JPH11115752A - Elevator for nursing - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable convenient riding and getting off in respect to a hoisting tool of an elevator for nursing, enable smooth running of a running base along a guide rail without interference with other items, and eliminate troublesome command for driving. SOLUTION: This type of elevator for nursing has a running base 2 running along a guide rail having an inclined portion, a hoisting tool 4 hung therefrom, and control means for controlling a running control device 17 which drives the running base 2 and an elevating device 32 which elevates the hoisting tool 4. When upward movement is commanded by an upward movement command part, the hoisting tool 4 is lifted to the position of inclination elevating. The running base 2 is so moved upward as to reach a target position. When downward movement is commanded by a downward command part, the hoisting tool 4 is lifted and the running base 2 is so moved downward as to reach a target position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guide rail having an inclined rail portion, a traveling vehicle traveling along the guide rail, a vehicle hanging down from the traveling vehicle, and traveling on the traveling vehicle. The present invention relates to a nursing care elevating device provided with a traveling driving device for driving and a control means for controlling an operation of an elevating driving device for vertically moving the riding device.

[0002]

2. Description of the Related Art Such a care lifting device is, for example,
It is used when an elderly person with a physical disability or a handicapped person goes up or down stairs, etc., and the traveling cart is mounted on a guide rail having an inclined rail portion in a state where the user is on the boarding tool as described above. By traveling along, for example, it is possible to move up and down between a lower floor and an upper floor.

By the way, in such a care elevating device, when the user gets on and off the vehicle, the riding device is located as low as possible near the floor so that the user can get on and off the device easily. Preferably, when the traveling vehicle travels along the guide rails, the traveling device is raised by a set amount from a low position for getting on and off the vehicle in order to avoid a possibility that the vehicle will interfere with stairs and other foreign objects. It is necessary to run in a state.

Conventionally, therefore, a climbing command unit for commanding the ascending and descending drive device to move up after riding on the vehicle, an upward movement commanding unit for commanding the traveling drive device to move in the ascending direction, and a descending direction inclining direction. A lower movement command unit that commands the travel of the travel drive device to move to the target travel position, and a lowering command unit that commands the elevation drive device to move up to a lower position after moving to the target movement position. The user is instructed to manually instruct each of the command units.

[0005]

In the above-mentioned conventional construction, in addition to the command operation to the upper movement command section or the lower movement command section after traveling from the boarding device and before the vehicle descends from the boarding device. Therefore, the command operation to the ascending command unit and the command operation to the descending command unit must be performed separately, which disadvantageously complicates the manual operation and has room for improvement.

The present invention has been made in view of such a point, and an object of claims 1 and 2 is to provide a nursing care elevating device having the above-mentioned structure, which enables the user to easily get on and off a boarding tool and to use an external object. Another object of the present invention is to make it possible to smoothly move the traveling vehicle along the guide rails without interfering with the operation of the vehicle, but at the same time, to eliminate troublesome operations for driving commands.

Another object of the present invention is to secure safety in use in addition to the above objects.

[0008]

According to the first aspect of the present invention, an upward movement command section for instructing the control means to move in the upward slope direction, and a downward movement for instructing the control section to move in the downward slope direction. A command section, and the control means, when the upward movement command section is instructed to move in the ascending ascending direction, after raising the riding equipment from the descending position for boarding to the ascending and descending ascending position, The operation of the traveling driving device and the lifting / lowering driving device is controlled so as to move the traveling vehicle in the ascending upward direction until reaching the target moving position. Then, when the downward movement instruction section instructs the movement in the downward slope direction, the vehicle is raised from the descending position for riding to the upward position for tilting up and down, and then the traveling vehicle reaches the target moving position. The operation of the traveling drive device and the elevation drive device is controlled so as to move in the direction of inclination down to the maximum.

Therefore, when the traveling vehicle travels along the inclined rail portion, the riding equipment always rises to the ascending and descending elevating position, so that the traveling vehicle can travel smoothly with less risk of interference with foreign objects. Moreover, at the time of getting on and off the boarding equipment, the boarding equipment has descended to the descending position for boarding,
Even elderly and handicapped people with disabilities can easily get on and off. Then, after boarding the vehicle, simply instructing one of the upper movement command section and the lower movement command section, the lifting operation of the boarding section and the traveling operation of the traveling vehicle in the direction in which the traveling vehicle wants to move, respectively. Since the operation is performed, the operation for raising and lowering the riding section and the operation for moving the traveling carriage can be performed with as little trouble as possible compared to the conventional configuration in which the operation is performed separately.

According to a second aspect of the present invention, in the first aspect, the control means is based on the detection information of the position detection means when the traveling vehicle is moving toward the target movement position. When it is detected that the vehicle has moved to the target movement position, after stopping the movement of the traveling vehicle, the traveling is performed so as to lower the boarding tool from the rising position for tilting up and down to the lowering position for boarding. The operation of the driving device and the elevation driving device will be controlled.

[0011] Therefore, after boarding the boarding device, only the command of the direction of movement, of the up-moving command section or the down-moving command section, is issued to raise the boarding section, run the traveling carriage, and Since each of the lowering operations from the ascending position to the lowering position of the riding section at the target movement position is executed, it is possible to further reduce the complexity of the operation as compared with a configuration in which the descending operation of the riding section is separately commanded. .

