WO2013054660A1

WO2013054660A1 - Conveyance support device and bed

Info

Publication number: WO2013054660A1
Application number: PCT/JP2012/074877
Authority: WO
Inventors: 健太中内; 節治豊田; 岸　英治; 功今岡; 和夫清木; 幹也栗田; 清上辻
Original assignee: 株式会社豊田自動織機
Priority date: 2011-10-13
Filing date: 2012-09-27
Publication date: 2013-04-18
Also published as: JP2013100076A; JP5206896B2

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

Conveyance auxiliary device and bed

The present invention relates to a conveyance auxiliary device that assists conveyance of an object having casters (for example, a bed, a loading platform, and equipment) and a bed on which the conveyance auxiliary device is mounted.

The bed conveyance auxiliary device described in Patent Document 1 includes a carriage main body, left and right drive wheels provided at the lower portion of the carriage main body, and two ultrasonic motors that respectively rotate the drive wheels. Further, the bed conveyance auxiliary device includes an operating device provided at the upper part of the cart body, left and right sensors for detecting the pressing force applied to the left and right parts of the operating device, and signals from the left and right sensors, respectively. It has a controller that controls the output of the motor, and a coupling machine that couples the carriage body to the bed.

The coupling machine shown in FIG. 14 of Patent Document 1 extends from the lower part of the carriage body toward the bed and presses the lower part of the bed from below, and extends from the upper part of the carriage body toward the bed. And an upper coupler having an electromagnet adsorbed on the upper part of the bed. 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 traveling direction of the cart body is determined by the difference in the rotational speed of the drive wheels, and the cart body pushes the bed by the rotation of the drive wheels. As a result, a user such as a nurse 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 extending upward from the carriage main body to lift the bed, a pair of driving wheels, a motor for rotating the pair of driving wheels, And a controller for controlling the output of the motor.

The operating device described in Patent Document 2 includes a button and a potentiometer that detects the rotation angle of the button. A user such as a nurse operates the buttons of 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 traveling direction of the carriage body is determined by the difference in rotational speed of the drive wheels, and the bed is pulled by the rotation of the drive wheels. As a result, a user such as a nurse can carry the bed alone.

JP-A-8-317953 Japanese Patent Laid-Open No. 10-146364

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

In order to solve the above-described problem, one aspect of the present invention is a conveyance auxiliary device used when conveying an object, and an operation device that transmits an operation signal according to an operation by a user; Provided is a conveyance assisting device including a traveling carriage configured to convey an object by receiving an operation signal and traveling based on the operation signal. The traveling carriage is configured to lock the object and apply an upward force to the object; and an upward force applying member configured to lock the object and apply a downward force to the object. A downward force applying member configured to apply.

Therefore, the upper force applying member and the lower force applying member cooperate to clamp the object. For this reason, the traveling cart and the object are less likely to rattle even when a force is applied between them. For example, when the direction of travel of the object is greatly changed, or when the position of the center of gravity of the bed and the center of the traveling carriage when the patient is placed on the target bed is shifted, A torsional force in the left-right direction is generated during 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 occur, 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.

It is a perspective view which shows a bed and a bed conveyance auxiliary device. It is a side view which shows a bed and a bed conveyance auxiliary device. It is a perspective view which shows the operating device of a bed conveyance auxiliary | assistance apparatus. It is a perspective view which shows the traveling trolley | bogie of a bed conveyance auxiliary device. It is sectional drawing which looked at the traveling trolley from the front. It is a block diagram which shows the control mechanism of a bed conveyance auxiliary | assistance apparatus. It is a top view which shows a bed and a bed conveyance auxiliary | assistance apparatus when a bed goes straight. It is a top view which shows a bed and a bed conveyance auxiliary | assistance apparatus when a bed bends and advances. It is a top view which shows a bed and a bed conveyance auxiliary | assistance apparatus at the time of a bed moving laterally. It is a top view which shows the bed and bed conveyance auxiliary | assistance apparatus at the time of a bed turning. It is a perspective view which shows a part of operating device provided with the other operation member for rotation and a horizontal 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 which shows another traveling trolley | bogie. It is a top view which shows a bed and a bed conveyance auxiliary | assistance apparatus when a bed goes straight. It is a top view which shows a bed and a bed conveyance auxiliary | assistance apparatus when a bed bends and advances. It is a top view which shows a bed and a bed conveyance auxiliary | assistance apparatus at the time of a bed moving laterally. It is a top view which shows the bed and bed conveyance auxiliary | assistance apparatus at the time of a bed turning. It is a perspective view which shows the traveling trolley | bogie which has a caster.

