difference) command Cf, a corner forward (one-wheel speed difference) command Rf, and a reverse command are operated by the operation of both operation levers. B, reverse corner (two wheel speed difference) command Cb, reverse corner (one wheel speed difference) command Rb are possible (see FIG. 13).

  (B) In the forward / previous cornering mode, a speed holding command V, a forward command F, a corner forward (two-wheel speed difference) command Cf, a brake command X, and a command that generates a two-wheel output difference, a one-wheel output (1 Wheel race) command, 1 wheel brake (1 wheel coast) command, 1 wheel output and 1 wheel brake command are possible (see FIG. 14).

  (C) In the reverse mode, a speed holding command V, a brake command X, a coasting command −, and a reverse command B are possible (see FIG. 15).

  Of course, the above setting is merely an example, and the driving relationship between the operation amount of the operation lever 13 and the right and left motors 28 and 29 of the electric assist unit 25 can be set as appropriate.

  The bed transport apparatus according to the present embodiment is configured as described above, and the operation thereof will be described in detail below according to an operation flowchart. 16 to 21 are diagrams showing an operation flow (operation procedure) of the electric transfer device according to the present embodiment.

  When transporting the bed, the operator first activates the electric assist unit. That is, according to the first flowchart of FIG. 16, after confirming that the power cut-off switch of the operation panel 11 is OFF, the power (ON / OFF SW) of the electric assist unit 25 is turned ON (step 1). . The power cutoff switch forcibly shuts off the system power supply in an emergency or the like.

  When the power of the on / off switch is turned on, the system is activated and all the LEDs on the display panel are lit for 1 second to confirm the failure (step 2), and the housing 26 of the electric assist unit 25 and the housing 26 are turned on. The flow shifts to a flow for grounding the provided drive wheels 27 and motors 28 and 29 (hereinafter referred to as drive units) for driving the drive wheels 27. That is, a trigger process for turning on all the LEDs for the visual check of the LED (light emitting diode) is performed, and after the trigger process is finished, the next process is started without waiting for all the LEDs to be turned on.

  In the grounding flow of the drive unit, the battery voltage is confirmed prior to grounding of the drive unit (step 3). That is, it is determined whether or not the battery voltage is higher than a threshold value of, for example, 22V (volts). If the battery voltage is 22V or more, the grounding operation of the drive unit is started (step 4).

  The drive unit is grounded as follows. That is, when the on / off switch is turned on, the ground driving device 31 is turned on, the starting shaft 33 is extended, the housing 26 is displaced via the receiving member 32, and the driving wheel 27 is brought into contact with the floor ( (See FIGS. 5 to 7). At this time, the receiving member 32 is pressed by the action of a stopper 27 provided on the starting shaft 33 and an urging spring 35 locked thereto, and the driving wheel 27 abuts against the floor surface with an appropriate grounding force (FIG. 7 and the like). reference).

  When the grounding operation of the drive unit is completed (step 5), a standby state is waited for an operation by the operation lever 13 (step 6). If the grounding operation is not completed, it is confirmed whether the ON / OFF switch is ON or OFF (step 7). If it is OFF, the drive unit is stored and the system is stopped (step 8). On the other hand, when the on / off switch is ON, the process returns to the grounding operation process of the drive unit again.

  On the other hand, when the battery voltage is lower than a threshold value, for example, 22 V (volts), it is confirmed whether the on / off switch is ON or OFF (step 9), and the on / off switch is OFF. Stores the drive unit and stops the system (step 10). On the other hand, if the on / off switch is ON, the system waits for 10 minutes in this state (step 11), and automatically turns off the main power after 10 minutes (step 12). During the 10-minute standby, the confirmation of whether the on / off switch is ON or OFF is repeated.

  Next, in the operation standby state in which the grounding operation of the drive unit is completed, the electric assist unit 25 enters the assist state (drive state) by performing the following operation.

  The transition to the assist state, that is, the activation of the electric assist unit is performed according to the second flowchart shown in FIG.