According to a third aspect of the present invention, in the first or second aspect, there is provided a descent command unit for instructing a lowering operation of the boarding tool, and the control unit is configured to perform control based on a command from the descent command unit. The operation of the elevation drive means is controlled so as to lower the riding device from the rising position for tilting up and down to the descending position for riding.

That is, after boarding the boarding tool, one of the up movement command section and the down movement command section is commanded,
The ascending operation of the riding device and the traveling operation of the traveling vehicle are performed, and the rider moves the riding device down to a position where the rider wants to descend (the target moving position may be the position in the course of traveling until reaching the target moving position). When the vehicle arrives, if the descending operation is commanded by the operation of the descending command unit, the vehicle will be lowered. Therefore, when the vehicle is lowered, it is determined whether there is an obstacle or the like on the lower side. Can be lowered based on the intention of the occupant while confirming the above, and operational safety can be ensured.

According to a fourth feature of the present invention, in the third feature, the guide rail is configured to have a horizontal rail portion, and the traveling vehicle maintains an attitude along the longitudinal direction of the guide rail. The traveling vehicle and the vehicle are relatively tiltable so that the vehicle travels and the vehicle keeps the hanging posture, and whether the traveling vehicle and the vehicle are in an inclined state in which the vehicle and the vehicle are relatively inclined. The inclination state detecting means for detecting whether or not the descending operation is instructed by the descending instruction unit when the inclination state is detected by the inclination state detecting means. It is configured not to execute the descending operation.

Therefore, even when the traveling vehicle is traveling in an inclined posture along the inclined rail portion, the rider is inclined relative to the traveling vehicle and the hanging posture is maintained, so that the rider can maintain the hanging posture. The riding posture does not become unstable even while traveling on the inclined rail portion. Since such an inclined rail portion is, for example, a portion where a stair or a step portion is present, when the inclined state detecting means detects the inclined state, even if a descending operation is instructed by the descending instruction section, the riding equipment is not used. The safety can be ensured by preventing the lowering operation of the. When the traveling vehicle is on the horizontal rail portion, the traveling vehicle and the vehicle are not inclined relative to each other, so that the vehicle can be lowered by a command from the descending command unit. The floor surface of such a horizontal rail portion is also horizontal, so that the passenger can safely descend.

[0016]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing an embodiment of a care lifting device according to the present invention. This lifting device
As shown in FIG. 1, a guide rail 1 provided near a ceiling of a house, and a traveling vehicle 2 running along the guide rail 1
And an elevating frame 3 as an elevating frame suspended from the traveling trolley 2, and a boarding tool 4 that moves up and down along the lifting frame 3, and the like, as shown in FIG. 2. In addition, a seat 5 for stool, a footrest 6 for placing feet, and the like are provided. In this embodiment, the boarding tool is configured such that the rider rides in a posture toward one side orthogonal to the moving direction of the traveling vehicle. The guide rail 1 includes a straight rail 1a and two types of curved rails 1.
b, 1c are connected appropriately, and the entrance porch A, the entrance porch C, the entrance porch C on the first floor, the entrance porch D on the first floor, the entrance hallway E on the first floor, and the indoor stair F are arranged from the porch A in front of the entrance stairs. Through,
It is arranged continuously up to corridor G on the second floor. That is, the front entrance porch A as a landing downstairs across the entrance stairs B, the front entrance porch C as the landing upstairs, the entrance porch D, the entrance corridor E,
The front porch C, the entrance porch D, and the hallway E at the entrance, which are landing halls downstairs, and the corridor G on the second floor, which is a landing hall upstairs, are respectively arranged continuously with the indoor stairs F interposed therebetween.

The guide rail 1 includes a porch A in front of the entrance stairs, a porch C in front of the entrance, a porch D in the entrance, a corridor E in the entrance, 2.
Above the floor corridor G, the straight rails 1a are respectively arranged horizontally to form a horizontal rail portion 1A. Above the entrance stairs B and the indoor stairs F, the straight rails 1a are respectively connected to the respective stairs B and F. Each of the straight rails 1a is arranged so as to be inclined along the slope to constitute an inclined rail portion 1B.
The space is connected to each other by a curved rail 1b curved upward and a curved rail 1c curved downward. In this embodiment, the entrance stairs B
And the indoor stairs F have substantially the same gradient,
The two inclined rail portions 1B are disposed at substantially the same inclination angle. However, when the inclinations of both steps B and F are different, it is preferable that the both inclined rail portions 1B are disposed at an inclination angle along each inclination.

The guide rail 1 is, as shown in FIG.
A rack 8 made of aluminum having a substantially U-shaped cross section and formed separately is provided along the longitudinal direction of the guide rail 1 in the center of the lower surface side and fixed to the guide rail 1 by bolts or the like (not shown). Have been. Guide rail 1 having such a configuration
Are fixedly supported by a plurality of rail support members 9 fixed to an indoor wall and a rail support member 9 connected to a pole 10 erected outdoors. In addition, in the portion of the entrance door H, although not particularly shown, the entrance door H is divided into a narrow left door and a wide right door as viewed from the outside of the entrance, and is formed over both the left and right doors. The guide rail 1 is disposed in the notch, and the left and right doors are double-opened, so that only the right door is normally used.