An 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 configured to be attached to the bed 30 when the bed 30 is conveyed by a user such as a nurse.

The bed 30 includes a frame 30a, four casters 30c, and a panel 30d as shown in FIGS. The frame 30a includes a plurality of pillars 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 around a vertical axis, and wheels that are respectively 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 assisting device 1 includes an operating device 2 configured to be attached to one end in the longitudinal direction (straight direction) of the bed 30, that is, the first end, and the length of the bed 30. And a traveling carriage 3 configured to be attached to the other end of the direction, that is, the second end. The operating device 2 includes an operating device body 4 that is operated by a user such as a nurse, and a pair of mounting mechanisms 5 that mount the operating device body 4 on the bed 30.

As shown in FIGS. 2 and 3, the mounting mechanism 5 is mounted on 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 base end portion of the mounting main body member 5a. And a cam 5c. The mounting main body member 5 a extends so as to cover the upper part of the first end portion 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 away from 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 mounted on the first end portion of the bed 30.

The operating unit 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. Each of the

springs

6a and 6b is a spiral spring, and has one end attached to the left part or the right part of the controller body 4 and the other end attached to the corresponding 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 sensors such as strain gauges for detecting the strain amounts of the

springs

6a and 6b, respectively. The right sensor 7a and the left sensor 7b output a detection signal 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 4a is provided at one end of the operating unit body 4, and a turning / lateral movement operating 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 (for example, the right 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 around the axis of the operating machine body 4 and is held by the other hand (for example, the left hand) of the nurse 31. The turning / lateral movement operating member 9 is biased toward an initial position by a biasing member (not shown), and can be rotated in two directions of forward rotation and backward rotation with respect to the operating unit main body 4.

In the operating unit body 4, an operation amount detection sensor 33 is provided 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 machine body 4 and corresponds to the moving direction and the moving amount of the turning / lateral movement operating member 9 with respect to the operating machine body 4. Send a signal. 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, and 33 or transmits them in a wired manner to the frame 30a of the bed 30.

As shown in FIGS. 2 and 4, an upper force applying member 20 and a lower force applying member 21 are attached to the traveling carriage 3. 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 to each other. The hook 20 a extends from the traveling carriage 3 so as to protrude 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 is rotatably attached to the traveling carriage 3 at the central portion 22a. The lifter 22 has a tip portion 22b that protrudes from the traveling carriage 3, and a force can be applied through the tip 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.

The elastic member 19 is a spring such as a spring as shown in FIG. 4, and has one end attached to the connecting member 20 b and the other end attached to the end of the lifter 22. When the distal end portion 22 b is pushed down, the lifter 22 lifts the upward force applying member 20. When the tip 22b is lifted, the lifter 22 lowers the upward force applying member 20.

As shown in FIGS. 2 and 4, the upper force application 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 engaged with the bed 30 and applies an upward force to the bed 30. Thereby, the upward force applying member 20 supports the first 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.

The elastic member 19 is elastically deformed as shown in FIGS. 2 and 4 to urge the upper force applying member 20, 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. When the urging force is greater than or equal to the first force, the downward reaction force received by the upper force applying member 20 from the bed 30 is suppressed from becoming too small. 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.

The lower force applying member 21 is a member such as a metal pipe as shown in FIGS. 2 and 4, and includes 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 extends from each upper end portion of the vertical member 21 a so as to protrude 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 rotation 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. . A drive source 14 having an axle 12 is provided on the rotating plate 15. The drive source 14 includes 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, respectively. 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.

The cart base 11 is provided with a direction changing source 16, a battery 17, and a control device 18, as shown in FIG. 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.

As shown in FIGS. 5 and 6, the control device 18 includes a receiver 18a and a plurality of control circuits (direction control circuit 18b, travel torque control circuit 18c, and lateral movement / turning control circuit 18d). 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.

As shown in FIGS. 5 and 6, the direction control circuit 18b calculates the difference between the forces applied to the left and right portions of the controller 2 based on the signals from the left sensor 7b and the right sensor 7a obtained from the receiver 18a. calculate. Next, the direction control circuit 18b determines the rotation direction of the rotating plate 15 by controlling the direction changing source 16 based on whether the force difference is positive or negative. 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 18 b confirms the rotation direction and the rotation amount of the rotation plate 15 on the basis of the signal from the position sensor 34, while the rotation plate 15 is in a predetermined range with respect to the carriage base 11. The rotating plate 15 is rotated by the direction changing source 16 so as to have an angle.

