WO2014147747A1 - 搬送装置及び搬送装置の使用方法 - Google Patents

搬送装置及び搬送装置の使用方法 Download PDF

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Publication number
WO2014147747A1
WO2014147747A1 PCT/JP2013/057839 JP2013057839W WO2014147747A1 WO 2014147747 A1 WO2014147747 A1 WO 2014147747A1 JP 2013057839 W JP2013057839 W JP 2013057839W WO 2014147747 A1 WO2014147747 A1 WO 2014147747A1
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WO
WIPO (PCT)
Prior art keywords
unit
traveling
operator
force
wheels
Prior art date
Application number
PCT/JP2013/057839
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English (en)
French (fr)
Japanese (ja)
Inventor
淳 千々和
恵次郎 見須
Original Assignee
株式会社安川電機
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社安川電機 filed Critical 株式会社安川電機
Priority to JP2015506445A priority Critical patent/JPWO2014147747A1/ja
Priority to CN201390001129.3U priority patent/CN205041676U/zh
Priority to PCT/JP2013/057839 priority patent/WO2014147747A1/ja
Publication of WO2014147747A1 publication Critical patent/WO2014147747A1/ja

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/08—Apparatus for transporting beds
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/24—Personal mobility vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed

Definitions

  • the present invention relates to a transport device and a method of using the transport device.
  • Patent Document 1 describes a bed carrier used when moving a bed. This bed transport vehicle is controlled in its traveling direction according to a command given by remote control, and can lift the one end of the bed and move the bed with the caster at the other end of the bed on the floor.
  • This invention aims at providing the usage method of the conveying apparatus which assists the operation
  • At least a part of the vehicle travels on a traveling surface under a transported object having a plurality of wheels, A lift unit supported by the traveling unit for floating a part of the plurality of wheels; A gripping unit gripped by the operator and a force detection sensor that outputs information on the magnitude and direction of the force applied to the gripping unit and located on the opposite side of the transported object from the lift unit An operation device detachably attached to the first attachment portion; Based on the information, a control calculation unit that calculates a driving force of the traveling unit and outputs a calculation result; A transport device including a drive unit that drives the traveling unit is applied based on the calculation result.
  • At least a part of the operator sinks under a transported object having a plurality of wheels and travels on a travel surface, and a support member that is supported by the travel unit and moves up and down.
  • a transport device comprising: a lift unit having: a grip unit gripped by the operator; and an operation device having a force detection sensor provided on a proximal end side of the grip unit; The operator causes the leading end side of the traveling unit to enter under the object to be transported; The operator floats some of the plurality of wheels of the conveyed object using the lift unit; The operator attaches the operation device to an attachment portion located on a side opposite to the lift portion of the conveyed object; Applying the force to the grip portion of the operating device attached to the attachment portion by the operator.
  • the operation of transporting the object to be transported by the operator is assisted.
  • FIG. 1 is an explanatory diagram illustrating a usage state of a transport device according to an embodiment of the present invention.
  • FIG. 2A is a structural view seen from the side of the transport device.
  • FIG. 2B is a structural diagram of a traveling unit of the transfer device.
  • FIG. 3A is a front view of an operating device included in the transfer device.
  • FIG. 3B is a plan view of the operation device included in the transfer device.
  • FIG. 4 is an explanatory view showing a modified example of the operation device included in the transfer device.
  • FIG. 5 is a functional block diagram of the transport apparatus.
  • FIG. 6 is a block diagram of the entire control system of the transport apparatus.
  • FIG. 7 is an explanatory diagram showing an operation method of the transport apparatus.
  • FIG. 8A is an explanatory diagram showing an operation pattern A of the transport device.
  • FIG. 8B is an explanatory diagram showing an operation pattern B of the transport device.
  • FIG. 8C is an explanatory diagram showing an operation pattern
  • the transport apparatus 10 detects the force of a nurse (an example of an operator) 12 that presses a bed (an example of an object to be transported) 14 on which a patient 11 is placed as shown in FIG.
  • the nurse 12 can assist the nurse 12 in moving the bed 14 by transporting the bed 14.
  • the transport device 10 includes a traveling unit 20, a lift unit 22, an operating device 24, a control calculation unit 26, and a drive unit 28.
  • the traveling unit 20 can sink under the bed 14 having four casters (an example of wheels) CAS.
  • the travel unit 20 includes first to third omni wheels (an example of omnidirectional wheels) WH1 to WH3, first and second reducers 202a and 202b, first and second servomotors SVM1 and SVM2, and It has the 1st and 2nd auxiliary
  • first direction DIR1 a direction orthogonal to the first direction DIR1
  • second direction DIR2 a direction orthogonal to the first direction DIR1
