JP5206896B2 - Bed conveyance auxiliary device and bed - Google Patents

Abstract

Provided is a conveyance support device used when conveying a subject, wherein the device is provided with an operation mechanism for transmitting an operation signal in accordance with an operation made by a user, and a moving cart configured so that the cart receives an operation signal and moves on the basis of the signal to convey a subject. The moving cart comprises an upper force-imparting member that engages with the subject and imparts an upward force to the subject, and a downward force-imparting member that engages with the subject and imparts a downward force to the subject.

Description

The present invention relates to a bed which bed transport aid and bed transport assisting device for assisting the transport of the bed is mounted.

  The bed conveyance auxiliary device described in Patent Document 1 includes a carriage body, left and right drive wheels provided at the lower part of the carriage body, motors for rotating the drive wheels, and an operating device provided at the upper part of the carriage body. Left and right sensors that detect the pressing force applied to the left and right parts of the controller, a controller that controls the output of each motor based on signals from the left and right sensors, and a coupling machine that connects the carriage body to the bed Have.

  The connecting machine shown in FIG. 14 of Patent Document 1 includes a lower coupler that extends from the lower part of the carriage body to the bed and presses the lower part of the bed from below, and an upper part of the bed that extends from the upper part of the carriage body to the bed. And an upper coupler having an electromagnet that is attracted to the surface. When the left and right parts of the operating device are pushed by the nurse, the left and right sensors output signals, and the controller determines the rotational speed of each drive wheel based on the signals from the left and right sensors. The direction of the cart body is determined by the speed difference of the drive wheels, and the bed is pushed by the rotation of the drive wheels. As a result, a nurse or the like can carry the bed alone using the power of the cart body.

  The bed conveyance auxiliary device described in Patent Literature 2 includes an operating device operated by a nurse located at one end of the bed and a traveling carriage attached to the other end of the bed. The traveling carriage includes a carriage main body installed under the bed, a support portion that extends upward from the carriage main body to lift the bed, a pair of drive wheels, each motor that rotates each drive wheel, and each motor A controller for controlling the output;

  The operating device described in Patent Literature 2 includes a button and a potentiometer that detects the rotation angle of the button. A nurse or the like operates a button on the controller with the other hand while pressing one end of the bed with one hand. The controller determines the rotational speed of each drive wheel by operating the button. The direction of the carriage body is determined by the speed difference of the drive wheels, and the bed is pulled by the rotation of the drive wheels. As a result, a nurse or the like can carry the bed alone.

JP-A-8-317953 JP-A-10-146364

  However, when the bed is transported, a large force may be applied between the traveling carriage and the bed. For example, a large force is applied when the direction of the bed is largely changed, or when the center of gravity of the bed on which the patient is placed is shifted from the center of the traveling carriage. Therefore, there is a need for a bed conveyance auxiliary device that can stably attach the traveling carriage to the bed.

  In order to solve the above-mentioned problems, the present invention is characterized in that it is a conveyance assisting device having a configuration as described in each claim. According to one aspect, the present invention includes an operating device that transmits an operation signal when operated, and a traveling carriage that receives the operation signal and travels based on the operation signal. The traveling carriage is provided with an upper force applying member that locks the object and applies an upward force to the object, and a lower force applying member that locks the object and applies a downward force to the object.

  Therefore, the upper force applying member and the lower force applying member cooperate to clamp the object. Therefore, the traveling carriage and the object are less likely to rattle even when a force is applied between them. For example, when the direction of the object is largely changed, or when the center of gravity of the bed and the center of the traveling carriage deviate when the patient is placed on the target bed, the lateral direction between the traveling carriage and the object The twisting force of is generated. Further, when the object gets over the obstacle, or when the floor surface is inclined or uneven, a vertical force is generated between the traveling carriage and the object. Even when these forces are generated, the traveling cart and the object are less likely to rattle by the upper force imparting member and the lower force imparting member, and the traveling cart can be stably attached to the object.

  According to this configuration, the traveling carriage can be stably attached to the object.

It is a perspective view of a bed and a bed conveyance auxiliary device. It is a side view of a bed and a bed conveyance auxiliary device. It is a perspective view of the operating device of a bed conveyance auxiliary device. It is a perspective view of the traveling carriage of a bed conveyance auxiliary device. It is sectional drawing from the front of a running cart. It is a block diagram of a bed conveyance auxiliary device. It is a top view of a bed and a bed conveyance auxiliary device when the bed goes straight. It is a top view of a bed and a bed conveyance auxiliary device when the bed is bent and advanced. It is a top view of a bed and a bed conveyance auxiliary device when the bed moves laterally. It is a top view of a bed and a bed conveyance auxiliary device when the bed turns. It is a partial perspective view of an operating machine provided with other operation members for turning and lateral movement. It is a figure which shows the relationship between the right-and-left operating force difference at the time of a traveling vehicle slower than predetermined speed, and a steering angle. It is a figure which shows the relationship between the right-and-left operating force difference at the time of a driving | running | working cart being more than predetermined speed, and a steering angle. It is a perspective view of other traveling trolleys. It is a top view of a bed and a bed conveyance auxiliary device when the bed goes straight. It is a top view of a bed and a bed conveyance auxiliary device when the bed is bent and advanced. It is a top view of a bed and a bed conveyance auxiliary device when the bed moves laterally. It is a top view of a bed and a bed conveyance auxiliary device when the bed turns. It is a perspective view of the traveling trolley | bogie which has a caster.

  One embodiment of the present invention will be described with reference to FIGS. As shown in FIGS. 1 and 4, the bed conveyance auxiliary device 1 is attached to the bed 30 when the bed 30 is conveyed by one nurse or the like.

  The bed 30 includes a frame 30a, casters 30c, and a panel 30d as shown in FIGS. The frame 30a is composed of a plurality of columns that are metal pipe members and a lateral member. The casters 30 c are attached to the frame 30 a and are positioned at the four corners at the bottom of the bed 30. The caster 30c has an axle that is attached to the frame 30a so as to be freely rotatable about a vertical axis, and wheels that are attached to both ends of the axle. The panel 30d stands on the front end portion and the rear end portion of the bed 30 and is attached to the frame 30a. A mattress 30b is installed on the frame 30a, and the patient 32 can lie on the mattress 30b.

  As shown in FIG. 2, the bed conveyance auxiliary device 1 includes an operating device 2 attached to one end of the bed 30 in the longitudinal direction (straight direction) and a traveling carriage 3 attached to the other end of the bed 30 in the longitudinal direction. Have The operating device 2 includes an operating device body 4 that is operated by a nurse or the like, and a pair of mounting mechanisms 5 that mount the operating device body 4 on a bed 30.

  As shown in FIGS. 2 and 3, the mounting mechanism 5 includes a metal pipe mounting main body member 5a, a mounting plate 5b mounted on the distal end portion of the mounting main body member 5a, and a cam mounted on the base end portion of the mounting main body member 5a. 5c. The mounting main body member 5 a extends so as to cover the upper part of one end of the bed 30. The mounting plate 5b can be brought into contact with the panel 30d facing the panel 30d of the bed 30.

  The cam 5c is rotatably attached to the mounting body member 5a as shown in FIG. A lever 5e extending in a direction opposite to the bed 30 is attached to the cam 5c. The cam 5c has an outer peripheral surface whose distance from the mounting plate 5b is changed by being rotated with respect to the mounting body member 5a by the lever 5e. The cam 5c sandwiches the panel 30d or the frame 30a of the bed 30 in cooperation with the mounting plate 5b by rotating. Thereby, the operating device 2 is detachably attached to one end of the bed 30.

  The controller body 4 has a rod shape as shown in FIG. Springs 6a and 6b are provided between the controller body 4 and the mounting body member 5a. The springs 6a and 6b are spiral springs, one end of which is attached to the left or right part of the controller body 4, and the other end is attached to each mounting body member 5a. The right sensor 7a is attached to the spring 6a, and the left sensor 7b is attached to the spring 6b. The right sensor 7a and the left sensor 7b are strain gauges or the like for detecting the strain amount of the springs 6a and 6b. The right sensor 7a and the left sensor 7b transmit detection signals corresponding to the direction and magnitude corresponding to the force applied to the right part and the left part of the controller body 4.