When the direction control circuit 18b determines that the difference between the left and right forces is greater than or equal to a predetermined value, or when the direction control circuit 18b determines that the difference between the left and right forces has suddenly changed beyond a predetermined value, the direction control circuit 18b controls the direction conversion source 16. The rotation of the rotary plate 15 with respect to the carriage base 11 is stopped. As a result, the advancing direction of the bed 30 can be avoided from changing suddenly.

The traveling torque control circuit 18c obtains the sum of the left and right forces applied to the controller 2 based on the signals from the left sensor 7b and the right sensor 7a obtained through the receiver 18a. Next, the traveling torque control circuit 18c determines the traveling direction (forward or reverse) of the traveling carriage 3 by controlling the drive source 14 based on the sign of the sum of forces. 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 a signal from the speed sensor 35, and when the rotational speed becomes equal to or higher than a predetermined rotational speed, that is, the traveling speed of the traveling carriage 3 is, for example, higher than the walking speed of a person. When the speed becomes high, the magnitude of torque applied to the axle 12 is suppressed. 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.

The traveling torque control circuit 18c controls the drive source 14 to stop the rotation of the axle 12 for a predetermined time when it is determined that the sum of the forces applied to the controller 2 is switched between positive and negative. 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 directed in a direction perpendicular to the longitudinal direction of the bed 30 as shown in FIG. When a user such as a nurse 31 pushes the operating device 2, the bed 30 moves straight, and when the operating device 2 is pulled, the bed 30 moves backward 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 a user such as a nurse 31 pushes the bed 30, the bed 30 turns leftward and moves forward. 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 a user such as the nurse 31 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 the operation direction and the operation amount of the turning / lateral movement operation member 9 based on the 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 vehicle is operated in the negative direction, the axle 12 is rotated in the other 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 a user such as the nurse 31 rotates the turning / lateral movement operation member 9 forward with the right hand as shown in FIGS. 9 and 10, the axle 12 is directed in the direction along the longitudinal direction of the bed 30. As a result, the traveling carriage 3 moves in one direction of the bed 30 (direction perpendicular to the longitudinal direction). As shown in FIG. 9, when a user such as a nurse 31 pushes the bed 30 in the same direction as the traveling direction of 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 a user such as a nurse 31 pushes the bed 30 in the direction opposite to the traveling direction of the traveling carriage 3, the bed 30 turns on the spot.

When a user such as the nurse 31 operates the turning / lateral movement operation member 9 and pushes or pulls the operating device 2, the lateral movement / turning control circuit 18d runs with another circuit (the direction control circuit 18b and the traveling). The direction change source 16 and the drive source 14 are controlled with priority over the torque control circuit 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 extends so as to protrude from the traveling carriage 3, is locked to the bed 30 and applies an upward force to the bed 30, and extends and protrudes from the traveling carriage 3. And a downward force applying member 21 configured to apply a downward force to the bed 30.

Therefore, the upper force applying member 20 and the lower force applying member 21 cooperate to clamp the bed 30 as shown in FIG. For this reason, the traveling carriage 3 and the bed 30 are unlikely to rattle even when a force is applied between the three, 30. For example, when the traveling direction of the bed 30 is largely changed, or when the center of the bed 30 and the traveling carriage 3 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 attached to the bed 30 with good stability.

The upper force applying member 20 and the lower force applying member 21 extend so as to protrude from the traveling carriage 3 toward the bed 30 and are locked to the bed 30 as shown in FIG. 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 by using the upper force application member 20 and the lower force application member 21. 30 can be easily and reliably attached. The directions of the force applied to the bed 30 by the upper force applying member 20 and the lower force applying member 21 are opposite to each other. 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 into 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 applying member 20 and the lower force applying member 21 can effectively apply force to the bed 30.

As shown in FIG. 1, the controller 2 is mounted on the first end of the bed 30, and the traveling carriage 3 is mounted on the second end of the bed 30 by the upper force applying member 20 and the lower force applying member 21. The Accordingly, the bed 30 receives force from the traveling carriage 3 at the first end and receives force from the user such as the nurse 31 at the second end. Therefore, the traveling direction of the traveling carriage 3 can be changed with a small force compared to the case where the bed 30 receives a force only from the first 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.