  • first direction DIR1 and the second direction DIR2 need only intersect within a range of ⁇ 5 degrees to +5 degrees.
  • the first omni wheel WH1 is located below the bed 14 in plan view.
  • the first omni wheel WH1 is driven around the first drive shaft AX1 extending in the first direction.
  • the first drive shaft AX1 is connected to the output shaft of the first speed reducer 202a via a coupling CUP1.
  • the input shaft of the first reduction gear 202a is connected to the output shaft of the first servo motor SVM1 extending in the second direction via the coupling CUP2.
  • the second and third omni wheels WH2 and WH3 are respectively located outside the bed 14 in plan view.
  • the second and third omni wheels WH2 and WH3 are arranged across the first rotation center axis AX10 of the first omni wheel WH1 in plan view.
  • the second and third omni wheels WH2 and WH3 are, respectively, second and third drive shafts AX2 and AX3 extending in the second direction (second directions orthogonal to the first rotation center axis AX10 in plan view). It is driven around the rotation center axis AX11).
  • the second and third drive shafts AX2 and AX3 are output shafts of the second reducer 202b, respectively.
  • the input shaft of the second reduction gear 202b is connected to the output shaft of the second servo motor SVM2 extending in the first direction via the coupling CUP3. Accordingly, the traveling unit 20 alone has two degrees of freedom because the first and second servo motors SVM1 and SVM2 are driven.
  • the first and second auxiliary wheels 204a and 204b can rotate about rotation axes AX4 and AX5 extending in the second direction, respectively.
  • Each of the auxiliary wheels 204a and 204b is a caster, for example.
  • the first and second auxiliary wheels 204a and 204b float from the traveling surface when the first to third omni wheels WH1 to WH3 are in contact with the traveling surface. Therefore, the 1st and 2nd auxiliary wheels 204a and 204b can suppress that the 1st omni wheel WH1 falls into the hollow of a running surface.
  • An example of a depression on the running surface is a groove at the entrance of an elevator.
  • Each of the auxiliary wheels 204a and 204b may be a spherical wheel.
  • the lift unit 22 lifts the frame FRM1 extending in the second direction at the lower part of the bed 14 from the lower side, and travels through two casters CAS on the transport device 10 side among the four casters CAS of the bed 14. Can float from the surface.
  • the lift part 22 is supported by the traveling part 20 on the side of the second omni wheel WH2 and the third omni wheel WH3 in a side view. As shown in FIG. 2A, the lift unit 22 that supports the heavy bed 14 is supported on the two omni wheels WH ⁇ b> 2 and WH ⁇ b> 3, so that the conveyance device 10 is prevented from becoming unstable. .
  • the lift unit 22 has a support member 224 that moves up and down by the elevating mechanism 222 and supports the bed 14.
  • the elevating mechanism 222 includes, for example, a ball screw mechanism 226 and a DC motor DCM that drives the ball screw mechanism 226.
  • the support member 244 is provided with a load sensor 225 for detecting the weight of the bed 14 to be supported.
  • the load sensor 225 is, for example, a load cell.
  • the lifting mechanism 222 stops the operation of raising the support member 224 when the load sensor 225 detects a predetermined load.
  • the lift part 22 is accommodated in a housing 30 that extends in the vertical direction from the traveling part 20 in a side view. Note that a battery BAT serving as a power source for the transport apparatus 10 is mounted inside the housing 30.
  • the lifting mechanism 222 is attached to the housing 30 via a spring (not shown). Therefore, the impact in the vertical direction applied to the housing 30 of the transport apparatus 10 during transport is suppressed from being transmitted to the bed 14.
  • the operation device 24 is detachably attached to a frame FRM2 (an example of a first attachment portion) of the bed 14 that is located on the side opposite to the lift portion 22 (the head side of the patient 11). As shown by a two-dot chain line in FIG. 2A, the operation device 24 is also detachably attached to a housing (an example of a second attachment portion) 30 placed on the traveling unit 20.
  • the housing 30 is provided with a first detector SEN1 (see FIG. 5) that detects that the operating device 24 is attached.
  • the operating device 24 includes a left grip 242a that the nurse 12 grips with the left hand, a right grip 242b that the nurse 12 grips with the right hand, a force detection sensor 244, a release switch SW1, And an emergency stop switch SW2.
  • the left grip 242a and the right grip 242b (hereinafter simply referred to as “grips 242a, 242b”) extend upward from the left and right sides of the operation device 24 and are gripped by the nurse 12.
  • the nurse 12 can move the transport device 10 by applying force to the grip portions 242a and 242b.
  • the left grip portion 243 a and the right grip portion 243 b may extend from the left and right side portions of the operation device 25 in the left-right direction, as in the operation device 25 shown in FIG. 4.
  • the operation device 24 may be provided with a second detector (not shown) for detecting that the operation device 24 is fixed to the housing 30 and the frame FRM2 of the bed 14.