As shown in FIGS. 5 to 8, the traveling carriage 2 is a carriage frame 11 which is located on one side of the guide rail 1 and has a rectangular section in a longitudinal direction along the traveling direction. And an auxiliary frame 12 fixed to both ends in the longitudinal direction of the bogie frame 11 and extending to a side opposite to the bogie frame 11 so as to bypass the lower side of the guide rail 1. The bogie frame 11 is provided with a pair of support rollers 13 guided on the inner surface of the U-shaped hollow portion of the guide rail 1 and side rollers 14 guided along the outer surface on one side of the guide rail 1. The auxiliary frame 12
Is provided with a side roller 15 guided along the outer surface of the lateral side opposite to the guide rail 1. The side rollers 14 on the side of the bogie frame 11 are provided in a pair at a predetermined pitch in the traveling direction at two locations in the upper and lower portions, respectively, and a total of four side rollers 14 are provided.
A total of four are provided in pairs at a predetermined pitch in the traveling direction at two locations above and below, respectively.

The support roller 13 is configured to support the load of the vehicle 4 via the elevating frame 3 while rotating while contacting the receiving surface u of the inner surface of the U-shaped hollow portion of the guide rail 1. , The side rollers 14, 1
5 is configured to prevent the traveling carriage 2 from swaying in the lateral direction while rotating while being in contact with the left and right lateral sides of the guide rail 1.

A motor holding plate 16 is connected to the lower side of the bogie frame 11 and extends across the left and right auxiliary frames 12. A traveling electric motor 17 as a traveling driving device is connected to the motor holding plate 16 by a motor shaft thereof. Is mounted and fixed along the front and rear direction of the traveling vehicle 2. The traveling electric motor 17 includes a reduction gear 18
Are integrated and interlocked, and a pinion 19 is attached to an output shaft protruding from the speed reducer 18.
9 is configured to engage with a rack 8 provided on the guide rail 1.

The support roller 1 of the carriage frame 11
3 and a rotation support shaft 20 which protrudes largely outward in a direction orthogonal to the running direction at a substantially intermediate position between the respective rotation axes of the support rollers 13. Is formed. The rotation support shaft 20 has a rotation boss portion 21 provided at the upper end of the lifting frame 3 externally mounted so as to be relatively rotatable, and the lifting frame 3 rotates with respect to the traveling vehicle. The load of the elevating frame 3 and the mounting tool 4 is supported in such a manner that it can be tilted relatively around the axis X1 of 20.

A pair of left and right contact bolts 23a, 23 are provided on the outer peripheral portion of the rotary boss 21 via a bracket 22.
7 is attached, and the right contact bolt 23b in FIG. 7 contacts the stopper 24 attached to the bogie frame 11, as shown in FIG. 7, to prevent the rightward downward rotation in the figure. In this way, the vehicle 4 is configured to maintain the vertical posture as much as possible when traveling on the horizontal rail portion. As shown in FIG. 8, the left contact bolt 23 a contacts the upper surface of the reduction gear 18 when traveling on the inclined rail portion 1 </ b> B of the traveling vehicle 2, and The ascending / descending frame 3 which is relatively inclined is maintained in a vertical posture, and is configured to prevent further inclination. The contact bolts 23a and 23b are
By turning the screw, the contact restriction position can be adjusted.

Rail switches 25a, 25b for rail end detection are attached to the front and rear of the bogie frame 11, and a limit switch 25a located on the right side while sitting on the seat 5, as shown in FIG. By contacting the dog 26a attached near the end of the guide rail 1 on the porch A side in front of the entrance stairs, the end of the guide rail 1 on the porch A side in front of the entrance stairs is detected, and the traveling vehicle 2 travels. Is stopped, and the limit switch 25b located on the left side similarly contacts the dog 26b near the end on the corridor G side on the second floor, thereby detecting the end of the guide rail 1 on the corridor G side on the second floor. Then, the traveling of the traveling vehicle 2 is stopped. Therefore, each of the limit switches 25a,
25b and the dogs 26a and 26b, position detecting means I for detecting that the traveling vehicle 2 has moved to the target position.
K.

The carriage frame 11 has an inclination detecting limit switch 27 as an inclination detecting means for detecting whether the traveling carriage 2 and the vehicle 4 are in an inclined state. Is provided. To elaborate,
As shown in FIG. 7, the traveling vehicle 2 and the vehicle 4, that is, the elevating frame 3 are not relatively inclined, that is, the traveling vehicle 2 is located on the horizontal rail portion and the elevating frame 3 is In the vertical posture, the bracket 22 supporting the contact bolt 23a is disposed so as to act on the switch operation piece 27a of the tilt detection limit switch 27 to turn on the switch, and the elevating frame 3 travels. As shown in FIG. 8, when the vehicle is inclined relative to the carriage 2, the bracket 22 is separated from the switch operation piece 27a and the inclination detection limit switch 27 is turned off, so that the traveling carriage 2 and the vehicle 4 are separated. It is configured to be able to detect a relatively inclined state.