The traveling carriage 3 has an elastic member 19 that abuts the upper force applying member 20 on the bed 30 and biases it upward as shown in FIG. Therefore, the upward force applied to the bed 30 by the upper force applying member 20 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. Thereby, when the bed 30 is conveyed in a state where the caster 30c is floating from the floor, the bed 30 can be prevented from being largely inclined. Or it can avoid that the reaction force which the upper force provision member 20 applies to the bed 30 becomes small too much. Thus, a sufficiently large frictional force generated between the traveling carriage 3 and the floor can be secured, and energy loss 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 that rotates a drive wheel 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 of the traveling carriage 3 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 includes a left sensor 7b that detects a force applied to the left side of the controller 2 and a right sensor 7a that detects a force applied to the right side of the controller 2. Have. The traveling carriage 3 obtains 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 changing source 16 based on the difference to control the carriage base 11 of the axle 12. Is provided with a direction control circuit 18b for determining a direction with respect to.

Therefore, the traveling direction of the bed 30 can be changed by the previous operation of the user such as the nurse 31 as shown in FIG. For example, a user such as a nurse 31 pushes 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 user such as the nurse 31. Thereby, the advancing direction of the bed 30 can be changed suitably.

9 and 10, the operating device 2 is a swiveling / lateral movement operation that is operated when the bed 30 is swung or when the bed 30 is moved in a lateral direction perpendicular to the longitudinal direction of the bed 30. It has the member 9 and the operation amount detection sensor 33 which detects the operation amount of the turning / lateral movement operation member 9. The traveling vehicle 3 determines the direction of the axle 12 to be the longitudinal direction of the bed by controlling the direction conversion source 16 when the turning / lateral movement operation member 9 is operated based on the signal from the operation amount detection sensor 33. And a lateral movement / turning control circuit 18d that controls 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, a user such as the nurse 31 positioned at the first end of the bed 30 operates the turning / lateral movement operation member 9 when the bed 30 is to be turned or moved laterally. Thereby, the traveling cart 3 attached to the second end of the bed 30 moves in the short direction. A user such as the nurse 31 can move the bed 30 laterally by moving the first end of the bed 30 in the same direction as the traveling direction of the traveling carriage 3, and the first end of the bed 30 can be moved. The bed 30 can be turned by moving the portion in the direction opposite to the traveling direction of the traveling carriage 3.

The turning / lateral movement operation member 9 can be operated in two 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 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 more 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.

The controller 2 has a transmitter 8 that transmits an operation signal to the frame 30a of the bed 30 as shown in FIG. 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 which connects the operating device 2 and the traveling trolley 3 mutually is also unnecessary.

The traveling torque control circuit 18c controls the drive source 14 so as to output a torque smaller than the torque that the traveling carriage 3 independently pulls the bed 30. 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 required 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 another bed 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 carriage 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 embodiment, and may be implemented by changing to the following embodiment. 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 the transmitter 8 and the receiver 18a may be connected to each other. Electrical wiring to be connected 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 engaged with the lower end portion of the bed 30 to apply an upward force, or may be engaged with the center portion or the upper portion of the bed 30 and moved upward. You may give the power of. 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 applied to the bed 30 by urging the lifter 22 in one rotational direction. It may be a member such as a spring that presses upward.

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 upward force 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, a pair of axles, a pair of drive wheels attached to the axle, and a pair of You may have a pair of drive source which each rotates an axle.

As shown in FIG. 3, the controller 2 may include a right sensor 7 a and a left sensor 7 b, or one sensor such as a yaw rate sensor, and the left and right of the controller body 4 by one sensor. You may detect the force applied to. Each of the right sensor 7a and the left sensor 7b may be a strain gauge, or a gap sensor that measures 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. An angle sensor that detects an angle of the operating unit body 4 with respect to the mounting mechanism 5 or an angle of the operating unit body 4 with respect to the bed 30 may be used, or a pressure sensor or a force sensor that measures the pressure applied to the operating unit body 4. good.

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 attached to the controller body 4 so as to be tiltable with respect to the controller body 4, a switch attached to the controller body 4 so as to be slidable, or a button attached to the controller body 4 so as to be pushed in. good.