  First, it is confirmed whether the on / off switch is ON or OFF in the operation standby state (step 21). If the on / off switch is OFF, the drive unit is stored and the system is stopped (step 22). When the on / off switch is ON, the caster lock release which is the above-described electric assist unit activation condition is confirmed (step 23), the power plug is confirmed to be removed (step 24), and the bed posture is appropriate. (Step 25), it is confirmed that the left and right switches of the operation lever are pressed (Step 26), and when all the conditions are satisfied, the electric assist unit unit 25 enters the assist permission state. (Step 27).

  If at least one of the activation conditions of the electric assist unit 25 is not satisfied, the process waits for 10 minutes (step 28). If the condition is not satisfied even after 10 minutes, the main power supply is automatically stopped (step 29). ).

  On the other hand, it is confirmed whether or not the bed is stopped during the 10-minute standby (step 30). If the bed is stopped, the process returns to the confirmation process of whether the on / off switch is ON or OFF, and the bed is stopped. Otherwise, it is confirmed whether or not the operation lever 13 is pulled in the direction opposite to the traveling direction of the bed (step 31). If the operation lever 13 is pulled in the direction opposite to the traveling direction, the input of the operation lever 13 is performed. Then, the rotational direction and rotational speed of the drive wheels 27 are confirmed, and a braking signal is output to the electric assist unit 25 (step 32).

  On the other hand, if the operation lever 13 is not pulled in the direction opposite to the traveling direction, the process returns to the confirmation process of whether the ON / OFF SW is ON or OFF.

  Next, FIG. 18 is a schematic diagram showing the flow of input / output signals of the electric assist unit 25. Each transport mode (A), (B) or (C) and FIGS. 13 to 15 are determined according to the operating force of the operating lever 13 and the rotational speed of the drive wheel 27 on the assumption that the electric assist unit 25 is in the assist permission state. After the output characteristic map shown in FIG. 6 is determined and the battery voltage of the electric assist unit 25 is confirmed, the drive wheels 27 of the electric assist unit 25 are driven.

  That is, when the electric assist unit 25 is in the assist permission state, it is confirmed whether the on / off switch is ON or OFF according to the third flowchart of FIG. 19 (step 41). If the on / off switch is OFF, the drive unit is stored and the system is stopped (step 42).

  When the on / off switch is ON, the caster lock release, which is the above-described electric assist unit activation condition, is confirmed (step 43), and it is confirmed that the power plug is removed (step 44), and the bed posture is appropriate. (Step 45), confirm that the left and right switches of the operation lever are pressed (Step 46). If all the conditions are satisfied, input of the operation lever 13 and rotation of the drive wheel 27 are confirmed. The direction, speed, and battery voltage are confirmed to determine the transport mode and output map, and the electric assist unit 25 is driven (step 47).

  At this time, only when both the left and right switches 45 of the left and right operation levers 13 are operated, a signal for permitting the drive of the electric assist unit 25 is valid. The controller 50 that has received the assist signal drives and controls the drive wheels 27 of the electric assist unit 25 by an operation signal corresponding to the angular displacement amount of the operation lever 13.

  However, once both the left and right control levers 13 and the left and right switches 45 are operated, the operation of one switch 45 is canceled due to the inclination of the operator's own body at a corner or the like. Even in such a case, the controller 50 continues to control the electric assist unit for a predetermined time, for example, 1 second, and then performs control based on the assist signal and the permission signal. This ensures the continuity and stability of the operation. Note that when both the left and right switches 45 are released, the operation immediately stops.

  If conditions other than those relating to the switch 45 provided on the operating lever 13 are not satisfied, an irregular error occurs (step 48), and if only the conditions of the switch 45 are not satisfied, an operation standby state is entered (step 49).

  Next, the battery voltage of the electric assist unit 25 is confirmed as follows. FIG. 20 is a diagram showing a fourth flow in the present embodiment. First, in accordance with FIG. 20, it is confirmed whether or not the battery voltage is equal to or lower than the threshold value of 22V (volt) (step 51). If not lower than 22v, the assist drive state is set (step 52).