The lifting frame 3 is shown in FIGS.
As shown in the figure, the whole is made of a hollow metal having a substantially rectangular cross-sectional shape, and two reinforcing ribs 28 are integrally formed over the front side and the rear side, and the tongue extends inward from the front side. The piece 29 is integrally extended, and two slits 30 are formed on the rear side in parallel along the longitudinal direction. As shown in FIGS. 10 and 11, motor mounting support members 31a and 31b having a substantially U-shaped cross section are attached to the upper portion of the elevating frame 3 along the inner surface thereof, as shown in FIGS. An elevating electric motor 32 as an elevating drive device for elevating the elevating device 4 is mounted and supported. The lifting electric motor 32
Is mounted with its motor shaft oriented in a direction along the axis of the rotation support shaft 20, that is, with the motor shaft oriented in a direction perpendicular to the longitudinal direction of the guide rail 1. A drive sprocket is mounted on the motor shaft. 33 is attached in a state of being located inside the lifting frame 3. The support member 31a
Are provided to extend in the vertical direction.

As shown in FIGS. 12 to 15, the elevating frame 3 is provided with an elevating frame
4 is externally fitted so as to be able to move up and down relatively. Brackets 35 having a U-shaped cross section are attached to the upper and lower ends of the lifting frame 34 so as to enter the internal space of the lifting frame 3 through the slits 30 respectively. The front-rear guide roller 3 which is located between the left and right tongue pieces 29 and the rear side and rotates in contact with the tongue pieces 29
A pair of left and right 6 is provided between a reinforcing rib 28 and the left and right sides of the elevating frame 3 on a support member 37 erected over the upper and lower brackets 35, and the upper and lower members rotate in contact with the left and right sides. A pair of left and right guide rollers 38 are provided.

One end of the drive chain 39 wound around the drive sprocket 33 is connected to the bracket 35 of the lifting frame 34, and the other end of the drive chain 39 is guided in a hanging state. When the drive chain 39 is rotated by the forward / reverse rotation of the lifting / lowering electric motor 32, the lifting / lowering frame 34 is made up of four like the front and rear guide rollers 36 as shown in FIGS. While being guided by the left and right guide rollers 38, it is configured to vertically move up and down along the lifting frame 3. The support member 31a is provided with a chain guide 40 for slidingly guiding the other end of the drive chain 39 guided in a hanging state from both left and right sides.

As shown in FIG. 14, a dog 42 which comes into contact with an upper limit detection limit switch 41a provided on the lift frame 3 is attached to the lift frame 34, and the dog 42 is connected to the upper limit switch 41a. The contact is configured to detect that the elevating frame 34 has reached the upper limit position and stop the ascent. On the other hand, the upper limit detection limit switch 41 in the lifting frame 3
The dog 43 provided at the other end of the drive chain 39 comes into contact with the upper side of the
Is provided with a lower limit detection limit switch 41b for detecting that the lower limit has reached the lower limit operation limit of the lifting operation range. The dog 43 also serves as a weight for giving tension to the drive chain 39. In a normal lifting operation, the lower limit detection limit switch 41b does not perform the detection operation, and it is detected that the lower limit operation position is detected by the landing detection switch provided on the vehicle 4 as described later. Then, the lowering operation of the lifting frame 34 is stopped, and the lower limit detection limit switch 41b is configured.
When the detection operation is performed, the lifting electric motor 32 is stopped in an emergency.

At the lower end of the lifting frame 3,
As shown in FIG. 4, in a state substantially parallel to the guide rail 1, a rail body 81 provided in a fixed state along the wall of the building with respect to a rail body 81 in a lateral direction on the paper (a lateral direction orthogonal to the traveling direction). A pair of guide rollers 82 that are engaged and guided so as to restrict the movement of the vehicle 4 are provided, and a roll-prevention mechanism that suppresses the roll of the vehicle 4 during traveling movement is configured. The rail body 81 can be used as a handrail when other people go up and down the stairs. However, without such a rail body 81, the guide roller 82 comes into contact with a wall to prevent rolling. You may make it. still,
Such a guide roller may not be provided.

As shown in FIGS. 2 and 3, the riding device 4 includes a backrest 44 and left and right armrests 45 in addition to the seating seat 5 and the footrest 6 described above, and is located below the seating seat 5. The footrest 6 is attached via a connecting frame 46 to be connected, and the riding device 4 is connected and fixed to the elevating frame 34 so as to move up and down integrally with the elevating frame 34. The seat 5, the armrest 45, and the footrest 6 are all configured to be rotatable and fixed, and as shown in FIG. It is configured to be switchable between a posture use state and a storage state in which all the parts are rotated and retracted rearward as shown in FIG.

The swing fixing mechanisms, such as the seat 5 and the armrest 45, are all the same in construction, so that the armrest 4
19 and 20, an armrest 45 is rotatably attached to the backrest 44, and the armrest 45 is
A plate 48 having two engagement holes 47 is fixed to the arm rest 45, and the plate 48 is configured to rotate integrally with the armrest 45. On the backrest 44 side, an engagement pin 49 inserted into and engaged with the engagement hole 47 is slidably provided. The engagement pin 49 is elastically attached to the plate 48 by a spring 50. The engaging pin 49 is urged against the elastic force of the spring 50 to pull the engaging pin 49 into one of the two engaging holes 47 so that the engaging pin 49 is rotated upward and in the above-described protruding position. It is configured so that it can be fixed by switching to the stored posture.

