[go: up one dir, main page]

WO2013054660A1 - Dispositif de support de transport et lit - Google Patents

Dispositif de support de transport et lit Download PDF

Info

Publication number
WO2013054660A1
WO2013054660A1 PCT/JP2012/074877 JP2012074877W WO2013054660A1 WO 2013054660 A1 WO2013054660 A1 WO 2013054660A1 JP 2012074877 W JP2012074877 W JP 2012074877W WO 2013054660 A1 WO2013054660 A1 WO 2013054660A1
Authority
WO
WIPO (PCT)
Prior art keywords
auxiliary device
conveyance auxiliary
bed
traveling carriage
traveling
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2012/074877
Other languages
English (en)
Japanese (ja)
Inventor
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
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Industries Corp
Original Assignee
Toyota Industries Corp
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 Toyota Industries Corp filed Critical Toyota Industries Corp
Publication of WO2013054660A1 publication Critical patent/WO2013054660A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

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
    • 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
    • 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
    • A61G7/05—Parts, details or accessories of beds
    • A61G7/0528—Steering or braking devices for castor wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
    • B62B3/06—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment for simply clearing the load from the ground
    • B62B3/0612—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment for simply clearing the load from the ground power operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B62B5/0073—Measuring a force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0079—Towing by connecting to another vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2202/00—Indexing codes relating to type or characteristics of transported articles
    • B62B2202/90—Vehicles

Definitions

  • 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.
  • casters for example, a bed, a loading platform, and equipment
  • 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.
  • the left and right sensors 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.
  • 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
  • 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;
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • an operation amount detection sensor 33 is provided in the operating unit body 4.
  • 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.
  • 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.
  • the lifter 22 lifts the upward force applying member 20.
  • the lifter 22 lowers the upward force applying member 20.
  • 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.
  • the upward force applying member 20 supports the first end of the bed 30.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the axle 12 is directed in a direction perpendicular to the longitudinal direction of the bed 30 as shown in FIG.
  • 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.
  • the axle 12 rotates counterclockwise in FIG. 8 from a position orthogonal to the longitudinal direction of the bed 30 as shown in FIG.
  • the bed 30 turns leftward and moves forward.
  • 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.
  • the axle 12 rotates clockwise in FIG. 8 from a position orthogonal to the longitudinal direction of the bed 30.
  • the bed 30 turns to the right and moves forward.
  • 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.
  • 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.
  • 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.
  • 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).
  • the traveling carriage 3 moves in the short direction of the bed 30 without moving forward or backward.
  • 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.
  • 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.
  • a torsional force in the left-right direction is generated between the traveling carriage 3 and the bed 30.
  • 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.
  • the upper force applying member 20 and the lower force applying member 21 can effectively apply force to the bed 30.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the 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.
  • the turning / lateral movement operating member 40 shown in FIG. 11 is rotatably provided in the vicinity of the left portion of the operating device 2 held by the user's hand.
  • the turning / lateral movement operating member 40 is located at a place where it can be operated by a finger of a hand holding the left part. Therefore, the turning / lateral movement operation member 40 can be operated while applying a force in the front-rear direction to the left portion of the controller 2.
  • the biasing member 40d may be a torsion coil spring instead of the tension coil spring.
  • a hand detection sensor 61 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.
  • the controller 2 has the hand detection sensor 61, and the traveling carriage 3 has the brake device 62.
  • 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.
  • 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.
  • 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.
  • 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.
  • the speed regulation circuit 64 regulates the speed of the traveling carriage 3 to the first speed or less.
  • 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.
  • 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.
  • 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.
  • the brake circuit 63 is a touch sensor, and transmits a signal to the brake circuit 63 when an obstacle comes into contact with the bumper 45.
  • 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.
  • 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.
  • 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.
  • the dead zone mode can move the traveling carriage 3 straight ahead in a stable manner.
  • the dead zones 41a and 42a are set according to the speed.
  • 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.
  • 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.
  • the steering angle gradually increases like 41b and 41c.
  • 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.
  • 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
  • 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.
  • 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.
  • the direction control circuit 18 b 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.
  • the traveling cart 3 can move the bed 30 in the lateral direction while assisting the nurse 31 or without applying the force.
  • 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.
  • the force applied by the nurse 31 is reduced, the difference in torque output from the drive wheels 49 and 50 is increased.
  • the rotation center 60 generated by the traveling carriage 3 approaches the center of the bed 30.
  • the traveling cart 3 can turn the bed 30 while assisting the nurse 31 or without applying the force to the nurse 31.
  • 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.
  • 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.
  • 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.
  • 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.
  • the flange 44a 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.
  • 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.
  • 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.
  • 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.
  • the 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.
  • 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.
  • 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.
  • the clutch may be released when the power of the traveling carriage 3 is OFF.
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Chemical & Material Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Nursing (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Handcart (AREA)