  On the other hand, when the battery voltage is 22 V or less, the “remaining amount warning” display blinks on the operation panel 11 and the assist ratio is lowered (step 53). Next, it is confirmed whether or not the battery voltage is 19.7V or less (step 54). If it is not 19.7V or less, the assist drive state is set (step 55). When the battery voltage is 19.7 V or less, the “remaining amount warning” display is lit on the operation panel 11, the “ON / OFF SW” and “TAKASHI” displays are flashing, the “Hump” is turned off, and the standby state is established. (Step 56).

  In the standby state, it is confirmed whether the on / off switch is OFF (step 57). If the on / off switch is OFF, the drive unit is stored and the system is stopped (step 58). On the other hand, if the on / off switch is not OFF, it waits for 10 minutes (step 59), and then the main power is automatically turned off (step 60). In addition, the confirmation whether or not the on / off switch during standby for 10 minutes is OFF is repeated.

  The electric assist unit 25 is driven as follows in each drive mode.

  That is, in the (A) stop / fine adjustment mode, the electric assist unit 25 maintains the stop state because the operator only holds the operation lever 13 as a stop hold command. When the two switches 45 provided on the left and right operation levers 13 are respectively operated and both the operation levers 13 are pushed forward and tilted, a drive permission signal for the electric assist unit 25 is transmitted from the switch 45 to the controller 50. At the same time, it is output to the controller 50 as an operation signal from the operation angle detection means, and if the operation exceeds the threshold value F1, the forward command F is assumed and the right and left motors 28 and 29 in the electric assist unit 25 are corrected. The electric power to be driven is output, and the bed main body 1 can be advanced.

  Further, in a state where the two switches 45 are operated (pressed), one operation lever 13 is pushed forward and tilted, and when the operation exceeds the dead zone threshold value F1, the other operation lever 13 is set to the dead zone threshold value F1. When the operation is lower than the above, and when the difference between the operation amounts of both the operation levers 13 exceeds the input threshold value F3, the right corner of the electric assist unit 25 is set as the corner forward (two-wheel speed difference) command Cf. The drive control can be performed by applying electric power corresponding to the left motors 28 and 29.

  Further, in a state where the two switches 45 are operated (pressed), one of the operation levers 13 is pushed forward to exceed the input threshold value F3, and the other operation lever 13 is pulled forward and tilted. When the operation exceeds the dead zone threshold value F1 and is less than or equal to the operation threshold value F2, drive control is performed by applying power corresponding to the right and left motors 28 and 29 as a corner forward (one wheel speed difference) command. The bed main body 1 can be swiveled greatly on the spot.

  Further, when the two switches 45 are operated (pressed), both the operating levers 13 are pulled forward and tilted, and when the operation exceeds the dead zone threshold value F1, the reverse command B is issued. As described above, the electric power that causes the right and left motors 28 and 29 in the electric assist unit 25 to be driven in reverse rotation can be output, and the bed body 1 can be moved backward.

  Further, in a state where the two switches 45 are operated (pressed), one of the operation levers 13 is a pull-in operation that exceeds the dead band threshold value F1, and the other operation lever 13 is a pull-in operation that is lower than the dead band threshold value F1. In some cases, the bed body 1 can be moved backward as a corner reverse (two-wheel speed difference) command Cb.

  In addition, in a state where the two switches 45 are operated (pressed), one of the operation levers 13 is pulled in so as to exceed the operation conversion threshold value F2, and the other operation lever 13 is pressed below the operation conversion threshold value F2. Alternatively, in the case of the pull-in operation, the bed main body 1 can be largely turned backward by assuming that it is a corner reverse (one wheel speed difference) command Rb.

  When the two switches 45 are operated (pressed) and the operation of both operation levers 13 exceeds the dead zone threshold value F1 and is operated in reverse, it is determined that the coasting command is- The power supply to the left motors 28 and 29 is cut off.