  As shown in FIG. 3, a grip 4 a is provided at one end of the controller body 4, and a turning / lateral movement operation member 9 is attached to the other end. The grip 4 a is immovable with respect to the operating device body 4 and is gripped by one hand of the nurse 31. The turning / lateral movement operating member 9 is attached to the operating machine body 4 so as to be rotatable about the operating machine body 4 as an axis, and is held by the other hand of the nurse 31. The swiveling / lateral movement operating member 9 is biased to an initial position by a biasing member (not shown) and can be rotated in both forward and backward rotation directions with respect to the operating unit main body 4.

  An operation amount detection sensor 33 is provided in the controller body 4 as shown in FIG. The operation amount detection sensor 33 detects the position of the turning / lateral movement operating member 9 with respect to the operating unit body 4 and signals according to the moving direction and the moving amount of the turning / lateral movement operating member 9 with respect to the operating unit body 4. To send. The operation amount detection sensor 33 is, for example, a potentiometer that detects an angle of the turning / lateral movement operating member 9 with respect to the operating unit main body 4.

  The controller body 4 is provided with a transmitter 8 as shown in FIG. The transmitter 8 is connected to the left sensor 7b, the right sensor 7a, and the operation amount detection sensor 33 by electric wiring. The transmitter 8 wirelessly transmits signals received from the sensors (7a, 7b, 33) or transmits the signals to the frame 30a of the bed 30.

  An upper force applying member 20 and a lower force applying member 21 are attached to the traveling carriage 3 as shown in FIGS. The upward force applying member 20 is attached to the traveling carriage 3 so as to be movable in the vertical direction. The upward force applying member 20 includes a pair of hooks 20a and a connecting member 20b that connects the pair of hooks 20a. The hook 20 a projects from the traveling carriage 3 toward the bed 30. The connecting member 20 b is connected to the lifter 22 and is lifted and lowered by the lifter 22.

  The lifter 22 has a rod shape as shown in FIGS. 2 and 4, and a central portion 22 a is rotatably attached to the traveling carriage 3. The lifter 22 has a front end portion 22b protruding from the traveling carriage 3, and a force can be applied by the front end portion 22b. The base end portion 22 c of the lifter 22 is connected to the connecting member 20 b through the elastic member 19.

  As shown in FIG. 4, the elastic member 19 is a spring spring or the like, and has one end attached to the connecting member 20 b and the other end attached to the end of the lifter 22. The lifter 22 lifts the upper force applying member 20 when the tip 22b is pushed down. When the tip 22b is lifted, the upward force applying member 20 is lowered.

  As shown in FIGS. 2 and 4, the upward force applying member 20 is lifted by the lifter 22 so that the hook 20 a is locked to the lower portion of the bed 30. The hook 20 a is locked to the bed 30 and applies an upward force to the bed 30. Thereby, the upward force application member 20 supports one end of the bed 30. When the force received from the bed 30 of the upper force applying member 20 becomes a predetermined value or more, the elastic member 19 is elastically deformed.

  As shown in FIGS. 2 and 4, the elastic member 19 urges the upper force applying member 20 by elastic deformation, and the upper force applying member 20 pushes the bed 30 upward. The force by which the upward force applying member 20 pushes the bed 30 upward is greater than or equal to the first force and less than or equal to the second force depending on the characteristics of the elastic member 19. When the urging force is equal to or less than the second force, the caster 30c of the bed 30 can be prevented from floating from the floor, and the caster 30c can restrict the bed 30 from greatly shaking to the left and right during transportation. It is suppressed that the downward reaction force which the upper force provision member 20 receives from the bed 30 becomes small too much because an urging | biasing force is below 1st force. Thereby, the frictional force with respect to the floor of the driving wheel 13 of the traveling carriage 3 becomes greater than a predetermined value, and the sliding of the driving wheel 13 on the floor can be suppressed.

  As shown in FIGS. 2 and 4, the downward force applying member 21 is a metal pipe or the like, and has two vertical members 21a, two projecting members 21b, and one horizontal member 21c. The two vertical members 21 a extend upward from the traveling carriage 3. The overhang member 21 b can be extended from each upper end portion of the vertical member 21 a toward the bed 30 and can be locked to the upper end portion of the bed 30. The lateral member 21c extends downward from each tip of the projecting member 21b and extends in the horizontal direction to connect the two projecting members 21b. The position of the vertical member 21a is adjusted in the vertical direction with respect to the traveling carriage 3 by the height adjuster 21d. The position of the vertical member 21 a is adjusted so that the projecting member 21 b can be locked to the upper end portion of the bed 30 and apply a downward force to the bed 30.

  As shown in FIG. 5, the traveling carriage 3 includes a substantially box-shaped carriage base 11 and a rotating plate 15 that is positioned at an opening formed on the bottom surface of the carriage base 11 and is rotatably attached to the carriage base 11. The rotary plate 15 is provided with a drive source 14 and an axle 12. The drive source 14 has a motor that outputs torque by electric power and a gear that transmits the output torque of the motor to the axle 12. Drive wheels 13 are attached to both ends of the axle 12. The drive wheel 13 passes through a hole formed in the rotary plate 15 and protrudes downward from the rotary plate 15. A speed sensor 35 that detects the rotational speed of the drive wheel 13 is attached to the rotary plate 15.

  As shown in FIG. 5, the cart base 11 is provided with a direction changing source 16, a battery 17, and a control device 18. The direction conversion source 16 includes a motor that outputs torque by electric power and a gear that converts the output torque of the motor into the rotational force of the rotating plate 15. Thereby, the rotating plate 15 rotates on a horizontal plane with respect to the carriage base 11. The carriage base 11 is provided with a position sensor 34 that detects an angle of the rotating plate 15 with respect to the carriage base 11. The battery 17 supplies power to the direction change source 16, the control device 18, and the drive source 14.

  The control device 18 includes a receiver 18a and a plurality of control circuits (direction control circuit 18b, travel torque control circuit 18c, lateral movement / turn control circuit 18d) as shown in FIGS. The receiver 18 a receives a signal from the transmitter 8 of the controller 2 wirelessly or via the frame 30 a of the bed 30.

  The direction control circuit 18b calculates the force difference applied to the left and right of the controller 2 based on the signals from the left sensor 7b and the right sensor 7a obtained from the receiver 18a as shown in FIGS. Next, the direction control circuit 18b determines the rotation direction of the rotating plate 15 by controlling the direction conversion source 16 according to the sign of the force difference. Next, the direction control circuit 18b determines the angle of the rotating plate 15 with respect to the carriage base 11 according to the magnitude of the force difference.

  As shown in FIGS. 5 and 6, the direction control circuit 18b confirms the rotation direction and the rotation amount of the rotation plate 15 based on the signal from the position sensor 34, while the rotation plate 15 is at a predetermined angle with respect to the carriage base 11. The rotating plate 15 is rotated by the direction changing source 16 so that

  When it is determined that the left / right force difference is greater than or equal to a predetermined value, or when it is determined that the left / right force difference has suddenly changed beyond a predetermined value, the direction control circuit 18b controls the direction conversion source 16 to 11 is stopped. Thereby, it can be avoided that the direction of the bed 30 changes suddenly.

  The traveling torque control circuit 18c obtains the sum of the left and right forces applied to the controller 2 based on signals from the left sensor 7b and the right sensor 7a obtained via the receiver 18a. Next, the traveling torque control circuit 18c controls the driving source 14 according to whether the sum of forces is positive or negative and determines the traveling direction (forward or reverse) of the traveling carriage 3. The running torque control circuit 18c controls the drive source 14 according to the sum of the forces to control the torque applied to the axle 12.

  The traveling torque control circuit 18c obtains the rotational speed of the axle 12 based on the signal from the speed sensor 35, and is applied to the axle 12 when the rotational speed is higher than a predetermined rotational speed (for example, higher than the walking speed of a person). Reduce the magnitude of torque. The traveling torque control circuit 18c obtains the rotational acceleration of the axle 12 based on the signal from the speed sensor 35, and suppresses the magnitude of the torque applied to the axle 12 when the rotational acceleration exceeds a predetermined rotational acceleration. Thereby, it is possible to suppress the bed 30 from being unintentionally accelerated or rapidly accelerated.