  • the first detector SEN1 and the second detector output detection signals, it is determined that the operation device 24 is attached to the housing 30, and only the second detector outputs a detection signal. In this case, it is determined that the operation device 24 is attached to the frame FRM2 of the bed 14.
  • the force detection sensor 244 is provided on the proximal end side of each gripping part 242a, 242b. Each force detection sensor 244 is a detector for detecting the magnitude and direction of the force applied to the grip portions 242a and 242b.
  • the force detection sensor 244 is a biaxial force detection sensor that can detect a force applied in a first direction and a second direction (see FIG. 2B).
  • the force detection sensor 244 is configured using, for example, a strain sensor or a capacitance sensor. Information on the magnitude and direction of the force applied to the grips 242a and 242b is output to the control calculation unit 26 (see FIG. 5) wirelessly or by wire.
  • the release switch SW1 is provided in the grips 242a and 242b as shown in FIGS. 3A and 3B. Only when the release switch SW1 is pressed, the transport device 10 operates.
  • the emergency stop switch SW2 is a switch for stopping the operation of the transport apparatus 10 in an emergency. Outputs of the release switch SW1 and the emergency stop switch SW2 are output to the control calculation unit 26 by wireless or wired.
  • the controller 24 is connected to the controller 24 by wireless or wired.
  • the control calculation unit 26 drives the driving forces of the first to third omni wheels WH1 to WH3, that is, the first and second servo motors SVM1.
  • the torque of SVM2 can be calculated and the calculation result can be output.
  • the control calculation unit 26 is realized by software executed by the CPU, for example.
  • the above-described first detector SEN ⁇ b> 1 that detects that the operating device 24 is attached to the housing 30 is connected to the control calculation unit 26.
  • the control calculation unit 26 can switch the calculation content for obtaining the driving force according to the position where the operation device 24 is attached. That is, the calculation content of the driving force by the control calculation unit 26 is switched depending on whether the operation device 24 is attached to the frame FRM2 of the bed 14 or the case 30.
  • the control calculation unit 26 determines that the operation device 24 is attached to the frame FRM2 of the bed 14 (the operation device 24 is attached to the housing 30). If it is determined that it is not, the calculation is performed so that the traveling direction of the transport device 10 advances in the direction opposite to the first omni wheel WH1. On the other hand, when the control calculation unit 26 determines that the operating device 24 is attached to the housing 30 based on the detection signal of the first detector SEN1, the direction toward the first omni wheel WH1 The calculation is executed so as to move forward.
  • the control calculation unit 26 are switched so that the operation characteristics of the transfer device are changed.
  • ′ indicates a differential value.
  • Force control is performed according to the input of the force detection sensor 244 provided in the operation device 24, and converted into a speed command to the servo processing unit SV via reverse kinematics and output.
  • the traveling unit 20 is controlled according to the speed command.
  • the force sensor detection value fext multiplied by the force gain Kf is input to the impedance control process (main calculation process) IMP, and the impedance control position correction amount xe is output.
  • Mi described in the block of the impedance control processing IMP is an inertia parameter
  • Di is a viscosity parameter
  • Ki is a stiffness parameter.
  • the impedance control position correction amount xe is differentiated to output an impedance control speed correction amount x'e.
  • a constant multiple output speed command x'cmd is calculated by multiplying the force sensor detection value fext by a constant multiple output gain Kfv.
  • the sum of the constant multiple output speed command x'cmd and the impedance control speed correction amount x'e is output as the command speed of the robot coordinate system (orthogonal coordinate system).
  • This command speed is converted into a wheel shaft speed command ⁇ ′cmd by reverse kinematics processing.
  • the converted wheel shaft speed command ⁇ ′cmd is input to the servo processing unit SV.
  • the servo processing unit SV outputs a wheel shaft torque command ⁇ cmd to control the traveling unit 20 while referring to the wheel rotation angle ⁇ fb that is feedback from the traveling unit 20.
  • the subscript x indicates the first direction shown in FIG. 2B, and the subscript y indicates the second direction.
  • the subscript ⁇ represents an axis extending in the vertical direction.
  • the drive unit 28 can drive the first and second servo motors SVM1 and SVM2 based on the calculation result output by the control calculation unit 26. That is, the drive unit 28 can drive the traveling unit 20.
  • the drive unit 28 is configured by, for example, a servo amplifier.
  • the control calculation unit 26 and the drive unit 28 are housed in a housing 30.
  • the conveyance device 10 assists the operation of moving the bed 14 by detecting the force of the nurse 12, the nurse 12 can convey the bed 14 on which the patient 11 is placed alone.
  • the nurse 12 can move forward, backward, swivel, and laterally move the transport device 10 and the bed 14 transported to the transport device 10 by applying force to the grip portions 242a and 242b of the operation device 24.