  Next, in (B) forward / previous cornering mode, in the state where the two switches 45 are operated (pressed) and the operating lever 13 is gripped, it is assumed that the speed holding command V is in the electric assist unit 25. Electric power can be applied to the right and left motors 28 and 29 to move forward at a predetermined speed.

  Further, when the two switches 45 are operated (pressed), when both the operating levers 13 are pushed forward and the operation exceeds the dead zone threshold value F1, it is determined that the forward command F is given. The electric power that causes the right and left motors 28 and 29 in the electric assist unit 25 to rotate forward can be output to advance the bed main body 1.

  Further, in a state where the two switches 45 are operated (pressed), one of the operating levers 13 is pushed in so as to exceed the dead zone threshold value F1, and the other operating lever 13 is pushed or pulled below the dead zone threshold value F1. In the case of an operation, a corner forward (two-wheel speed difference) command Cf is set, a pull-in operation in which one operation lever 13 exceeds the dead zone threshold value F1, and a push operation in which the other operation lever 13 falls below the dead zone threshold value F1. Alternatively, in the case of the pull-in operation, it is possible to brake the right and left motors 28 and 29 on the assumption that the brake command is X.

  Furthermore, when the two switches 45 are operated (pressed), the operation of both the operating levers 13 exceeds the dead zone threshold value F1 and is operated in the opposite direction, resulting in a two-wheel output difference. The right, left motors 28 and 29 can be braked by selecting a command, a one-wheel output (one-wheel coasting) command, a one-wheel brake (one-wheel coasting) command, a one-wheel output and a one-wheel brake command.

  In (C) reverse mode, power is supplied to the right and left motors 28 and 29 as a speed hold command V when the two switches 45 are operated (pressed) and the operating lever 13 is gripped. The vehicle can be moved backward while maintaining a predetermined speed.

  Further, when the two switches 45 are operated (pressed), if the pushing operation of at least one operation lever 13 exceeding the dead zone threshold value F1 is performed, the right and left motors 28 and 29 are braked as a brake command. be able to.

  Further, if at least one of the operation levers 13 is retracted beyond the dead zone threshold value F1 in a state where the two switches 45 are operated (pressed), it is determined that the reverse command B is issued, and the left and right motors 28 and 29 are used to reverse Can be made.

  Furthermore, when the two switches 45 are operated (pressed) and the operation of both the operating levers 13 exceeds the dead zone threshold value F1 and is operated in the opposite direction, it is determined that the coasting command is negative. The power supply to the right and left motors 28 and 29 is cut off.

  In each of the above modes, (A) from the stop / fine adjustment mode to (B) forward / forward cornering mode, and (A) from the stop / fine adjustment mode to (C) reverse mode, respectively. When it reaches the speed, it shifts, and conversely (B) Forward / pre-cornering mode transitions to (A) stop / fine adjustment mode by changing to a speed less than the predetermined speed, and then temporarily stops through the forward stop transition mode. Is achieved.

  Further, the transition from (C) reverse mode to (A) stop / fine adjustment mode is achieved by changing to a speed less than a predetermined speed and then temporarily stopping through the reverse transition mode.

  Further, when shifting from (B) forward / front cornering mode to (C) reverse mode, shifting from forward / front cornering mode by lowering the predetermined forward speed in the forward / front cornering mode, By stopping the bed, it is possible to temporarily shift to (A) the stop / fine adjustment mode, and (C) shift to the reverse mode by reaching a predetermined reverse speed by the reverse operation based on the reverse command. Also, when shifting from (C) reverse mode to (B) forward / front cornering mode, (C) shifting from reverse mode by lowering the predetermined reverse speed in reverse mode, and stopping the bed by a brake command Once the (A) stop / fine adjustment mode is entered and the predetermined speed is reached by the forward movement in accordance with the forward command, the (B) forward / previous cornering mode can be entered.

  If the bed body 1 is moved in the width direction, the main power supply is turned on reversely to drive the grounding drive device 31 to retract the starting shaft 33, and the receiving member receives the urging force of the urging spring 35 as an auxiliary force. The housing 26 is returned and displaced via 32 to disengage the drive wheels 27 from the floor (see FIGS. 3 and 4). Thereby, the bed 1 can be moved in the width direction by the moving caster 21 in the free state.