As shown in FIG. 3, the turning / lateral movement operating member 9 may be provided at one end of the operating unit main body 4, or provided at both ends of the operating unit main body 4 for one turning / lateral movement. The driving wheel may be rotated in one direction by operating the operating member, and the driving wheel may be rotated in the other direction by operating the other turning / lateral movement operating member.

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 18b, the traveling torque control circuit 18c, and the lateral movement / turning control circuit 18d may be provided in the traveling carriage 3 or in the controller 2.

The operating device 2 and the traveling cart 3 may be separate or integrated as shown in FIG. As shown in FIG. 1, the controller 2 may be mounted on the first end of the bed 30, the traveling carriage 3 may be mounted on the second end of the bed 30, or the controller 2 and the traveling carriage 3. May be attached to the first end of the same bed 30.

The object to be transported by the transport assisting device may be the bed 30, a loading platform having casters, or an apparatus having casters. For example, the loading platform carries meals, medical instruments, and articles 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 operating device 2 has a bar 4b extending between 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.

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 toward the initial position. The rotating member 40b can receive a force in the rotating direction while being pushed toward the axis 40c by a finger such as a thumb of the user. Thereby, the rotating member 40b can be rotated in both directions from the initial position while receiving a 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 vehicle 3 advances in the left direction by rotating the rotating member 40b in the left direction, and the traveling vehicle 3 advances in the right direction by rotating the rotating member 40b in the right direction.

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.

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.

A hand detection sensor 61 (FIG. 6) for detecting a hand may be provided in the controller 2 shown in FIG. Further, a brake device 62 (FIG. 6) may be provided on the traveling carriage 3 shown in FIG. The hand detection sensor 61 is, for example, a proximity sensor such as an infrared sensor or a touch sensor such as a pressure sensor. The hand detection sensor 61 includes a right hand detection sensor 61a (FIG. 6) and a left hand detection sensor 61b (FIG. 6). The right hand detection sensor 61a is provided in the right part of the operating device 2 and detects that the right hand has approached or contacted the right part. The left hand detection sensor 61b is provided on the left part of the controller 2 and detects that the left hand has approached or contacted the left part.

The hand detection sensor 61 transmits a signal to the transmitter 8 shown in FIG. 3, and the transmitter 8 transmits the signal to the control device 18. The control device 18 includes a hand detection brake circuit 63 (FIG. 6) that controls the brake device 62. The brake device 62 normally generates a braking force that restricts the traveling of the traveling carriage 3. The hand detection brake circuit 63 releases the brake device 62 when it is determined that both hands of the user have approached or contacted the operating device 2. Thereby, the traveling of the traveling carriage 3 is allowed. Thereafter, the hand detection brake circuit 63 controls the brake device 62 to restrict the travel of the traveling carriage 3 when it is determined that the user's hands are not in proximity to or in contact with the operating device 2.

As described above, the controller 2 has the hand detection sensor 61, and the traveling carriage 3 has the brake device 62. When the hand detection brake circuit 63 determines that the hand is not in proximity to or in contact with the controller 2 based on the signal from the hand detection sensor 61, the brake device 62 is controlled to restrict the travel of the traveling carriage 3. For this reason, when the user's hand is separated from the controller 2, the traveling carriage 3 can be restricted from traveling unintentionally.

The hand detection sensor 61 includes a right hand detection sensor 61a and a left hand detection sensor 61b. The hand detection brake circuit 63 releases the brake device 62 when it is determined that the right hand approaches or contacts the right part and the left hand approaches or contacts the left part. As a result, the traveling cart 3 is allowed to travel. After that, the hand detection brake circuit 63 controls the brake device 62 when the right hand is not approaching or contacting the right part and the left hand is not approaching or contacting the left part. To regulate.

Therefore, the traveling carriage 3 cannot be driven unless the user operates the controller 2 with both hands. Therefore, it can be suppressed that the traveling vehicle 3 starts traveling unintentionally. After the traveling cart 3 starts traveling, the traveling cart 3 can continue traveling even if one hand is removed from the controller 2. Therefore, even when the user separates one hand from the controller 2 and performs different work, the traveling carriage 3 can be caused to travel. When the user removes both hands 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 61 may include a right hand detection sensor 61a and a left hand detection sensor 61b as described above. Alternatively, both hands of the user may be detected by one hand detection sensor 61. The hand detection brake circuit 63 may be provided in the traveling carriage 3 or in the operating device 2.