Abstract

La présente invention se rapporte à un dispositif de support de transport utilisé lors du transport d'un sujet, le dispositif étant pourvu d'un mécanisme de fonctionnement destiné à transmettre un signal de commande selon une opération réalisée par un utilisateur, et d'un chariot de déplacement configuré de telle sorte que le chariot reçoive un signal de commande et se déplace sur la base du signal pour transporter un sujet. Le chariot de déplacement comprend un élément de communication d'une force dirigée vers le haut qui vient au contact du sujet et communique au sujet une force dirigée vers le haut, ainsi qu'un un élément de communication d'une force dirigée vers le bas qui vient au contact du sujet et communique au sujet une force dirigée vers le bas.
PCT/JP2012/074877 2011-10-13 2012-09-27 Dispositif de support de transport et lit Ceased WO2013054660A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2011-225782 2011-10-13
JP2011225782 2011-10-13
JP2012-145701 2012-06-28
JP2012145701A JP5206896B2 (ja) 2011-10-13 2012-06-28 ベッド搬送補助装置およびベッド

Publications (1)

Publication Number Publication Date
WO2013054660A1 true WO2013054660A1 (fr) 2013-04-18

Family

ID=48081717

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2012/074877 Ceased WO2013054660A1 (fr) 2011-10-13 2012-09-27 Dispositif de support de transport et lit

Country Status (2)

Country Link
JP (1) JP5206896B2 (fr)
WO (1) WO2013054660A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITTO20130723A1 (it) * 2013-09-06 2013-12-06 Ni Dispositivo universale automatizzato per il traino di un mezzo su dispositivi scorrevoli sopra un pavimento
WO2016041599A1 (fr) * 2014-09-18 2016-03-24 Ideassociates (Iom) Ltd Dispositif de transport à roues
WO2017032694A1 (fr) * 2015-08-25 2017-03-02 MAQUET GmbH Poignée de commande
JP2022554095A (ja) * 2019-10-23 2022-12-28 イエフペ エネルジ ヌヴェル 測定手段及び制御装置を備えたホイール付き物体のための方法及び着脱可能な電気推進システム
US11806296B2 (en) 2019-12-30 2023-11-07 Stryker Corporation Patient transport apparatus with controlled auxiliary wheel speed
WO2024181384A1 (fr) * 2023-02-27 2024-09-06 大成建設株式会社 Dispositif d'aide au transport
US12178757B2 (en) 2019-12-30 2024-12-31 Stryker Corporation Patient transport apparatus with auxiliary wheel control systems

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6326931B2 (ja) * 2014-04-18 2018-05-23 株式会社豊田自動織機 搬送機
WO2015159883A1 (fr) * 2014-04-18 2015-10-22 株式会社豊田自動織機 Dispositif d'assitance de transport
JP6038068B2 (ja) * 2014-04-18 2016-12-07 株式会社豊田自動織機 搬送補助装置
JP6601349B2 (ja) * 2016-09-06 2019-11-06 株式会社豊田自動織機 搬送補助装置
JP6864488B2 (ja) * 2017-01-31 2021-04-28 株式会社マキタ 手押し式電動運搬車
JP2021045400A (ja) * 2019-09-19 2021-03-25 株式会社ジェイテクト 歩行支援装置
JP7570286B2 (ja) * 2021-06-04 2024-10-21 株式会社ジェイテクトマシンシステム 搬送補助装置および医療用ベッド