  When the traveling torque control circuit 18c determines that the sum of the forces applied to the operating device 2 is switched between positive and negative, the traveling torque control circuit 18c controls the drive source 14 to stop the rotation of the axle 12 for a predetermined time. Thereby, it can be avoided that the bed 30 is suddenly switched from backward to forward or from forward to backward.

  When the force applied to the right side of the controller 2 is the same as the force applied to the left side, the axle 12 is orthogonal to the longitudinal direction of the bed 30 as shown in FIG. When the nurse 31 or the like presses the operating device 2, the bed 30 moves straight, and when the operating device 2 is pulled, the bed 30 moves back straight.

  When the force applied to the right side of the controller 2 is greater than the force applied to the left side, the axle 12 rotates counterclockwise in FIG. 8 from a position orthogonal to the longitudinal direction of the bed 30 as shown in FIG. When the nurse 31 or the like pushes the bed 30, the bed 30 turns leftward and advances. When the force that pulls the left side of the operating device 2 is larger than the force that pulls the right side, the bed 30 bends in the right direction and moves backward.

  When the force applied to the left side of the controller 2 is greater than the force applied to the right side, the axle 12 rotates clockwise in FIG. 8 from a position orthogonal to the longitudinal direction of the bed 30. When the nurse 31 or the like pushes the bed 30, the bed 30 turns to the right and moves forward. When the force that pulls the right side of the controller 2 is larger than the force that pulls the left side, the bed 30 bends in the left direction and moves backward.

  The lateral movement / turning control circuit 18d determines whether or not the turning / lateral movement operation member 9 has been operated based on a signal from the operation amount detection sensor 33 obtained from the receiver 18a. When the lateral movement / turning control circuit 18d determines that the turning / lateral movement operation member 9 has been operated, the direction change source 16 is controlled to make the axle 12 substantially parallel to the longitudinal direction of the bed 30.

  Next, the lateral movement / turning control circuit 18d determines an operation direction and an operation amount of the turning / lateral movement operation member 9 based on a signal from the operation amount detection sensor 33. When the lateral movement / turning control circuit 18d determines that the turning / lateral movement operation member 9 has been operated in the forward direction, the axle 12 is rotated in one direction by the drive source 14, and the turning / lateral movement operation member 9 is If it is determined that the operation is in the negative direction, the axle 12 is rotated in the direction opposite to the one direction. The lateral movement / turning control circuit 18d determines the magnitude of torque applied from the drive source 14 to the axle 12 in proportion to the operation amount of the turning / lateral movement operation member 9.

  When the nurse 31 or the like rotates the turning / lateral movement operation member 9 with the right hand as shown in FIGS. 9 and 10, the axle 12 is directed in the longitudinal direction of the bed 30, and the traveling carriage 3 is the short side of the bed 30. Move in one direction (direction perpendicular to the longitudinal direction). As shown in FIG. 9, when the nurse 31 or the like pushes the bed 30 in the same direction as the traveling carriage 3, the bed 30 moves laterally in one direction in the short direction of the bed 30. As shown in FIG. 10, when the nurse 31 or the like pushes the bed 30 in the direction opposite to the traveling carriage 3, the bed 30 turns on the spot.

  When the nurse 31 or the like operates the turning / lateral movement operating member 9 and pushes or pulls the operating device 2, the lateral movement / turning control circuit 18d is replaced with another circuit (the direction control circuit 18b and the running torque control circuit). The direction change source 16 and the drive source 14 are controlled with priority over 18c). As a result, the traveling carriage 3 moves in the short direction of the bed 30 without moving forward or backward.

  As described above, the bed conveyance assisting apparatus 1 is operated as shown in FIG. 2, the operating device 2 that transmits an operation signal, the traveling carriage 3 that receives the operation signal and travels based on the operation signal, An upper force applying member 20 that protrudes from the traveling carriage 3 to be locked to the bed 30 and applies an upward force to the bed 30, and extends from the traveling carriage 3 to be locked to the bed 30 and applies a downward force to the bed 30. A downward force applying member 21 is provided.

  Therefore, the upper force applying member 20 and the lower force applying member 21 cooperate to clamp the bed 30 as shown in FIG. Therefore, the traveling cart 3 and the bed 30 are less likely to rattle even when a force is applied between them. For example, when the direction of the bed 30 is largely changed, or when the center of the traveling carriage 3 and the bed 30 on which the patient 32 is placed is shifted, a torsional force in the left-right direction is generated between the traveling carriage 3 and the bed 30. Further, when the bed 30 gets over an obstacle, or when the floor surface is inclined or uneven, a vertical force is generated between the traveling carriage 3 and the bed 30. Even when these forces are generated, the traveling cart 3 and the bed 30 are less likely to rattle by the upper force imparting member 20 and the lower force imparting member 21, and the traveling cart 3 can be stably attached to the bed 30.

  As shown in FIG. 2, the upper force applying member 20 and the lower force applying member 21 project from the traveling carriage 3 to the bed 30 and are locked to the bed 30. Therefore, even when the space below the bed 30 is narrow and it is not easy to install the traveling carriage 3 under the bed 30, the traveling carriage 3 can be moved to the bed 30 by using the upper force application member 20 and the lower force application member 21. It can be easily and reliably attached to. The forces applied to the bed 30 by the upper force applying member 20 and the lower force applying member 21 are in opposite directions. Therefore, the rotational force in the vertical direction of the traveling carriage 3 generated by the reaction force applied by the upper force applying member 20 to the bed 30 is converted to the force applied by the lower force applying member 21 to the bed 30. The rotational force in the vertical direction of the traveling carriage 3 generated by the reaction force applied by the lower force applying member 21 to the bed 30 is converted into the force applied by the upper force applying member 20 to the bed 30. Thus, the upper force application member 20 and the lower force application member 21 can effectively apply force to the bed 30.

  As shown in FIG. 1, the operating device 2 is mounted on one end of the bed 30, and the traveling carriage 3 is mounted on the other end of the bed 30 by the upper force applying member 20 and the lower force applying member 21. Therefore, the bed 30 receives a force from the traveling carriage 3 at one end and receives a force from the nurse 31 or the like at the other end. Therefore, the direction of the bed 30 can be changed with a small force compared to the case where the force is received from only one end. Thus, the bed 30 can be stably conveyed in the predetermined direction. The nurse 31 can also check the state of the patient 32 while carrying the bed 30 alone.

  As shown in FIG. 2, the traveling carriage 3 has an elastic member 19 that abuts the upper force applying member 20 against the bed 30 and biases it upward. Therefore, the upper force applied by the upper force applying member 20 to the bed 30 is set to a desired magnitude by the elastic force of the elastic member 19. Therefore, for example, it is possible to avoid the casters 30c provided in the lower part of the bed 30 from completely floating from the floor. This can prevent the bed 30 from being greatly inclined when the bed 30 is conveyed while the caster 30c is floating from the floor. Or it can avoid that the reaction force which the upper force provision member 20 applies to the bed 30 becomes small too much. As a result, a sufficiently large frictional force generated between the traveling carriage 3 and the floor can be secured, and loss of energy due to the traveling carriage 3 sliding on the floor can be reduced.

  As shown in FIG. 5, the traveling carriage 3 includes a carriage base 11, an axle 12 that is mounted on the carriage base 11 so that the direction of the carriage can be changed, a direction changing source 16 that changes the direction of the axle 12 with respect to the carriage base 11, and an axle. And a drive source 14 for rotating the drive wheels 13 attached to the axle 12 by rotating the wheel 12. Therefore, the traveling direction of the traveling carriage 3 can be changed by changing the direction of the axle 12. Therefore, the traveling direction can be changed with less energy. For example, when the traveling direction of the traveling carriage is changed depending on the speed difference between the two driving wheels, the driving wheels slide on the floor. In this embodiment, the slipping of the wheels is reduced. Therefore, the traveling direction of the traveling carriage 3 can be changed with less energy.