At the end of the right armrest 45, an operation unit 51 for driving is provided.
As shown in the figure, for example, a rightward switch 52 for instructing the vehicle 4 to travel to the right and a leftward switch 53 for instructing traveling to the left in the seated position;
And a down switch 54 for instructing the descent of the vehicle. Each switch is configured as a self-return type switch that is turned on when pressed to continue running or ascending, and is released to stop running or ascending when released. . In the arrangement shown in FIG. 1, traveling to the left moves the inclined rail portion of the guide rail 1 in the ascending up direction, and traveling to the right moves the inclined rail portion in the inclining down direction. , The leftward switch 53 corresponds to an upward movement command section,
The rightward switch 52 corresponds to the downward movement command section, and the downward switch 54 corresponds to the downward movement instruction section.

If there is an obstacle below the footrest 6 on the left and right sides of the footrest 6, the bite prevention switch 55 detects the obstacle and stops the lowering of the footrest 6.
Is provided. This biting prevention switch 55 is
As shown in FIG. 21, two switches, a first photoelectric switch 55a and a second photoelectric switch 55b, are configured by switches.
The two photoelectric switches 55a and 55b
Are mounted at an interval around the center of rotation of the footrest 6 with respect to the connecting frame 46. When the shielding plate 56 is attached to the footrest 6 side and there is an obstacle below when the footrest 6 is lowered, the footrest 6 rotates upward, and the first photoelectric switch 55a detects the shielding plate 56. , Thereby detecting an obstacle to prevent the footrest 6 from descending.
Prevents foreign matter from being caught below. That is, the first photoelectric switch 55a functions as an obstacle detection sensor that detects an obstacle located below the footrest 6. In addition,
The first photoelectric switch 55a and the second photoelectric switch 55b
When both of them detect the shielding plate 56, the footrest 6 can be lowered because the footrest 6 is in the housed state.

At the lower end of the connecting frame 46, there is provided a landing detection switch 57 for detecting that the lower end position has contacted the floor surface and has arrived at the floor. That is, as shown in FIG. 17, the contact piece 58 is supported at the lower end of the connecting frame 46 in a vertically movable manner over a set range, and the spring 59 is provided as shown in FIG.
It is provided in a state in which it is moved and biased downward. Then, the boarding device 4 is operated to descend and the contact piece 58
17A comes into contact with the floor surface FL and rises relatively to the vehicle 4 so that the landing detection switch 57 is turned ON to detect the landing state, as shown in FIG. It is configured. This contact piece 58 is, as shown in FIG.
The landing detection switches 57 are provided on the left and right sides, respectively, while being provided so as to cover substantially the entire width in the left and right direction.
The width of the contact action on the floor surface is widened so that the landing state can be detected even when either the left or right switch is detected. Accordingly, in addition to the lower limit detection limit switch 41b for detecting the lower limit of the footrest 6 by the dog 43 on the other end side of the drive chain 39, a landing detection switch 57 for detecting landing on the floor is provided. Therefore, when a mat or the like is laid on the floor surface and the floor surface is substantially raised, the electric motor 32 for lifting and lowering is preferentially given priority based on the landing detection by the descending position detection sensor 74. Stop,
If the descending position detecting sensor does not detect the landing for some reason, the electric motor 32 for raising and lowering is stopped by detecting the lower limit of the lower limit detecting limit switch 41b located below.

As shown in FIG. 4, a pressure-sensitive tape switch 60 as an appropriate posture detecting switch is provided inside the seating portion of the seating seat 5 so as to use the seating posture with the seating seat 5 protruding. In the state, unless the pressure-sensitive tape switch 60 inside the seating seat 5 is turned on, the traveling and the vertical movement of the vehicle 4 are stopped, and
When the pressure-sensitive tape switch 60 is turned off during traveling or moving up and down, the moving traveling and up and down movement are automatically stopped.

In addition, as shown in FIG. 1, a remote control switch 61 is provided on a wall of a porch A in front of the entrance stairs, a corridor E at the entrance, and a corridor G on the second floor, so that the rider 4 is requested. To the location, or when the passenger
1 is configured so that the caregiver can operate the vehicle 4 when it is impossible to operate the vehicle 1.