  • the nurse 12 applies a forward force to the grip portions 242 a and 242 b gripped by the left and right hands, respectively.
  • the control calculation unit 26 can calculate the driving forces of the first to third omni wheels WH1 to WH3 so as to increase the forward speed in proportion to the magnitude of the force applied to the gripping units 242a and 242b.
  • the nurse 12 applies a forward force to each of the grip portions 242a and 242b gripped by the left and right hands.
  • the control calculation unit 26 can calculate the driving force of the first to third omni wheels WH1 to WH3 so as to increase the reverse speed in proportion to the magnitude of the force applied to the gripping units 242a and 242b.
  • the nurse 12 applies forces in opposite directions to the grip portions 242a and 242b gripped by the left and right hands, respectively.
  • a forward force is applied to the left grip 242a and a forward force is applied to the right grip 242b.
  • the control calculation unit 26 can calculate the driving forces of the first to third omni wheels WH1 to WH3 so as to increase the turning speed in proportion to the magnitude applied to the gripping units 242a and 242b.
  • the nurse 12 applies a force in the left or right direction to the grip portions 242a and 242b gripped by the left and right hands, respectively.
  • a leftward force is applied to the left grip 242 a and the right grip 242 b.
  • the control calculation unit 26 can calculate the driving forces of the first to third omni wheels WH1 to WH3 so as to increase the lateral movement speed in proportion to the magnitude applied to the gripping units 242a and 242b.
  • control calculation unit 26 calculates the driving force so that the bed 14 moves in the same direction as the direction of the force applied to the left grip 242a and the right grip 242b. In addition, the control calculation unit 26 calculates a driving force so that the bed 14 is turned when the forces applied to the left grip 242a and the right grip 242b are in opposite directions.
  • the nurse 12 can cause the transport device 10 to perform an operation of turning a corner (operation pattern A) by combining the above-described advance and turn operations.
  • operation pattern A the nurse 12 moves the front side of the bed 14 (the head side of the patient 11) toward the wall of the hallway by combining the above-described turning and lateral movement operations (operations).
  • Pattern B) can be carried out by the conveying device 10.
  • FIG. 8C the nurse 12 moves the front side of the bed 14 (the foot side of the patient 11) toward the wall of the hallway by combining the above-described turning and lateral movement operations (operation pattern).
  • C) can be performed by the transfer device 10. Note that the nurse 12 can perform the same operation even when the operation device 24 is attached to the housing 30.
  • the nurse 12 can use the transport device 10 according to the following steps.
  • Step S1 The nurse 12 prepares the transport apparatus 10 by moving it to the hospital room where the patient is. In that case, the conveying apparatus 10 moves by making the side in which the 1st omni wheel WH1 is located into the front side.
  • Step S2 The nurse 12 inserts the distal end side of the traveling unit 20 of the transport apparatus 10 under the bed.
  • Step S3 The nurse 12 operates a switch (not shown) provided in the transport device 10 to raise the support member 224 of the lift unit 22.
  • the support member 224 lifts the frame FRM1 (see FIG. 2A) of the bed 14 from below.
  • the load sensor 225 provided on the support member 224 detects a predetermined load, the rise of the support member 224 stops.
  • Step S4 The nurse 12 removes the operation device 24 from the housing 30. It is detected by the first detector SEN1 that the operating device 24 has been removed from the housing 30. The nurse 12 attaches the removed operation device 24 to the frame FRM2 of the bed 14 on the side opposite to the transport device 10 (the head side of the patient 11).
  • Step S5 The nurse 12 operates the operation device 24 to move the transport device 10 and the bed 14 transported to the transport device 10.
  • the operation method of the transport apparatus 10 is as described above.
  • the bed 14 can be conveyed while viewing the condition of the patient 11.
  • the transport device 10 can move in all directions by cooperating with the nurse 12 even though the traveling unit 20 has only two degrees of freedom.
  • the present invention is not limited to the above-described embodiments, and modifications can be made without changing the gist of the present invention.
  • a case where the invention is configured by combining some or all of the above-described embodiments and modifications is also included in the technical scope of the present invention.
  • the object to be transported is not limited to a bed, and may be a cart for carrying food, for example.
  • the lift unit only needs to be able to lift some of the plurality of wheels of the conveyed object.
  • the lifting mechanism of the lift unit may be driven manually instead of the DC motor.
  • the force detection sensor is provided at the base of the operation device 24, and detects the force applied in the first direction (see FIG. 2B), the force applied in the second direction, and the force applied around the axis extending in the vertical direction.
  • the force sensor may be used.