  As shown in FIGS. 3 and 5, the controller 2 has a left sensor 7 b that detects a force applied to the left side of the controller 2 and a right sensor 7 a that detects a force applied to the right side of the controller 2. The traveling carriage 3 determines the difference between the left and right forces applied to the operating device 2 based on the signals from the left sensor 7b and the right sensor 7a, and controls the direction change source 16 according to the difference to control the carriage base of the axle 12. 11, a direction control circuit 18b for determining a direction with respect to 11 is provided.

  Therefore, the traveling direction of the bed 30 can be changed by a conventional operation of the nurse 31 or the like as shown in FIG. For example, the nurse 31 or the like presses the left side of the bed 30 more strongly than the right side via the operation unit 2 when the bed 30 is to be bent in the right direction. When the bed 30 is to be bent in the left direction and advanced, the right side of the bed 30 is pushed more strongly than the left side via the controller 2. The direction control circuit 18b determines the direction of the axle 12 based on the difference between the left and right forces applied to the operating device 2 applied by the nurse 31 or the like. Thereby, the advancing direction of the bed 30 can be changed suitably.

  9 and 10, the operating device 2 is operated when the bed 30 is turned or when the bed 30 is moved horizontally in a direction orthogonal to the longitudinal direction of the bed 30. 9 and an operation amount detection sensor 33 for detecting the operation amount of the turning / lateral movement operation member 9. In the traveling carriage 3, when the turning / lateral movement operation member 9 is operated based on a signal from the operation amount detection sensor 33, the direction changing source 16 is controlled to determine the direction of the axle 12 as the longitudinal direction of the bed. In addition, a lateral movement / turning control circuit 18d is provided for controlling the drive source 14 according to the operation amount of the turning / lateral movement operation member 9 to determine the magnitude of the rotational torque applied to the axle 12.

  Therefore, the nurse 31 or the like located at one end of the bed 30 operates the turning / lateral movement operation member 9 when the bed 30 is desired to be turned or moved laterally. As a result, the traveling cart 3 attached to the other end of the bed 30 moves in the short direction. The nurse 31 or the like can move the bed 30 laterally by moving one end of the bed 30 in the same direction as the traveling carriage 3, and move one end of the bed 30 in the opposite direction to the traveling carriage 3. Thus, the bed 30 can be turned.

  The turning / lateral movement operating member 9 can be operated in both directions with respect to the initial position. The lateral movement / turning control circuit 18d determines the rotational direction of the axle 12 based on the signal from the operation amount detection sensor 33 corresponding to each direction of the turning / lateral movement operation member 9. Therefore, the bed 30 can be moved in both the left and right directions or can be turned in both the left and right directions depending on the operation direction of the single turning / lateral movement operation member 9. Therefore, compared to the case where the turning / lateral movement operating members 9 are provided on both the left and right sides of the operating device 2, the operating device 2 can be configured simply.

  When the operation amount detection sensor 33 transmits a signal, the lateral movement / turning control circuit 18d controls the direction change source 16 and the drive source 14 with priority over the direction control circuit 18b. Therefore, the movement of the bed 30 in an unintended direction can be suppressed.

  As shown in FIG. 6, the controller 2 has a transmitter 8 that transmits an operation signal to the frame 30 a of the bed 30. The traveling carriage 3 includes a receiver 18 a that receives an operation signal via the frame 30 a of the bed 30. Therefore, the operation signal is transmitted from the controller 2 to the traveling carriage 3 via the frame 30 a of the bed 30. Therefore, the operation signal is reliably transmitted to the traveling vehicle 3. In addition, the amount of radio waves transmitted to the outside can be reduced, whereby the influence of the radio waves on other devices can be reduced. Moreover, the wire etc. which connect the operating device 2 and the traveling cart 3 are unnecessary.

  The traveling torque control circuit 18c controls the drive source 14 so that the traveling carriage 3 outputs a torque smaller than the torque for pulling the bed 30 alone. The traveling torque control circuit 18c controls the drive source 14 to stop the traveling carriage 3 when it is determined that the operating device 2 is not operated. Therefore, the movement of the bed 30 only by the traveling carriage 3 is restricted.

  The traveling torque control circuit 18c controls the drive source 14 so as to pull the traveling carriage 3 with 50 to 90% of the force necessary to transport the bed 30 on which the patient 32 is placed. Therefore, the movement of the bed 30 only by the traveling carriage 3 is restricted.

  The controller 2 and the traveling carriage 3 can be detached from the bed 30 as shown in FIGS. Therefore, the bed conveyance auxiliary device 1 can be used when conveying other beds 30 and can be used for conveying a plurality of beds 30. Further, the bed 30 can be easily cleaned by removing the controller 2 and the traveling carriage 3 from the bed 30 when the bed 30 is cleaned.

  The controller 2 and the traveling carriage 3 are individually attached to the bed 30 as shown in FIGS. Therefore, the operating device 2 and the traveling cart 3 become small when removed from the bed 30, and can be easily carried and stored.

  The present invention is not limited to the above-described embodiment, and may be the following form. For example, as shown in FIG. 6, the transmitter 8 may transmit a signal to the receiver 18a of the traveling carriage 3 wirelessly or via the frame 30a of the bed 30, or connect the transmitter 8 and the receiver 18a. Electrical wiring may be provided, and the transmitter 8 may transmit a signal to the receiver 18a via the electrical wiring.

  As shown in FIG. 2, the upward force applying member 20 may be locked to the lower end portion of the bed 30 to apply an upward force, or may be locked to the center portion or the upper portion of the bed 30 to move upward. You may give power. The downward force applying member 21 may be locked to the upper end portion of the bed 30 to apply a downward force, or may be locked to the center portion or the lower portion of the bed 30 to apply a downward force. good.

  As shown in FIG. 2, the elastic member 19 may be provided between the lifter 22 and the upward force applying member 20, or the upward force applying member 20 is urged against the bed 30 by urging the lifter 22 in one rotational direction. Alternatively, a spring that presses upward may be used.

  As shown in FIG. 4, the lower force applying member 21 may be adjusted in the vertical direction by the adjusting tool 21 d, or connected to the lifter 22 or the upper force applying member 20 and interlocked with the upper force applying member 20, The structure which clamps the bed 30 with the provision member 20 may be sufficient.

  As shown in FIG. 5, the traveling carriage 3 may have a pair of drive wheels 13 attached to the axle 12, or a pair of axles, a drive wheel attached to each axle, and the axles are rotated. Each drive source may be included.

  As shown in FIG. 3, the operating device 2 may have a right sensor 7a and a left sensor 7b, or one sensor such as a yaw rate sensor, which is added to the left and right of the operating device body 4 by one sensor. The applied force may be detected. The right sensor 7a and the left sensor 7b may be strain gauges, gap sensors that measure the distance between the operating unit body 4 and the mounting mechanism 5 or the distance between the operating unit body 4 and the bed 30, and the mounting of the operating unit body 4 An angle sensor that detects an angle with respect to the mechanism 5 or an angle with respect to the bed 30 of the operating device main body 4 may be used, or a pressure sensor or a force sensor that measures a pressure applied to the operating device main body 4 may be used.

  As shown in FIG. 3, the turning / lateral movement operating member 9 may be attached to the operating unit body 4 so as to be rotatable about the operating unit body 4 as an axis, or one end portion thereof can be rotated to the operating unit body 4. A lever or the like that is attached so as to be tiltable with respect to the operating unit body 4, a switch that is slidably attached to the operating unit body 4, or a button that can be pushed into the operating unit body 4. Etc.

  As shown in FIG. 3, the turning / lateral movement operation member 9 may be provided at one end portion of the operating device body 4, or provided at both ends of the operating device body 4. The drive wheel may be rotated in one direction by the operation of the member, and the drive wheel may be rotated in the other direction by the operation of the other one of the turning / lateral movement operation members.

  As shown in FIG. 6, the transmitter 8 may be a DC signal when transmitting to the receiver 18a via the frame 30a of the bed 30, but an AC signal is preferred.

  As shown in FIG. 6, the direction control circuit 18 b, the running torque control circuit 18 c, and the lateral movement / turning control circuit 18 d may be provided in the traveling carriage 3 or in the operating device 2.