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08317953A (ja) * 1995-05-26 1996-12-03 Tokico Ltd ベッド搬送装置
JPH10146364A (ja) * 1996-09-20 1998-06-02 Toyota Autom Loom Works Ltd ベッド搬送車
JP2004512861A (ja) * 2000-05-11 2004-04-30 ヒル−ロム　サービシーズ，インコーポレイティド ベッド用動力推進システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08317953A (ja) * 1995-05-26 1996-12-03 Tokico Ltd ベッド搬送装置
JPH10146364A (ja) * 1996-09-20 1998-06-02 Toyota Autom Loom Works Ltd ベッド搬送車
JP2004512861A (ja) * 2000-05-11 2004-04-30 ヒル−ロム　サービシーズ，インコーポレイティド ベッド用動力推進システム

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITTO20130723A1 (it) * 2013-09-06 2013-12-06 Ni Dispositivo universale automatizzato per il traino di un mezzo su dispositivi scorrevoli sopra un pavimento
WO2016041599A1 (fr) * 2014-09-18 2016-03-24 Ideassociates (Iom) Ltd Dispositif de transport à roues
US10213354B2 (en) 2014-09-18 2019-02-26 Ideassociates (Iom) Limited Wheeled Transportation device
JP2017535307A (ja) * 2014-09-18 2017-11-30 アイディーイーアソシエーツ・（アイオーエム）・リミテッド 車輪付き運搬装置
DE102015011200B4 (de) 2015-08-25 2019-01-03 MAQUET GmbH Patienten-/Lagerflächentransporter mit einem Bediengriff
JP2018526089A (ja) * 2015-08-25 2018-09-13 マッケ・ゲゼルシャフトミットベシュレンクターハフトゥング 操作ハンドル
CN108135765A (zh) * 2015-08-25 2018-06-08 迈柯唯有限公司 操作手柄
WO2017032694A1 (fr) * 2015-08-25 2017-03-02 MAQUET GmbH Poignée de commande
US10384539B2 (en) 2015-08-25 2019-08-20 MAQUET GmbH Operating handle
JP2022554095A (ja) * 2019-10-23 2022-12-28 イエフペ エネルジ ヌヴェル 測定手段及び制御装置を備えたホイール付き物体のための方法及び着脱可能な電気推進システム
US11806296B2 (en) 2019-12-30 2023-11-07 Stryker Corporation Patient transport apparatus with controlled auxiliary wheel speed
US12178757B2 (en) 2019-12-30 2024-12-31 Stryker Corporation Patient transport apparatus with auxiliary wheel control systems
US12447083B2 (en) 2019-12-30 2025-10-21 Stryker Corporation Patient transport apparatus with controlled auxiliary wheel speed
WO2024181384A1 (fr) * 2023-02-27 2024-09-06 大成建設株式会社 Dispositif d'aide au transport

Also Published As

Publication number Publication date
JP2013100076A (ja) 2013-05-23
JP5206896B2 (ja) 2013-06-12

Similar Documents

Publication Publication Date Title
JP5206896B2 (ja) ベッド搬送補助装置およびベッド
US12208038B2 (en) Powered patient support apparatus
US10004651B2 (en) Patient support apparatus
NL2002903C2 (en) Drive system for patient support.
CN107000774A (zh) 移动式行走和运输辅助设备
JP2018070149A (ja) 電動式移動台車
JPWO2015053086A1 (ja) 手押し車
JP5177692B2 (ja) 一対の片足載置型移動体を組み合わせた乗用移動装置
JP4471744B2 (ja) ベッド電動搬送装置及びその駆動制御方法
JP6997434B2 (ja) 電動アシスト台車
JP3826687B2 (ja) 全方向移動台車
JP2015204946A (ja) 搬送補助装置
JP5425587B2 (ja) 車椅子電動化装置
WO2014147747A1 (fr) Dispositif de transport et procédé pour utiliser le dispositif de transport
JP5835127B2 (ja) ベッド搬送用補助装置および該使用方法
JP6601349B2 (ja) 搬送補助装置
JP5200961B2 (ja) 移乗支援装置
JP2013193597A (ja) 車両用駆動操舵装置
JP2005178505A (ja) かご台車用補助車両
JP6038068B2 (ja) 搬送補助装置
JP2023110649A (ja) 搬送アシスト装置
JP2005178506A (ja) 台車用補助車両
JP2024024592A (ja) 搬送装置及び搬送装置の制御方法
JP2005178504A (ja) かご台車用補助車両
JP2008068702A (ja) 電動アシストを受けて走行する走行体

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12840121

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 12840121

Country of ref document: EP

Kind code of ref document: A1