The speed control circuit 64 (FIG. 6) may be provided in the operating device 2 or the traveling carriage 3. The speed regulation circuit 64 regulates the speed of the traveling carriage 3 by controlling the drive source 14. 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 64 regulates the speed of the traveling carriage 3 to the first speed or less. When the turning / lateral movement operation member 9 is operated, that is, when the lateral movement or turning is performed, the speed regulation circuit 64 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 65 (FIG. 6) that issues an alarm when the speed of the traveling carriage 3 is greater than or equal to a predetermined value. The alarm device 65 includes, for example, a light emitter that emits light and a speaker that emits sound. The alarm device 65 is controlled by an alarm circuit 66 (FIG. 6). The alarm circuit 66 is provided in the operating device 2 or the traveling carriage 3. The alarm circuit 66 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 equal to or higher than the predetermined speed, the alarm device 65 is controlled and an alarm is issued by the alarm device 66. The predetermined speed is, for example, 3 km / hour.

Therefore, the user can know by an alarm that the traveling vehicle 3 has reached the predetermined speed or more. Therefore, the user takes care that the traveling vehicle 3 travels below a predetermined speed. Thereby, it can reduce that the traveling vehicle 3 collides with an obstacle.

The alarm circuit 66 may control the brake device 62 or the power-off device (not shown) of the traveling carriage 3 in addition to or instead of the alarm device 65. The alarm circuit 66 activates the alarm device 65 when the traveling carriage 3 is at a predetermined speed or higher, and thereafter controls the brake device 62 or the power-off device. The brake device 62 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 shown in FIG. 14, the traveling carriage 43 may include a bumper 45, a bumper sensor 46, a brake device 62 (FIG. 6), and a brake circuit 63 (FIG. 6). 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.

14 is a touch sensor, and transmits a signal to the brake circuit 63 when an obstacle comes into contact with the bumper 45. When receiving the signal, the brake circuit 63 controls the brake device 62 to apply a braking force to the traveling carriage 43. Thereby, the impact received by the traveling carriage 43 is reduced.

The traveling carriage 3 may have an area sensor, a brake device 62, and a brake circuit 63. The area sensor detects that there is an obstacle in the vicinity of the traveling carriage 3 and outputs a detection signal to the brake circuit 63. When receiving the signal, the brake circuit 63 controls the brake device 62 to apply a braking force to the traveling carriage 3. Thereby, it can avoid that the traveling vehicle 3 collides with an obstacle. Alternatively, the collision when the traveling carriage 3 collides with an obstacle can be reduced.

The direction control circuit 18b determines the steering angle by controlling the direction change 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 longitudinal direction 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 can operate in the dead zone mode as shown in FIGS. In the dead zone mode, the direction control circuit 18b keeps the steering angle at zero when the difference between the forces applied to the left and right of the operating device 2 is within the range of the

dead zones

41a and 42a. When the user walks, a difference is easily generated between the left and right forces applied to the controller 2. In such a case, the dead zone mode can move the traveling carriage 3 straight ahead in a stable manner.

As shown in FIG. 12 and FIG. 13, the

dead zones

41a and 42a are set according to the speed. When the speed is large, the width of the

dead zones

41a and 42a is set 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 vehicle 3 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.

When the user walks, a difference occurs between the left and right forces applied to the operating device 2, and 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 by a small difference between the left and right forces. Therefore, it is easy to operate the traveling carriage.

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

Therefore, the direction control circuit 18b can operate in 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 due to 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, for example, within a range of 45 ± 15 °, that is, within a range of 30 ° to 60 °. Therefore, the direction control circuit 18b limits the angle of the axle 12 to a maximum angle set within a range of 45 ± 15 ° with respect to the direction of the axle 12 when the traveling carriage 3 goes straight. 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 vehicle 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 on which the battery 17 is detachably mounted as shown in FIG. Thereby, a some battery can be mounted | worn with replacement | exchange to a 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 by 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 rotating 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) attaches the rotating plate 15 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 rotates the

drive wheels

49, 50 at the same speed. 47 and 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. Thereby, the traveling cart 3 can move the bed 30 in the lateral direction while assisting the nurse 31 or without applying the force.

As shown in FIG. 17, when the bed 30 is swung, the user operates the swiveling / lateral movement operating 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. Thereby, the traveling cart 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 a

corresponding drive wheel

49, 50. Therefore, the traveling cart 3 can assist the nurse 31 when moving or turning the bed 30 in the lateral direction.