  As shown in FIG. 1, the controller 2 and the traveling carriage 3 may be separate or integrated. As shown in FIG. 1, the controller 2 may be attached to one end of the bed 30, the traveling carriage 3 may be attached to the other end of the bed 30, or the controller 2 and the traveling carriage 3 may be connected to one end of the same bed 30. It may be attached to the part.

  The object to be transported by the transport assisting device may be the bed 30, a loading platform having casters, or a device having casters. For example, the loading platform carries meals, medical instruments, articles, and the like and transports them in a hospital or factory. The device is, for example, a medical device.

  The operating device 2 may have a turning / lateral movement operation member 40 shown in FIG. 11 instead of the turning / lateral movement operation member 9 shown in FIG. 3. The controller 2 has a bar 4b extending between the left and right grips 4a and the left and right grips 4a. The turning / lateral movement operating member 40 is provided on the bar 4b and is located in the vicinity of the left grip 4a. The turning / lateral movement operating member 40 can be operated by a finger of a user's hand holding the grip 4a.

  The turning / lateral movement operating member 9 shown in FIG. 11 includes a mounting member 40a, a rotating member 40b, and an urging member 40d. The mounting member 40a is mounted on the lower portion of the bar 4b. The rotating member 40b is attached to the mounting member 40a so as to be rotatable about a vertical axis 40c. The biasing member 40d is a coil spring. The urging member 40d has one end that is locked to the mounting member 40e attached to the mounting member 40a and the other end that is locked to the mounting member 40f attached to the rotating member 40b.

  The urging member 40d shown in FIG. 11 urges the rotating member 40b to the initial position. The rotating member 40b can receive a force in the rotating direction while being pushed toward the axis 40c by a user's thumb or the like. Thereby, the rotating member 40b can be rotated in both directions from the initial position while receiving the force with good stability. The amount of rotation of the rotating member 40 b is detected by the operation amount detection sensor 33. The traveling carriage 3 advances to the left by rotating the rotating member 40b to the left, and the traveling carriage advances to the right by rotating the rotating member 40b to the right.

  As described above, the turning / lateral movement operating member 40 shown in FIG. 11 is rotatably provided in the vicinity of the left portion of the operating device 2 held by the user's hand. The turning / lateral movement operating member 40 is located at a place where it can be operated by a finger of a hand holding the left part. Therefore, the turning / lateral movement operation member 40 can be operated while applying a force in the front-rear direction to the left portion of the controller 2.

  The turning / lateral movement operating member 40 shown in FIG. 11 may be provided in the vicinity of the right portion of the operating device 2 instead of the left portion of the operating device 2. The biasing member 40d may be a torsion coil spring instead of the tension coil spring.

  The operating device 2 shown in FIG. 3 may be provided with a hand detection sensor that detects a hand (not shown). Furthermore, a brake device may be provided in the traveling carriage 3 shown in FIG. The hand detection sensor is, for example, a proximity sensor such as an infrared sensor or a touch sensor such as a pressure sensor. The hand detection sensor includes a right hand detection sensor and a left hand detection sensor. The right hand detection sensor is provided on the right part of the operating device 2 and detects that the right hand approaches or comes into contact with the right part. The left hand detection sensor is provided on the left part of the operating device 2 and detects that the left hand approaches or comes into contact with the left part.

  The hand detection sensor transmits a signal to the transmitter 8 illustrated in FIG. 3, and the transmitter 8 transmits the signal to the control device 18. The control device 18 has a hand detection brake circuit that controls the brake device. The brake device normally generates a braking force that restricts traveling of the traveling carriage 3. The hand detection brake circuit releases the brake device when it is determined that both hands of the user have approached or contacted the controller 2. Thereby, the traveling of the traveling carriage 3 is allowed. After that, the hand detection brake circuit controls the travel of the traveling carriage 3 by controlling the brake device when it is determined that the user's hands are not approaching or in contact with each other.

  As described above, the operating device 2 has a hand detection sensor, and the traveling carriage 3 has a brake device. When the hand detection brake circuit determines that the hand is not close to or in contact with the operating device based on the signal from the hand detection sensor, the brake device is controlled to restrict the travel of the traveling carriage. Therefore, when the user's hand is separated from the operating device 2, the traveling carriage 3 can be restricted from traveling unintentionally.

  The hand detection sensor includes a right hand detection sensor and a left hand detection sensor. The hand detection brake circuit releases the brake device when it is determined that the right hand approaches or contacts the right part and the left hand approaches or contacts the left part. This allows the traveling cart 3 to travel. After that, when it is determined that the right hand is not approaching or contacting the right part and the left hand is not approaching or contacting the left part, the hand detection brake circuit controls the braking device to regulate the traveling of the traveling carriage. .

  Accordingly, the traveling carriage 3 cannot be traveled unless the controller 2 is operated with both hands. Therefore, it can be suppressed that the traveling cart 3 starts traveling unintentionally. After the traveling cart 3 starts to travel, the traveling cart 3 can continue to travel even if one hand is removed from the controller 2. Therefore, it is possible to run the traveling carriage 3 while carrying out different operations with one hand away from the controller 2. When both hands are removed from the controller 2, the traveling of the traveling carriage 3 is restricted again. Thereby, it can be controlled that the traveling vehicle 3 travels unintentionally.

  The hand detection sensor may have a right hand detection sensor and a left hand detection sensor as described above. Alternatively, both hands may be detected by one hand detection sensor. The hand detection brake circuit may be provided in the traveling carriage 3 or in the operating device 2.

  A speed regulation circuit may be provided in the operating device 2 or the traveling carriage 3. The speed regulation circuit controls the drive source 14 to regulate the speed of the traveling carriage 3. When the turning / lateral movement operation member 9 is not operated, that is, when the traveling carriage 3 moves forward or backward, the speed regulation circuit regulates the speed of the traveling carriage 3 to the first speed or less. When the turning / lateral movement operating member 9 is operated, that is, when the lateral movement or turning is performed, the speed regulation circuit regulates the speed of the traveling carriage 3 to the second speed or less.

  The first speed is set to a speed slower than the normal walking speed of a person, for example, 3 km / hour. Thereby, it can be avoided that the traveling carriage 3 is not easily steered due to the traveling carriage 3 being too fast. The second speed is slower than the first speed, and is set, for example, at 1 km / hour. In lateral movement or turning, operation is generally more difficult than forward or reverse. By setting the maximum speed of the traveling carriage 3 slower during lateral movement or turning, it is possible to easily obtain the second speed and keep the second speed. Therefore, the traveling carriage 3 can be easily moved sideways or turned.

  The controller 2 may be provided with an alarm device that issues an alarm when the speed of the traveling carriage 3 is equal to or higher than a predetermined value. The alarm device has, for example, a light emitter that emits light and a speaker that emits sound. The alarm device is controlled by an alarm circuit. The alarm circuit is provided in the operating device 2 or the traveling carriage 3. The alarm circuit determines whether or not the speed of the traveling carriage 3 is equal to or higher than a predetermined speed based on a signal from the speed sensor 35. When it is determined that the speed is higher than the predetermined speed, the alarm device is controlled and an alarm is issued by the alarm device. The predetermined speed is, for example, 3 km / hour.

  Therefore, the user can know by a warning that the traveling carriage 3 has reached a predetermined speed or more. Therefore, the user takes care that the traveling vehicle 3 travels below a predetermined speed. Thereby, it is possible to reduce the traveling cart 3 from hitting an obstacle.

  The alarm circuit may control a brake device or a power-off device of the traveling carriage 3 in addition to or instead of the alarm device. The alarm circuit activates the alarm device when the traveling carriage 3 is at a predetermined speed or higher, and thereafter controls the brake device or the power-off device. The brake device regulates the speed of the traveling carriage 3. The power-off device stops supplying power to the drive source 14. Thereby, the speed of the traveling carriage 3 can be kept below a predetermined speed. Thus, the traveling carriage 3 can be stopped in a short time.

  As illustrated in FIG. 14, the traveling carriage 43 may include a bumper 45, a bumper sensor 46, a brake device, and a brake circuit. The bumper 45 is provided at the front lower part and the side lower part of the traveling carriage. The bumper 45 has a material or a structure that is relatively easily deformed. Since the bumper 45 contacts the obstacle and deforms, the impact of the traveling carriage 43 on the carriage body can be reduced.