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  • Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Handcart (AREA)
PCT/JP2013/057839 2013-03-19 2013-03-19 搬送装置及び搬送装置の使用方法 WO2014147747A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2015506445A JPWO2014147747A1 (ja) 2013-03-19 2013-03-19 搬送装置及び搬送装置の使用方法
CN201390001129.3U CN205041676U (zh) 2013-03-19 2013-03-19 搬送装置
PCT/JP2013/057839 WO2014147747A1 (ja) 2013-03-19 2013-03-19 搬送装置及び搬送装置の使用方法

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PCT/JP2013/057839 WO2014147747A1 (ja) 2013-03-19 2013-03-19 搬送装置及び搬送装置の使用方法

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018039305A (ja) * 2016-09-06 2018-03-15 株式会社豊田自動織機 搬送補助装置
JP2019141161A (ja) * 2018-02-16 2019-08-29 株式会社豊田自動織機 ベッド搬送装置
JP2019141160A (ja) * 2018-02-16 2019-08-29 株式会社豊田自動織機 ベッド搬送装置
JP2020524015A (ja) * 2017-05-31 2020-08-13 ミズホ・オーソペディック・システムズ・インク 医療処置の前、最中、または後に患者を支援および／または位置決めするためのシステム、装置、および方法
CN113820046A (zh) * 2021-08-19 2021-12-21 武汉联影智融医疗科技有限公司 台车扶手

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10146364A (ja) * 1996-09-20 1998-06-02 Toyota Autom Loom Works Ltd ベッド搬送車
JP2004194844A (ja) * 2002-12-17 2004-07-15 Paramount Bed Co Ltd ベッドにおける電動搬送装置およびその駆動制御方法
JP2012035077A (ja) * 2010-07-30 2012-02-23 Toyota Motor Engineering & Manufacturing North America Inc ロボット型搬送装置及びシステム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10146364A (ja) * 1996-09-20 1998-06-02 Toyota Autom Loom Works Ltd ベッド搬送車
JP2004194844A (ja) * 2002-12-17 2004-07-15 Paramount Bed Co Ltd ベッドにおける電動搬送装置およびその駆動制御方法
JP2012035077A (ja) * 2010-07-30 2012-02-23 Toyota Motor Engineering & Manufacturing North America Inc ロボット型搬送装置及びシステム

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018039305A (ja) * 2016-09-06 2018-03-15 株式会社豊田自動織機 搬送補助装置
JP2020524015A (ja) * 2017-05-31 2020-08-13 ミズホ・オーソペディック・システムズ・インク 医療処置の前、最中、または後に患者を支援および／または位置決めするためのシステム、装置、および方法
JP2019141161A (ja) * 2018-02-16 2019-08-29 株式会社豊田自動織機 ベッド搬送装置
JP2019141160A (ja) * 2018-02-16 2019-08-29 株式会社豊田自動織機 ベッド搬送装置
CN113820046A (zh) * 2021-08-19 2021-12-21 武汉联影智融医疗科技有限公司 台车扶手
CN113820046B (zh) * 2021-08-19 2023-05-26 武汉联影智融医疗科技有限公司 台车扶手

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JPWO2014147747A1 (ja) 2017-02-16

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