The lateral movement / turning control circuit 18d can operate in the 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 can operate in the turning assist mode as shown in FIG. In the turning assist mode, the lateral movement / turning control circuit 18d applies torque applied to the drive wheels 49 located farther from the bed 30 to the drive wheels 49 located closer to the bed 30 when the bed 30 is turned. The pair of

drive sources

47 and 48 are controlled so as to be larger than the torque. 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 is protruded from the main body 43a and reciprocated by the user. When the flange 44a is reciprocated, the one-way torque applied to the flange 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 his / her foot, the upper force applying member 20 is locked to the bed 30.

As shown in FIG. 19, a lifter 53 and a caster 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 upward force applying member 57 and the interlocking rod 55.

19 is attached to the main body of the carriage 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 flange 55 and protrudes downward from the cart body. The upper force applying member 57 moves downward and comes off the bed 30.

19 is attached to the main body of the carriage so that the position thereof 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.

19, when the tip 54 a of the flange 54 is positioned below as shown by the phantom line in FIG. 19, the caster 56 is accommodated in the cart body by the interlocking flange 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.

As described above, the traveling carriage 3 shown in FIG. 19 includes the lifter 53 (operation mechanism) and the casters 56. 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 carriage 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.

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

4 is located above the upper force applying member 20. The lower force applying member 21 shown in FIG. 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.

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 cart 3 can be easily stored.