  A bumper sensor 46 shown in FIG. 14 is a touch sensor, and transmits a signal to the brake circuit when an obstacle comes into contact with the bumper 45. When receiving the signal, the brake circuit controls the brake device to apply a braking force to the traveling carriage 43. As a result, the impact received by the traveling carriage 43 is reduced.

  The traveling vehicle 3 may have an area sensor, a brake device, and a brake circuit. The area sensor detects that there is an obstacle near the traveling carriage and transmits a signal to the brake circuit. When the brake circuit receives the signal, the brake circuit controls the brake device to apply a braking force to the traveling carriage. As a result, the traveling carriage can be prevented from colliding with an obstacle. Alternatively, the collision when the traveling carriage collides with the obstacle can be reduced.

  The direction control circuit 18b determines the steering angle by controlling the direction conversion source 16 according to the difference in force applied to the left and right of the controller 2 as shown in FIGS. The steering angle is the angle of the axle. When the steering angle is zero, the axle is orthogonal to the length of the object, and the traveling carriage 3 goes straight. When the steering angle increases to a plus, the traveling carriage 3 turns to the right, and when the steering angle increases to a minus, it turns to the left.

  The direction control circuit 18b has a dead zone mode as shown in FIGS. In the dead zone mode, the steering angle is maintained at zero when the difference between the forces applied to the left and right of the operating device 2 is within the dead zones 41a and 42a. The user tends to have a left-right difference in the force applied to the controller 2 when walking. In such a case, the dead zone mode can move the traveling carriage 3 straight ahead in a stable manner.

  As shown in FIGS. 12 and 13, the dead zones 41a and 42a are set according to the speed. When the speed is high, the size (width) of the dead zones 41a and 42a is large. The first dead zone 41a is applied when the traveling carriage is slower than a predetermined speed (for example, 2 km / hour). The second dead zone 42a is applied when the traveling carriage is at a predetermined speed or higher. The size of the second dead zone 42a is set larger than that of the first dead zone 41a.

  The user has a left-right difference in the force applied to the controller 2 when walking, and the magnitude of the difference increases as the walking speed increases. On the other hand, the dead zones 41a and 42a are set corresponding to the speed of the traveling carriage. Therefore, the traveling carriage can be made to go straight with good stability when the speed is high. On the other hand, when the speed is low, the steering angle can be changed with a small left-right force difference. Therefore, it is easy to operate the traveling carriage.

  As shown in FIG. 12, when the traveling carriage 3 is slower than a predetermined speed and the left / right force difference is large beyond the dead zone 41a, the steering angle gradually increases like 41b and 41c. As shown in FIG. 13, when the traveling carriage 3 is faster than a predetermined speed and the force difference between the left and right is large beyond the dead zone 41a, the steering angle rapidly increases as indicated by 42b. Thereafter, the steering angle gradually increases as in 42c. 42c shown in FIG. 13 and 41c shown in FIG. 12 are located on the same line.

  Therefore, the direction control circuit has a control mode in which the direction of the axle is determined regardless of the speed of the traveling carriage 3 in a range exceeding the first dead zone 41a and the second dead zone 42a. Therefore, the traveling vehicle 3 can obtain the same steering angle by the difference in operating force regardless of the speed. As a result, the user can easily obtain the intended steering angle.

  The direction control circuit 18b may have a maximum degree of steering angle. The maximum limit angle is set to 45 ± 15 °, for example. Therefore, the direction control circuit 18b limits the angle of the axle to a maximum angle of 45 ± 15 ° or less with respect to the straight traveling direction of the traveling carriage. Therefore, it is possible to avoid the traveling direction of the traveling carriage 3 being orthogonal or nearly orthogonal to the pressing force of the user. Thereby, it can be avoided that the traveling carriage 3 stops suddenly. Or it can be avoided that a reaction occurs in the user.

  The traveling carriage 3 may be provided with a mounting device to which the battery 17 is detachably mounted as shown in FIG. Thereby, a plurality of batteries can be replaced and mounted on the mounting device. Therefore, the traveling cart 3 can be continuously traveled for a long time. The wearer can accept the battery from above or from the side.

  The traveling carriage 3 may have a pair of driving wheels and change the traveling direction using the driving wheel difference.

  The traveling carriage 3 may have omnidirectional wheels, for example, omni wheels (registered trademark). The traveling carriage 3 can preferably have three or more omnidirectional wheels.

  The traveling carriage 3 may have a pair of drive sources 47 and 48 and a pair of drive wheels 49 and 50 attached to the rotary plate 15 as shown in FIGS. The drive sources 47 and 48 rotate the axles 49a and 50a of the drive wheels 49 and 50, respectively, at a predetermined speed. The traveling carriage 3 has speed sensors 51 and 52 for detecting the rotational speeds of the drive wheels 49 and 50 as shown in FIG.

  As shown in FIG. 15, when the force applied to the left and right parts of the controller 2 is the same, the running torque control circuit 18c (see FIG. 6) runs the drive wheels 49 and 50 with the same torque or rotates at the same speed. The drive sources 47 and 48 are controlled. Thereby, the bed 30 goes straight.

  As shown in FIG. 16, when a difference occurs in the force applied to the left and right parts of the operating device 2, the direction control circuit 18 b (see FIG. 6) causes the rotating plate 15 to be attached to the carriage base 11 according to the magnitude of the difference. Rotate against. The travel torque control circuit 18c controls the drive sources 47 and 48 so that the drive wheels 49 and 50 travel at the same torque or rotate at the same speed. Thereby, the bed 30 bends and advances.

  As shown in FIG. 17, when moving the bed 30 in the horizontal direction, the user operates the turning / lateral movement operation member 9 and operates a switch (not shown). As a result, the lateral movement / turning control circuit 18d rotates the rotary plate 15 by 90 ° from the straight direction of the drive wheels 49, 50 with respect to the carriage base 11, and the drive source 47 so as to rotate the drive wheels 49, 50 at the same speed. , 48 are controlled. For example, when the force applied by the nurse 31 is reduced, the difference in torque output from the drive wheels 49 and 50 is increased. Thus, the traveling cart 3 can move the bed 30 in the lateral direction while assisting the nurse 31 or without applying the force.

  When the bed 30 is turned as shown in FIG. 17, the user operates the turning / lateral movement operation member 9 and operates a switch (not shown). As a result, the lateral movement / turning control circuit 18d rotates the rotary plate 15 by 90 ° with respect to the carriage base 11 from the straight direction of the drive wheels 49, 50, and the drive source 47 so as to rotate the drive wheels 49, 50 with different torques. , 48 are controlled. When the force applied by the nurse 31 is reduced, the difference in torque output from the drive wheels 49 and 50 is increased. Thereby, the rotation center 60 generated by the traveling carriage 3 approaches the center of the bed 30. Thus, the traveling carriage 3 can turn the bed 30 while assisting the nurse 31 or without applying the force to the nurse 31.

  That is, the traveling carriage 3 has a pair of drive wheels 49 and 50 and a pair of drive sources 47 and 48 as shown in FIGS. The pair of drive wheels 49 and 50 are direction-changed integrally with the carriage base 11 by the direction change source 16. Each drive source 47, 48 rotates each drive wheel 49, 50. Accordingly, the traveling carriage 3 can assist the nurse 31 when moving or turning the bed 30 in the lateral direction.

  The lateral movement / turning control circuit 18d has a lateral movement assist mode as shown in FIG. In the lateral movement assist mode, the lateral movement / turning control circuit 18d controls the pair of drive sources 47 and 48 so as to reduce the speed difference between the pair of drive wheels 49 and 50 when the bed 30 is laterally moved. Thereby, the traveling cart 3 can assist the nurse 31 when moving the bed 30 laterally.

  The lateral movement / turning control circuit 18d has a turning assist mode as shown in FIG. In the turning assist mode, the lateral movement / turning control circuit 18d has a pair of drives so that the torque applied to the drive wheels 49 far from the bed 30 when turning the bed 30 is larger than the torque applied to the drive wheels 48 close to the bed 30. Sources 47 and 48 are controlled. Thereby, the traveling cart 3 can assist the nurse 31 when turning the bed 30.