The power supply for the elevating device for nursing care is an AC power supply for ordinary households, and a power supply cable 62 as a power supply line and a power supply cable from a power supply unit (not shown) on the ground side installed on the house side. Power is supplied to the traveling electric motor 17, the elevating electric motor 32, and the like of the traveling vehicle 2 via a cable reel 63 as a winding unit and a connection line 64. The cable reel 63
Is configured to draw out and wind up the power supply cable 62 while moving integrally with the traveling vehicle 2 as the traveling vehicle 2 travels, so that the power feeding cable 62 can move freely along the longitudinal direction with respect to the guide rail 1. While being guided and supported, it is linked to the traveling vehicle 2 so as to move and travel integrally. More specifically, as shown in FIGS. 5 to 9, a support member 65 integrally attached to the cable reel 63 has upper and lower sides formed along the outer edge of the U-shaped hollow portion of the guide rail 1. A total of four flanged guide rollers 67 are provided, one pair each at the top and bottom, which are engaged and guided by the ridges 66, and are configured to be able to move and travel together with the traveling carriage 2. A connecting rod 71 as a connecting tool is pivotally connected via a ball joint 70 to each of the bracket 68 attached to the bogie frame 11 of the traveling cart 2 and the bracket 69 attached to the support member 65, and is relatively inclined. The traveling carriage 2 and the cable reel 63 are linked so as to be able to travel smoothly even at the bent portion of the guide rail 1 in a state in which the guide rail 1 can be moved. In addition, you may connect using a flexible tube etc. instead of a connection rod.

The power supply cable 62 is provided so as to be supported on the ground side at one end located on the inclined upper side of the guide rail 1. For example, the cable reel 63 is directed in a direction away from the one end. As it moves, the guide rail 1 is fed out from the cable reel 63 by the moving running force so as to be received and supported by the receiving surface u on the inner surface of the U-shaped hollow portion of the guide rail 1. Then, as the cable reel 63 moves toward the one end, the feeding cable 62 is sequentially wound by the winding operation force of the cable reel 63. The support member 65 has three wires for guiding the winding of the power supply cable 62 received and supported on the receiving surface u of the guide rail 1 so that the cable reel 63 can take up or unwind the cable. Guide roller 72 is provided.

In the nursing care elevating device having such a structure, all operations are controlled by a control device 73 as a control means. As shown in FIG.
The main control unit 73a controls the operation of the vehicle 4 based on operation information input from the like, the traveling control unit 73b controls the traveling operation of the traveling vehicle 2, and the elevation control unit controls the up-down operation of the vehicle 4 , And the like.

When the leftward switch 53 is depressed and a command is issued to move in the ascending direction, the controller 73 raises the riding device 4 from the descending position for riding to the ascending and descending upward position. After that, the traveling electric motor 1 is moved to move the traveling vehicle 2 in the upward direction until reaching the target moving position.
7 and the operation of the electric motor 32 for elevating and lowering, and when the rightward switch 52 is pushed to instruct the movement in the inclining and descending direction, the rider 4 is moved to the lowering position for riding. After moving the traveling carriage 2 to the target moving position after moving the traveling carriage 2 to the target moving position, the operation of the traveling electric motor 17 and the elevating electric motor 32 is controlled. Have been. And when it reaches the target moving position, it stops running automatically,
Thereafter, when the lowering switch 54 is pressed, the operation of the electric motor 32 is controlled so as to lower the riding device 4 from the rising position for tilting up and down to the lowering position for riding. When the pressing operation of each switch is stopped halfway, the driving is stopped at that position, and the operation described above is continuously executed by continuing the pressing operation of each switch. It has become.

When the inclination detecting limit switch 27 is OFF (when the relative inclination state between the vehicle 4 and the traveling vehicle 2 is detected), the control device 73 operates the descending switch 54 to perform the descending operation. Is commanded, the lowering operation of the boarding tool 4 is not executed.

Next, the operation of the control device 73 will be specifically described. In addition, when boarding from the porch A in front of the entrance stairs, when the boarding tool 4 is not on the porch A in front of the entrance stairs, the remote control switch 61 near the porch A in front of the entrance stairs is operated to operate the boarding tool. 4 is called on the porch A in front of the entrance stairs to switch to a desired use state. Then, sitting on the seat 5, the left-hand switch 5 of the operation unit
Press 3. At this time, if the user is seated on the seat 5 in an appropriate posture, the pressure-sensitive tape switch 60 is ON, and the electric motor 32 for elevation is rotated. If the seat is not seated in a proper posture with respect to the seat 5, the pressure-sensitive tape switch 60 will not be turned on, and the electric motor 32 for elevation will not be driven.

When the electric motor 32 for rotation is driven to rotate and the drive chain 39 is rotated, the lifting frame 34, that is, the riding device 4 is raised, and the dog 42 attached to the lifting frame 34 is moved.
Touches the upper limit switch 41a to detect the upper limit of the vehicle 4 and to move the electric motor 32 up and down.
16 to stop the ascending of the vehicle 4 (see FIG. 16).
(B)). Thereafter, the traveling electric motor 17 is driven to rotate, and the traveling vehicle 2 travels and travels along the guide rail 1 by the bite of the pinion 28 into the rack 8 by the rotational driving, and the traveling vehicle 2 travels along with the traveling vehicle 2. 4 also travels integrally with the lifting frame 3.

When reaching the entrance stairs B, the traveling carriage 2 travels along the inclined rail portion 1B.
Relative to the traveling carriage 2 around the axis of the rotation support shaft 20, the elevating frame 3 faces the vertical direction, and the seating seat 5 and the footrest 6 travel while maintaining the horizontal posture. Become. At this time, the rising position of the boarding equipment 4 is set by the limit switch 41a and the dog 42 so that the lower end of the footrest 6 does not contact the entrance stairs B and the indoor stairs F. The vehicle travels while keeping the seat 5 and the footrest 6 in a horizontal posture without touching the stairs F.