As described above, in the state where the two switches 45 are operated (pressed), the operation in which the operator pushes both the operation levers 13 directly leads to the forward movement of the bed body 1 and the operation in which the operation lever 13 is pulled in. but lead to the reverse gutter Udo operation, and further, it is possible to carry out the cornering in slope operation acceleration of both of the operating lever 13, without discomfort, move the bed body 1 at will, a bed to a desired location Can bring.

  When the bed body 1 is brought to a desired position, the driving of the electric assist unit is stopped.

  The drive unit is stopped as follows. FIG. 21 is a diagram showing a fifth flow in the present embodiment, and the electric assist unit is stopped according to this flowchart.

  First, when the on / off switch of the operation panel 11 is turned OFF during the system startup, the output operation to the drive unit is stopped. However, when the bed is being conveyed and the input is in the opposite phase to the traveling direction, dynamic braking is performed.

  In this state, it is confirmed whether or not the on / off switch is turned off (step 61). If not turned off, the drive unit is grounded (step 62). On the other hand, if the ON / OFF switch is OFF, it is checked whether the bed is stopped (0.5 km / h or less) (step 63). If it is stopped, the linear actuator is connected to the drive unit. A storing operation is performed (step 64). If the bed is not stopped, the process returns to the confirmation step of whether the on / off switch is OFF.

  After storing the drive unit, it is confirmed whether the storage is completed (step 65). When storage of the drive unit is completed, after confirming that the drive unit has reached the storage position, the system is stopped (step 66). On the other hand, if the storage of the drive unit is not completed, it is confirmed whether the on / off SW is OFF (step 67). If the ON / OFF SW is OFF, the process returns to the drive unit storage process. On the other hand, if the on / off switch is not OFF, the drive unit is grounded (step 68).

  According to this embodiment, by providing the operation lever 13 that outputs an assist signal to the electric assist unit and the switch 45 that outputs a drive permission signal, the electric assist unit is driven if neither of these is operated. Therefore, malfunctions against the will of the operator are eliminated and safety is improved.

  According to the present embodiment, the electric assist unit 25 is driven by the controller only when both the left and right operation levers are operated and when the left and right switches 45 are operated. It is possible to prevent a malfunction when a person or an object leans on the lever or hooks an object, and safety is improved.

  Further, when a drive permission signal is output from the left and right switches 45 and an assist signal is output from both the left and right operation levers 13 and then the drive permission signal from one switch 45 is turned off, the control is performed. Since the device 50 continues the operation of the electric assist unit for a predetermined time, for example, 1 second, and then controls the electric assist unit 25 based on the drive permission signal and the assist signal, the electric assist unit is prevented from suddenly stopping. Therefore, continuity and stability of the operation are ensured.

  According to this embodiment, since the swinging direction of the operation lever 13 is different from the pressing direction of the switch 45, both the operation lever 13 and the switch 45 are not turned on by one operation, and safety is ensured. The

  According to the present embodiment, since the operation surface of the switch 45 at the tip of the operation lever 13 is inclined toward the bed carrier side, the patient on the bed cannot easily see the operation surface. Due to the operation that is not performed, the electric transfer device is not activated against the will of the operator, and the safety is further improved.

  In the present embodiment, the operation lever is supported by, for example, a spring member so as to be capable of angular displacement, and a speed increasing device for increasing the displacement angle of the operation lever can be provided. By providing the speed increasing means, the displacement applied to the tilting operation range of the operation lever 13 is enlarged and the signal is transmitted to the controller as the displacement of the operation lever 7, so that the operation signal can be accurately captured.

  In the present embodiment, the electric assist unit has been described as being controlled by a control signal corresponding to the operation force of the two left and right operation levers, but the present invention is not limited to this, and the two left and right operation operations are performed. It is also possible to output an assist signal only by an on / off operation without providing a difference in lever operating force, and the control device may control the electric assist unit based on the output signal.