  As shown in FIG. 14, the traveling carriage 43 may have a jack 44. The jack 44 includes a flange 44a, a ratchet 44b, and a force applying member 44c. The ratchet 44 b is attached to the main body 43 a of the traveling carriage 43. The flange 44a and the force applying member 44c extend from the ratchet 44b.

  14 protrudes from the main body 43a and is reciprocated by the user. When the rod 44a reciprocates, the unidirectional torque applied to the rod 44a is amplified by the ratchet 44b and transmitted to the force applying member 44c. The force applying member 44c tilts about the ratchet 44b, and lifts the upper force applying member 20. For example, when the user reciprocates the heel 44 a 5 or 6 times with a foot or the like, the upper force applying member 20 is locked to the bed 30.

  As shown in FIG. 19, a lifter 53 and casters 56 may be provided on the traveling carriage 3. The lifter 53 has a collar 54 and an interlocking collar 55. The flange 54 has a tip end portion 54a, a first connecting portion 54b, and a second connecting portion 54c. The distal end portion 54a can be operated by the user by protruding from the cart body. The first connecting portion 54b is rotatably attached to the cart body. The second connecting portion 54 c is connected to the upper force applying member 57 and the interlocking rod 55.

  The interlocking rod 55 shown in FIG. 19 is attached to the carriage main body so as to be movable up and down. The interlocking rod 55 has an upper end portion that is rotatably connected to the flange 54 and a lower end portion to which the caster 56 is rotatably attached. When the tip 54a of the flange 54 is positioned upward, the caster 56 is pushed by the interlocking rod 55 and protrudes downward from the cart body. The upper force applying member 57 moves downward and comes off the bed 30.

  The downward force applying member 58 shown in FIG. 19 is attached to the carriage main body so that the position can be adjusted. When the downward force application member 58 is moved upward and held in position, the downward force application member 58 is detached from the bed 30. The user holds the downward force applying member 58 and tilts the downward force applying member 58 around the caster 56. As a result, the drive wheels 59 are lifted, and the traveling carriage 3 can be moved by the casters 56.

  As shown by the phantom line in FIG. 19, when the tip end portion 54 a of the flange 54 is positioned downward, the caster 56 is installed inside the cart body by the interlocking rod 55. The upward force applying member 57 is raised and locked to the bed 30. The lower force applying member 58 is locked to the bed 30 by lowering the lower force applying member 58.

  19 has the lifter 53 and the caster (operation mechanism) 56 as described above. The lifter 53 can lock and unlock the upper force applying member 57 to an object such as the bed 30. The caster 56 moves in conjunction with the lifter 53. The caster 56 is used when the traveling force 3 is transported by protruding from the body of the traveling vehicle 3 when the upper force applying member 57 is released from the object. Therefore, the traveling carriage 3 can be transported without rotating the drive wheels 59.

  The traveling carriage 3 shown in FIG. 19 may have an operation mechanism that locks and unlocks the lower force applying member 58 with respect to the object instead of the lifter 53. The caster 56 moves in conjunction with the operation mechanism. The caster 56 is used when the traveling force 3 is transported by protruding from the body of the traveling vehicle 3 when the downward force applying member 58 is released from the object.

  The lower force application member 21 shown in FIG. 4 is located above the upper force application member 20. The downward force application member 21 includes a lateral member 21c. The horizontal member 21c extends in the horizontal direction and is held at a height of the chest of the user, for example, 1 to 1.1 m. The upper force applying member 20 and the lower force applying member 21 can be removed from the bed 30, and the user can move the traveling carriage 3 while holding the lateral member 21 c. As a result, the user can easily move the traveling carriage 3 for storage or the like.

  Instead of the form shown in FIG. 4, the upper force applying member 20 may be positioned above the lower force applying member 21. The upper force applying member 20 may include a horizontal member, and the horizontal member may extend in the horizontal direction so as to be gripped by the user when the traveling carriage 3 is conveyed.

  A clutch may be provided between the drive wheel 13 and the drive source 14 shown in FIG. The clutch frees the space between the drive wheel 13 and the drive source 14 by operating the switch. The switch is provided on the downward force applying member 21, for example. The traveling carriage 3 is removed from the bed 30, and the drive wheels 13 are freed by the operation of the switch and the clutch. Thereby, the traveling cart 3 can be moved with a small force.

  Instead of the switch for operating the clutch, the clutch may be released when the power of the traveling carriage 3 is OFF. By removing the traveling carriage 3 from the bed 30 and turning off the power, the drive wheels 13 are freed by the clutch. Thereby, the traveling cart 3 can be moved with a small force.

  A switch for operating the drive source 14 shown in FIG. 5 may be provided in the traveling carriage 3 shown in FIG. For example, the switch may be provided on the downward force applying member 21. The user can remove the traveling carriage 3 from the bed 30 and move the traveling carriage 3 alone by operating a switch. Thereby, the traveling carriage 3 can be easily stored.

1 Bed transport assist device (transport assist device)
2 Operating machines 3 and 43 Traveling carriage 4 Operating machine body 5 Mounting mechanism 7a Right sensor 7b Left sensor 8 Transmitter 9 and 40 Operation member 11 for turning and lateral movement Cart base 12, 49a and 50a Axle 13, 49, 50 and 59 Driving wheels 14, 47, 48 Driving source 15 Rotating plate 16 Direction changing source 17 Battery 18 Control device 18a Receiver 18b Direction control circuit 18c Traveling torque control circuit 18d Lateral movement / turning control circuit 19 Elastic member 20, 57 Upper force applying member 21, 58 Lower force applying member 21c Horizontal member 22, 53 Lifter (operating mechanism)
30 beds (object)
30a Frame 31 Nurse (user)
32 Patient 33 Operation amount detection sensor 34 Position sensor 35, 51, 52 Speed sensor 41a, 42a Dead zone 56 Caster

Claims (23)