Claims

A conveyance auxiliary device used when conveying an object,
An operating device that transmits an operation signal in response to an operation by a user;
A traveling carriage configured to receive the operation signal and transport the object by traveling based on the operation signal;
The traveling carriage is
An upward force applying member configured to be locked to the object and to apply an upward force to the object;
And a downward force applying member configured to lock the object and apply a downward force to the object.
The conveyance auxiliary device according to claim 1,
A conveyance auxiliary device in which the object is a bed.
The conveyance auxiliary device according to claim 1 or 2,
Each of the upper force applying member and the lower force applying member extends from the traveling carriage so as to protrude toward the object and is engaged with the object.
The conveyance auxiliary device according to any one of claims 1 to 3,
The controller is configured to be attached to one end of the object,
The conveyance auxiliary device configured to be mounted on the other end of the object by the traveling force applying member and the downward force applying member.
The conveyance auxiliary device according to any one of claims 1 to 4,
The conveyance auxiliary device further includes an elastic member that causes the upper force applying member to abut against the object and biases the upper force applying member upward.
The conveyance auxiliary device according to any one of claims 1 to 5,
The traveling carriage is
A dolly base,
An axle mounted to the carriage base so as to be capable of changing direction,
A direction changing source for changing the direction of the axle with respect to the carriage base;
At least one drive wheel attached to the axle;
A conveyance auxiliary device including at least one drive source that rotates the axle to rotate the drive wheel.
The conveyance auxiliary device according to claim 6,
The controller is
A left sensor for detecting a force applied to a left portion of the controller;
A right sensor for detecting the force applied to the right part of the operating device,
The traveling carriage or the operating device calculates a difference between left and right forces applied to the operating device based on signals from the left sensor and the right sensor, and controls the direction change source based on the difference. A conveyance auxiliary device having a direction control circuit for determining a direction of the axle with respect to the carriage base.
It is a conveyance auxiliary device according to claim 7,
The direction control circuit is operable in a dead zone mode;
The dead zone mode is a mode in which when the difference between the left and right forces is within the dead zone, the axle is held in a direction in which the driving wheel is in a straight traveling direction,
The width of the dead zone is a conveyance auxiliary device determined according to the speed of the traveling carriage.
It is a conveyance auxiliary device according to claim 8,
The dead zone is
A first dead zone applied when the traveling carriage is slower than a predetermined speed;
A second dead zone applied when the traveling carriage is faster than the predetermined speed and having a width larger than the width of the first dead zone;
The conveyance assisting device, wherein the direction control circuit is operable in a control mode for determining a direction of the axle regardless of a speed of the traveling carriage in a range exceeding the first dead zone and the second dead zone.
It is a conveyance auxiliary device according to claim 7,
The said direction control circuit is a conveyance assistance apparatus which restrict | limits the angle of the said axle to below the maximum angle set in the range of 45 +/- 15 degrees with respect to the direction of the said axle when the said traveling trolley goes straight.
The conveyance auxiliary device according to any one of claims 6 to 10,
The controller is
A turning / lateral movement operation member operated when turning the object or moving the object in a lateral direction orthogonal to a straight traveling direction;
An operation amount detection sensor that detects an operation amount of the turning / lateral movement operation member and outputs a detection signal;
The traveling cart or the operating device controls the direction change source when the turning / lateral movement operation member is operated based on a detection signal from the operation amount detection sensor, thereby moving the object in the horizontal direction. Lateral movement / turning that determines the direction of the axle to move and controls the drive source in accordance with the amount of operation of the turning / lateral movement operating member to determine the magnitude of rotational torque applied to the axle A conveyance auxiliary device having a control circuit.
It is a conveyance auxiliary device according to claim 11,
The turning / lateral movement operating member can be operated in two directions with respect to the initial position,
The lateral movement / turning control circuit is a conveyance auxiliary device that determines a rotation direction of the axle based on a detection signal from the operation amount detection sensor corresponding to each direction of the turning / lateral movement operation member.
It is a conveyance auxiliary device according to claim 11 or 12,
The conveyance assisting device, wherein when the operation amount detection sensor transmits a signal, the lateral movement / turning control circuit controls the direction change source and the drive source in preference to the direction control circuit.
The conveyance auxiliary device according to any one of claims 11 to 13,
The turning / lateral movement operating member is rotatably provided in the vicinity of the left part or the right part of the operating device held by a user's hand, and the turning / lateral movement operating member is provided on the left side. Or a conveyance assisting device located at a place where it can be rotated by a finger of the hand holding the right part or the right part.
The conveyance auxiliary device according to any one of claims 11 to 14,
A speed regulation circuit for regulating the speed of the traveling carriage;
The speed regulating circuit regulates a 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 conveyance auxiliary device that regulates the speed of the traveling carriage to a second speed that is lower than the first speed.
The conveyance auxiliary device according to any one of claims 11 to 15,
In the traveling carriage, the at least one driving wheel includes a pair of driving wheels provided on the carriage base and integrally changed in direction by the direction changing source, and the at least one driving source is the pair of driving wheels. A conveyance auxiliary device including a pair of drive sources that respectively rotate the motor.
It is a conveyance auxiliary device according to claim 16,
The lateral movement / turning control circuit operates in a lateral movement assist mode for controlling the pair of drive sources so as to reduce a difference in rotational speed between the pair of drive wheels when the object is laterally moved. Auxiliary device.
The conveyance auxiliary device according to claim 16 or 17,
The lateral movement / turning control circuit applies torque applied to one drive wheel at a position farther from the object when turning the object to the other drive wheel at a position closer to the object. A conveyance assist device that operates in a turn assist mode for controlling the pair of drive sources so as to be larger than the applied torque.
The conveyance auxiliary device according to any one of claims 1 to 18,
The controller has a transmitter for transmitting the operation signal to the frame of the object,
The traveling cart includes a receiver that receives the operation signal via the frame of the object.
The conveyance auxiliary device according to any one of claims 1 to 19,
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,
The conveyance auxiliary device is
A hand detection brake circuit that controls the brake device to restrict the travel 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 of the hand detection sensor; Transport assist device.
It is a conveyance auxiliary device according to claim 20,
The operating device has a right part gripped by the user's right hand and a left part gripped by the user's left hand,
The hand detection sensor is
A right hand detection sensor for detecting that the right hand is approaching or contacting the right part;
A left hand detection sensor that detects that the left hand is approaching or touching 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. A conveyance auxiliary device to regulate.
The conveyance auxiliary device according to any one of claims 1 to 21,
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,
The conveyance auxiliary device is
A conveyance auxiliary device, further comprising 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.
The conveyance auxiliary device according to any one of claims 1 to 22,
The traveling carriage is
An operation mechanism configured to selectively lock and unlock the upper force applying member or the lower force applying member to the object;
Used when the upper force applying member or the lower force applying member moves in conjunction with the operation mechanism and protrudes from the main body of the traveling carriage to convey the traveling carriage when the upper force applying member or the lower force applying member is released from the object. A transport auxiliary device having a caster.
The conveyance auxiliary device according to any one of claims 1 to 23,
Of the upper force applying member and the lower force applying member, the member positioned above has a lateral member,
The said horizontal member is a conveyance assistance apparatus extended in a horizontal direction so that it can be hold | gripped by a user, when conveying the said traveling cart.
A bed equipped with the conveyance auxiliary device according to any one of claims 1 to 24.