For example, when descending in the hallway E at the entrance, the left-handed switch 53 pressed when the vehicle 4 reaches the hallway E is released. Then, the traveling electric motor 17 is stopped, and thereafter, by pressing the down switch 54, the elevating electric motor 32 is driven to rotate and the boarding tool 4 is lowered.

At this time, if there is an obstacle below the vehicle 4, the footrest 6 swings slightly upward due to contact with the obstacle, and the first photoelectric switch 55 a of the bite prevention switch 55 is moved to the shielding plate 56. , The descent of the boarding equipment 4 is stopped, and when the obstacle is removed, the descent is restarted again. The contact piece 58 contacts the floor surface, and the landing detection switch 57 detects the landing on the floor surface. Upon detection, the electric motor 32 for elevating is stopped, and the vehicle 4 stops at the boarding lowering position suitable for getting on and off (see (b) of FIG. 16). Even if the landing detection switch 57 is further lowered in a state in which detection is not performed for some reason, when the upper limit detection limit switch 41a is operated by the dog 43 provided on the other end of the drive chain, the electric motor 32 for elevation is moved. At that time, the operation is stopped (see (c) of FIG. 16).

As it is without getting off in the hallway E of the entrance 2
To move to the corridor G on the floor, the switch 53 to the left is kept pressed. Then, the traveling carriage 2 continues traveling and moves toward the corridor G on the second floor.
When the limit switch 25b located on the left side provided on the traveling vehicle 2 comes into contact with the dog 26b near the end on the corridor G side on the second floor, the end of the guide rail 1 on the corridor G side on the second floor. Upon detecting that the vehicle has reached the (target movement position in the ascending direction), the driving of the traveling electric motor 17 is stopped and the traveling of the traveling vehicle 2 is automatically stopped even if the leftward switch 53 is pressed. . Thereafter, by pressing the lowering switch 54, the electric motor 32 for raising and lowering is rotated and the riding device 4 is lowered, and when the landing detection switch 57 detects landing on the floor surface, the electric motor 32 for lifting is lowered. Then, the vehicle 4 stops and stops at the boarding lowering position suitable for getting on and off.

As described above, when the vehicle is traveling on the inclined rail portion while traveling, if the pushing operation of the leftward switch 53 is stopped, the traveling stops there. Since the limit switch 27 for tilt detection is OFF (detecting the relative tilt state between the traveling vehicle 2 and the vehicle 4), in such a state,
For example, even if the lowering switch 54 is operated by mistake, the lifting / lowering electric motor 32 is not driven, so that the vehicle 4 does not lower. If the left switch 53 is operated again, leftward traveling starts.

In the above description, the movement in the ascending direction has been described. Conversely, when moving from the second floor corridor to the first floor corridor or the vicinity of the entrance, instead of the leftward switch 53 in the above operation, By pressing the rightward switch 52, a similar movement operation can be performed. still,
Also in this case, even when the traveling is stopped and the down switch 54 is operated while traveling on the inclined rail portion, the riding equipment 4 does not descend.

[Other Embodiments] (1) In the above-described embodiment, the down switch 54 (down command unit) for instructing the lowering of the vehicle 4 is provided. However, such a down switch 54 is provided. For example, when it is detected that the traveling vehicle 2 has moved to the target movement position based on the detection information of the limit switches 26a and 26b, the traveling vehicle is automatically stopped, and then the vehicle 4 is automatically moved. It is good also as a structure which makes a descent operation | movement. Further, if the pushing operation of the leftward switch 53 or the rightward switch 52 is stopped in a state where the relative tilt state between the traveling vehicle 2 and the vehicle 4 is not detected, the traveling is stopped and the set time has elapsed. A configuration in which the lowering operation is automatically performed later may be adopted.

(2) In the above embodiment, the configuration in which the guide rail 1 includes the inclined rail portion and the horizontal rail portion has been exemplified. However, the guide rail 1 does not include the horizontal rail portion.
In a state in which the traveling vehicle 2 has stopped traveling at both end positions of the inclined rail portion, the vehicle 4 may be raised and lowered between a boarding lowering position and a raising and lowering position.

(3) In the above embodiment, the vehicle 4
However, the configuration is such that the occupant rides in a posture that is directed to one side orthogonal to the traveling direction along the guide rail 1, but instead of such a configuration, for example, as shown in FIGS.
A configuration may be adopted in which the occupant rides in a posture in which the occupant faces the inclined lower side of the guide rail 1. In this embodiment, as in the above-described embodiment, each part can be swung and stored. Note that the arm left 45 located on the opposite side to the lifting frame 34 is swung around the horizontal axis X2 to a posture along the backrest 44, and is then swung around the vertical axis Y with the backrest 44. Has become. still,
In the figure, reference numeral 80 denotes a protection plate for preventing interference with the lifting frame 34, the lifting frame 3 and the like.