A bed auxiliary conveyance apparatus used in carrying bed,
An operating device that transmits an operation signal by being operated, and a traveling carriage that receives the operation signal and travels based on the operation signal,
Wherein the traveling vehicle, the lower force application member for applying a downward force to the engagement locks and the bed upward force applying member and said bed to impart upward force on engagement locks and the bed in the bed is provided ,
Bed conveyance assisting device that having a resilient member for biasing the upper force applying member and upwardly into contact with the said bed. It is a bed conveyance auxiliary device according to claim 1 ,
It said lower force application member and the upper force applying member, bed transport aid which from each of the traveling vehicle overhanging the bed locked to the bed. It is a bed conveyance auxiliary device according to claim 1 or 2 ,
The operating device is attached to one end of the bed ,
The bed conveyance auxiliary device in which the traveling carriage is attached to the other end of the bed by the upper force applying member and the lower force applying member. It is a bed conveyance auxiliary device according to any one of claims 1 to 3 ,
The traveling carriage includes a carriage base, an axle that is mounted on the carriage base so that the direction of the carriage can be changed, a direction changing source that changes the direction of the axle with respect to the carriage base, and an axle that rotates the axle and is attached to the axle. A bed conveyance auxiliary device having a drive source for rotating the driven wheels. A bed auxiliary conveyance apparatus used in carrying bed,
An operating device that transmits an operation signal by being operated, and a traveling carriage that receives the operation signal and travels based on the operation signal,
Wherein the traveling vehicle, the lower force application member for applying a downward force to the engagement locks and the bed upward force applying member and said bed to impart upward force on engagement locks and the bed in the bed is provided ,
The traveling carriage includes a carriage base, an axle that is mounted on the carriage base so that the direction of the carriage can be changed, a direction changing source that changes the direction of the axle with respect to the carriage base, and an axle that rotates the axle and is attached to the axle. A drive source for rotating the driven wheels,
The controller has a left sensor that detects a force applied to the left side of the controller and a right sensor that detects a force applied to the right side of the controller,
In the traveling carriage or the operating device, a difference between left and right forces applied to the operating device is obtained based on signals from the left sensor and the right sensor, and the direction changing source is controlled by the difference to control the direction change source. A bed conveyance auxiliary device provided with a direction control circuit for determining a direction of an axle relative to the carriage base . It is a bed conveyance auxiliary device according to claim 5 ,
The direction control circuit has a dead zone mode, and the dead zone mode holds the axle in a direction in which the driving wheel is in a straight traveling direction when the difference between the left and right forces is within the dead zone.
The dead zone is a bed conveyance auxiliary device whose size is determined according to the speed of the traveling carriage. It is a bed conveyance auxiliary device according to claim 6 ,
The direction control circuit is applied when the traveling vehicle is slower than a predetermined speed, and is applied when the traveling vehicle is faster than the predetermined speed and is larger than the first dead zone. A bed conveyance auxiliary device having a control mode for determining a direction of the axle regardless of a speed of the traveling carriage in a range exceeding the second dead zone and the first dead zone and the second dead zone. It is a bed conveyance auxiliary device according to claim 5 ,
The said direction control circuit is a bed conveyance auxiliary | assistance apparatus which restrict | limits the angle of the said axle shaft to below the maximum angle of 45 +/- 15 degree with respect to the linear advance direction of the said traveling trolley | bogie. A bed auxiliary conveyance apparatus used in carrying bed,
An operating device that transmits an operation signal by being operated, and a traveling carriage that receives the operation signal and travels based on the operation signal,
Wherein the traveling vehicle, the lower force application member for applying a downward force to the engagement locks and the bed upward force applying member and said bed to impart upward force on engagement locks and the bed in the bed is provided ,
The traveling carriage includes a carriage base, an axle that is mounted on the carriage base so that the direction of the carriage can be changed, a direction changing source that changes the direction of the axle with respect to the carriage base, and an axle that rotates the axle and is attached to the axle. A drive source for rotating the driven wheels,
The operating device includes a turning / lateral movement operating member operated when the bed is turned or when the bed is moved laterally in a direction orthogonal to the straight traveling direction, and the turning / lateral movement operation member. Has an operation amount detection sensor to detect the operation amount,
In the traveling carriage or the operating device, the direction change source is controlled to control the direction of the axle when the turning / lateral movement operation member is operated based on a signal from the operation amount detection sensor. A lateral movement / turning control circuit is provided for determining the magnitude of the rotational torque applied to the axle by controlling the drive source according to the amount of operation of the turning / lateral movement operation member. Bed transport assist device. It is a bed conveyance auxiliary device according to claim 9 ,
The operation member for turning and lateral movement can be operated in both directions with respect to the initial position,
The bed movement assist device, wherein the lateral movement / turning control circuit determines a rotation direction of the axle based on a signal from the operation amount detection sensor corresponding to each direction of the turning / lateral movement operation member. It is a bed conveyance auxiliary device according to claim 9 or 10 ,
The operation amount when the sensor transmits a signal, bed transport assisting device the lateral movement and swing control circuit controls the driving source and the direction conversion source in preference to the direction control circuit. It is a bed conveyance auxiliary device according to any one of claims 9 to 11 ,
The turning / lateral movement operating member is rotatably provided near a left part or a right part of the operating device held by a user's hand, and the turning / lateral movement operating member is provided on the left part or the right part. The bed conveyance auxiliary device located in a place where it can be rotated by the finger of the hand gripping the right part. It is a bed conveyance auxiliary device according to any one of claims 9 to 12 ,
Having a speed regulation circuit for regulating the speed of the traveling carriage;
The speed regulating circuit regulates the speed of the traveling carriage when the turning / lateral movement operation member is not operated to a first speed or less, and the turning / lateral movement operation member is operated. A bed conveyance auxiliary device that regulates the speed of the traveling carriage to a second speed that is lower than the first speed. It is a bed conveyance auxiliary device according to any one of claims 9 to 13 ,
The traveling carriage includes a pair of drive wheels that are integrally changed in direction by the direction change source on the carriage base, and a bed conveyance auxiliary device that includes the drive sources that rotate the drive wheels. It is a bed conveyance auxiliary device according to claim 14 ,
The lateral movement / turning control circuit is a bed conveyance assisting device having a lateral movement assist mode for controlling the pair of driving sources so as to reduce a speed difference between the pair of driving wheels when the bed is laterally moved. The bed conveyance auxiliary device according to claim 14 or 15 ,
The lateral movement and swing control circuit controls the pair of the driving source so that greater than the torque applied to torque applied farther the drive wheel from the bed when turning the bed to the drive wheel close to the bed A bed conveyance auxiliary device having a turning assist mode. A bed auxiliary conveyance apparatus used in carrying bed,
An operating device that transmits an operation signal by being operated, and a traveling carriage that receives the operation signal and travels based on the operation signal,
Wherein the traveling vehicle, the lower force application member for applying a downward force to the engagement locks and the bed upward force applying member and said bed to impart upward force on engagement locks and the bed in the bed is provided ,
The operating device has a transmitter for transmitting the operation signal to the frame of the bed,
The traveling carriage is a bed conveyance assisting device having a receiver that receives the operation signal via the frame of the bed . A bed equipped with the bed conveyance auxiliary device according to any one of claims 1 to 17 . A bed auxiliary conveyance apparatus used in carrying bed,
An operating device that transmits an operation signal by being operated, and a traveling carriage that receives the operation signal and travels based on the operation signal,
Wherein the traveling vehicle, the lower force application member for applying a downward force to the engagement locks and the bed upward force applying member and said bed to impart upward force on engagement locks and the bed in the bed is provided ,
The operating device has a hand detection sensor that detects that a user's hand approaches or comes into contact with the operating device,
The traveling carriage has a brake device that regulates the traveling of the traveling carriage,
A bed provided with a hand detection brake circuit that controls the brake device to restrict the traveling of the traveling carriage when it is determined that the hand is not in proximity to or in contact with the operating device based on a signal from the hand detection sensor Transport assist device. It is a bed conveyance auxiliary device according to claim 19 ,
The controller has a right part that is gripped by the user's right hand and a left part that is gripped by the user's left hand,
The hand detection sensor includes a right hand detection sensor that detects that the right hand approaches or contacts the right part, and a left hand detection sensor that detects that the left hand approaches or contacts the left part,
The hand detection brake circuit releases the brake device and allows the traveling carriage to travel when it is determined that the right hand approaches or contacts the right part and the left hand approaches or contacts the left part. Then, when it is determined that the right hand is not approaching or abutting on the right part and the left hand is not approaching or abutting on the left part, the brake device is controlled to drive the traveling carriage. Bed conveyance auxiliary device to regulate. A bed auxiliary conveyance apparatus used in carrying bed,
An operating device that transmits an operation signal by being operated, and a traveling carriage that receives the operation signal and travels based on the operation signal,
Wherein the traveling vehicle, the lower force application member for applying a downward force to the engagement locks and the bed upward force applying member and said bed to impart upward force on engagement locks and the bed in the bed is provided ,
The traveling carriage has a speed sensor that detects the speed of the traveling carriage,
The controller has an alarm device that emits light or sound,
A bed conveyance auxiliary device provided with an alarm circuit that activates the alarm device when the traveling carriage determines that the speed exceeds a predetermined speed based on a signal from the speed sensor . A bed auxiliary conveyance apparatus used in carrying bed,
An operating device that transmits an operation signal by being operated, and a traveling carriage that receives the operation signal and travels based on the operation signal,
Wherein the traveling vehicle, the lower force application member for applying a downward force to the engagement locks and the bed upward force applying member and said bed to impart upward force on engagement locks and the bed in the bed is provided ,
The traveling carriage is configured to lock and release the upper force applying member or the lower force applying member on the bed, and move in conjunction with the operation mechanism to move the upper force applying member or the lower force applying member. A bed conveyance auxiliary device having a caster that is used when a member protrudes from a carriage main body of the traveling carriage and conveys the traveling carriage when the member is released from the bed . It is a bed conveyance auxiliary device according to any one of claims 1 to 22 ,
Of both the upper force applying member and the lower force applying member, one located above the other one has a lateral member,
It said cross member, bed transport aid extending in the horizontal direction to be grasped by a user in transporting the traveling carriage.

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