  An operation lever that is an operation unit of the electric transfer device and two switches as operation restriction condition units are provided, and the electric assist unit can be driven by the control device only when the two switches and the operation lever are operated. The highly safe bed electric transfer device of the present invention is particularly useful in various bed-use engines such as hospitals.

It is a perspective view of the bed electric conveyance device concerning this embodiment. It is a perspective view which shows the trolley | bogie part of the state which flipped up the electric assist unit. FIG. 3 is a side view of FIG. 2. It is a principal part enlarged view of FIG. It is a perspective view which shows the trolley | bogie part of the state which made the electric assist unit contact the floor surface. FIG. 6 is a side view of FIG. 5. It is a principal part enlarged view of FIG. It is a figure which shows the example of arrangement | positioning of the operation lever in this embodiment. It is an enlarged view of the holding part of an operation lever. It is the enlarged view of the operation lever seen from the bed. It is explanatory drawing which shows the rocking | fluctuation direction of an operation lever. It is a schematic block diagram of the electric conveyance apparatus which concerns on this embodiment. It is a map for demonstrating the operation command in the stop and fine adjustment mode of the electric assist unit in this embodiment. It is a map for demonstrating the operation command in the advance and front cornering mode of the electric assist unit in this embodiment. It is a map for demonstrating the operation command in the reverse drive mode of the electric assist unit in this embodiment. It is a figure which shows the flow of the starting method of an electric assist unit. It is a figure which shows the flow of the starting method of an electric assist unit. It is a schematic diagram which shows the flow of the input / output signal of an electric assist unit. It is a figure which shows the flow of the starting method of an electric assist unit. It is a figure which shows the flow of the battery voltage confirmation method. It is a figure which shows the flow of the stop method of an electric assist unit. It is a figure which shows a prior art.

Explanation of symbols

1: Bed body 2: Cart 3: Stand frame 4: Bottom portion 5: Vertical frame 6: Horizontal frame 7: Head portion guard 8: Foot portion guard 9: Right side guard 10: Left side guard 13: Operation lever 21: Casters 22: Longitudinal frame 23: Horizontal shaft 24: Hi-Lo link 25: Electric assist unit 26: Housing 27: Drive wheel 28: Right motor 29: Left motor 30: Support base 31: Ground drive device 32: Receiving member 33: Activation shaft 34 : Lug 35: Biasing spring 36: Retaining pin 37: Stopper 41: Mounting part 42: Holding part 43: First bent part 44: Second bent part 45: Switch (push button)
50: Controller 101: Bed main body 102: Frame 103: Bed transport device 104: Caster 105: Drive wheel 106: Device main body 107: Operation unit 108: Guide rod 109: Grasping unit

Claims (4)

A bed carriage provided with a caster for movement, an electric assist unit provided on the carriage and having driving wheels, a control device for controlling the electric assist unit, and an assist signal for instructing assist contents by the electric assist unit A pair of left and right operation levers that output to the control device, and two switches that are provided on each of the operation levers and that output a permission signal that permits driving of the electric assist unit to the control device, The control device operates in response to the assist signal to the electric assist unit when an assist signal is output from one or both of the operation levers in a state where a permission signal is output from both of the two switches. is a, with the enabling signal from both of the two switches is outputted, one of the two operating levers Alternatively, after the assist signal is output from both, when the permission signal from one of the two switches is turned off, the control device continues the operation of the electric assist unit for a predetermined time. bed electric transport device according to claim to Rukoto. Before SL controller before SL and have you at the time after a predetermined time, when the enable signal from both of the two switches is inputted again, the assist signal from one or both of said two operation levers The bed electric transfer device according to claim 1, wherein the electric assist unit is controlled based on a state.   The bed electric transfer device according to claim 1 or 2, wherein a swinging direction of the operation lever is different from a pressing direction of the switch.   4. The electric transfer device for a bed according to claim 1, wherein an operation surface of the switch provided on the operation lever faces the bed carrier side. 5.

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