(4) In the above embodiment, the pinion is rotated by the electric motor as the traveling drive device, and the pinion meshes with the rack provided on the guide rail 1 to move and travel. Alternatively, for example, an endless cable may be wound along a traveling path, and the cable may be rotated in a longitudinal direction to form a traveling vehicle 2.
It may be implemented in various running modes such as a configuration in which the vehicle runs. In the above-described embodiment, the power supply cable is configured to be supported on the ground side above the slope of the guide rail.
It is also possible to adopt a configuration in which the rail is supported on the ground side below the slope and fed out. Further, in the above embodiment, the lifting frame 34 is connected to one end of a drive chain 39 whose both ends are suspended while being wound on a sprocket driven by an electric motor as a lifting driving device, and the lifting frame 34 is Although it is made to move up and down, instead of such a configuration, the drive chain 3
9 may be wound endlessly.
May be configured to be suspended by a rope, such that the winding operation and the feeding operation of the rope are performed by an electric motor, and an electric cylinder or other lifting drive device may be used.

[Brief description of the drawings]

FIG. 1 is a schematic overall view of a lift device for nursing care.

FIG. 2 is a perspective view of a traveling vehicle and a vehicle.

FIG. 3 is a front view of a traveling vehicle and a vehicle.

FIG. 4 is a side view showing a switching state of the boarding equipment.

FIG. 5 is a sectional view of a traveling vehicle.

FIG. 6 is a plan view of a traveling vehicle.

FIG. 7 is a front view of the traveling vehicle in a horizontal state.

FIG. 8 is a front view of the traveling vehicle in an inclined state.

FIG. 9 is a diagram showing a guide state of a power supply cable.

FIG. 10 is a cross-sectional view of a lifting frame.

FIG. 11 is a sectional view of a lifting frame.

FIG. 12 is a cross-sectional view of a lifting frame.

FIG. 13 is a cross-sectional view of a lifting frame.

FIG. 14 is a front view of the inside of the lifting frame.

FIG. 15 is a front view of the inside of the lifting frame.

FIG. 16 is a diagram showing a lifting operation state;

FIG. 17 is a side view showing a landing detection structure.

FIG. 18 illustrates an operation unit.

FIG. 19 is a diagram showing a posture switching mechanism.

FIG. 20 is a diagram showing a posture switching mechanism.

FIG. 21 is a diagram showing a biting prevention switch;

FIG. 22 is a block diagram showing a control configuration.

FIG. 23 is a schematic overall view of a lift device for nursing care of another embodiment.

FIG. 24 is a view showing a vehicle according to another embodiment.

FIG. 25 is a plan view of a vehicle according to another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Guide rail 1 2 Traveling trolley 2 4 Boarding tool 4 17 Traveling drive device 27 Inclination state detection means 32 Elevation drive device 52 Downward movement command part 53 Upward movement command part 54 Downward command part 73 Control means IK Position detection means

Claims (4)

[Claims] A guide rail having an inclined rail portion;
Controls the operation of a traveling vehicle traveling along the guide rail, a riding device suspended downward from the traveling vehicle, a traveling driving device for driving the traveling vehicle, and an elevating drive device for vertically moving the riding device. And an up-movement command unit for commanding the control unit to move in the up-slope direction, and a down-movement command unit for commanding movement in the down-slope direction. The control means, when the upward movement command unit is instructed to move in the inclining direction, after raising the boarding device from a descending position for boarding to a rising position for inclining and descending, Controlling the operation of the traveling drive device and the elevating drive device so as to move the traveling vehicle in the ascending upward direction until reaching the target moving position, and when the downward movement instruction unit instructs the downward moving instruction unit to move in the inclining downward direction. , Said boarding After the tool is raised from the lowering position for boarding to the raising position for tilting up and down, the operation of the travel driving device and the lifting / lowering driving device are performed to move the traveling vehicle in the tilting down direction until reaching the target moving position. A care lift device configured to control. 2. The vehicle according to claim 1, further comprising: a position detecting unit configured to detect that the traveling vehicle has moved to the target position, wherein the control unit is configured to move the traveling vehicle toward the target moving position. Based on the detection information of the position detecting means, when it is detected that the vehicle has moved to the target movement position, after stopping the movement of the traveling vehicle, the boarding tool is moved from the rising position for tilting up and down to the boarding position. The elevating and lowering device for nursing care according to claim 1, wherein the operation of the traveling driving device and the elevating and lowering device is controlled so as to be lowered to the lowering position. 3. A lowering command unit for commanding a lowering operation of the boarding tool, wherein the controller is configured to perform a lowering command based on a command from the lowering commander.
3. The nursing care elevating device according to claim 1, wherein the operation of the elevating drive unit is controlled to lower the riding device from the inclined elevating position to the riding descent position. 4. 4. The guide rail is configured to have a horizontal rail portion, and the traveling carriage moves while traveling while maintaining a posture along a longitudinal direction of the guide rail, and the riding device maintains a hanging posture. The traveling vehicle and the riding device are configured to be relatively tiltable, and an inclination state detecting unit that detects whether the traveling vehicle and the riding device are in an inclined state in which the traveling vehicle and the riding device are relatively inclined. The control means is configured to, when the tilt state is detected by the tilt state detecting means, not execute the descending operation of the boarding device even if the descending operation is instructed by the descending instruction unit. 4. The elevating and lowering device for nursing care according to claim 3, wherein: