JPH11146508A - Mobile device with auxiliary motor powered mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a mobile device with an auxiliary motor powered mechanism which is movable at all times with a slight force, when moved using a grip handle or a hand lever. SOLUTION: When a mobile device 10 is pushed with an operating handle part (grip handles 8a, 8b and a hand lever 9) gripped and an operation switching part 24 of the mobile device 10 being at an 'on' state, auxiliary motor power is added to rotate the wheels of a wheel driving mechanism part 13 when a drive control unit 20 determines that pressure on the operating handle part exceeds a reference operating pressure value and the wheels 12a, 12b are not rotating. Conversely, brake is applied to wheels 12a, 12b, when commercial AC power is not impressed with the operation switching part 24 in the 'on' state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving device, and more particularly to a moving device with an auxiliary electric power mechanism that can always be moved with a small force by using a grip handle or a push bar of the moving device.

[0002]

2. Description of the Related Art An ultrasonic diagnostic apparatus, a laser treatment apparatus, a specimen apparatus, an X-ray diagnostic apparatus, an endoscope apparatus and the like having moving means such as casters are integrated with a rack with casters so that they can be easily carried. There are many.

For example, an ultrasonic diagnostic apparatus is integrated with a rack with casters described below. FIG. 9 is a side view of a conventional ultrasonic diagnostic apparatus. FIG. 10 is a rear view of the conventional ultrasonic diagnostic apparatus of FIG.

[0004] The ultrasonic apparatus shown in FIGS.
And a main unit 4 including a peripheral unit 3 including an imaging unit, a printer, an LSR, and the like.
The monitor 1 is mounted on the main body 4 and a rack 5 with casters is mounted.
It is integrated with.

[0005] Casters 6a and 6b are attached to both ends of the front lower part of the rack with casters 5, and casters 7a and 7b are attached to the rear lower part.

[0006] Further, gripping handles 8a, 8b and a push bar 9 are attached to the rack 5 with casters.

That is, in the conventional ultrasonic diagnostic apparatus, the main unit 4 (monitor, peripheral device, operation unit, etc.) is integrated with the rack 5 with casters, and the grip handles 8a, 8b or The ultrasonic diagnostic apparatus can be easily carried using the push bar 9.

[0008]

However, moving the rack with casters integrated with the device with the handle or the push bar is difficult when moving the device depending on the weight of the device, the material of the floor surface and the inclination. The load on the operator is considerably large, and the force varies depending on the operator, and the load varies from person to person.

For this reason, conventionally, a caster having a larger diameter has been used or a material having a good repulsion has been set as the material of the grounding surface of the caster. However, such a caster is excellent in reducing the load on the operator. No effect could be expected.

[0010] In addition, from the viewpoint of design and stability, there is a limit in responding to the change of the caster.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and a moving device with an auxiliary electric power mechanism which can always move with a small force when moving using a grip handle or a hand pushing bar is provided. The purpose is to gain.

[0012]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a moving device provided with a driving handle portion for an operator to move the device while holding it on a bogie portion having wheels mounted thereon. A pressure detection sensor that is provided on the driving handle portion and transmits a pressing signal corresponding to a pressure generated when the operator grips the driving handle portion and moves the device, and is connected to wheels mounted on the bogie portion. A wheel drive mechanism unit that includes a clutch that controls the connection between the wheels and a motor that rotates the wheels and a wheel rotation detection sensor that detects the rotation speed of the wheels to rotate or stop the wheels, and that an operator operates. When the ON signal from the operation switch unit is input, the operation switch unit transmits an ON or OFF signal, the memory unit stores auxiliary power for assisting the rotation of the wheels, and When the pressure signal from the detection sensor is larger than the preset reference pressure value and the wheel rotation detection sensor detects that the rotation speed of the wheel is smaller than the preset reference speed, the wheel is rotated by the auxiliary power. A drive control unit that transmits a start signal, a driver unit that supplies auxiliary power to the motor according to a start signal from the drive control unit, and a battery unit that charges from an external power supply and supplies the charged charge to the drive control unit and the driver unit And characterized in that:

[0013]

<First Embodiment> FIG. 1 is a three-dimensional perspective view of a first embodiment. The moving device 10 with auxiliary electric power (hereinafter simply referred to as the moving device 10) shown in FIG.
A constant auxiliary electric power is applied to a substantially L-shaped carriage 11 having pillars 11b1 and 11b2 standing upright at a rear portion of 1a by a pushing force of a pushing operator or a torque on wheels.

The truck 11 has casters 6a and 6b at both ends of a front lower portion and a wheel 12 at a rear lower portion.
a, 12b are provided.

The touch sensors 15 are attached to the grip handles 8a, 8b provided on the columns 11b1, 11b2.
a, 15b, and the piezoelectric sensors 16a, 16b are attached, and the touch sensor 17 and the piezoelectric sensor 18 are also attached to the hand pushing bar 9. When signals from these sensors make it difficult to move by human power, the wheel drive mechanism is driven by auxiliary power. The wheels 12a and 12b of the unit 13 are driven. These sensors (collectively referred to as pressure detection sensors) use a piezoelectric sensor or the like, and will be referred to as a touch sensor and a piezoelectric sensor for distinction. The handlebars 8a, 8b and the push bar 9 are collectively referred to simply as a driving handle portion.

Further, during operation of the mobile device 10,
While the moving device 10 is stopped, the wheel drive mechanism 13
Wheels 12a and 12b are in a braking state.

The above-described wheel drive mechanism 13 is controlled by a drive control unit 20. The drive control unit 20
Touch sensor and piezoelectric sensor status or wheels 12
a, 12b, and the wheel drive mechanism 1
3 for rotating the wheels 12a and 12b.

In the vicinity of the drive control unit 20, a battery unit 22 and a driver unit 23 for supplying a predetermined control power to the wheel drive mechanism unit 13 are provided. As shown in FIG. 1, the wheel drive mechanism unit 13 includes a motor unit 25, a clutch 27 that controls connection between the motor unit 25 and the gear 26, a gear 28 meshed with the gear 26, and a rotation sensor 29. To rotate the shaft 30 connected to the wheels 12a, 12b. The shaft 30 is connected to the gear 28 and the gear 26 and rotates with the rotation of the motor unit 25.

Next, the mounting state of each sensor will be described using the handle 8a as an example. FIG. 2 is a sectional view of the grip handle 8a. As shown in FIG. 2, a touch sensor 15a is attached to the back side of the grip handle 8a, and a piezoelectric sensor 16a is attached to the front side of the push operator. As shown in FIGS. 1 and 2, the push bar 9 has a long touch sensor 17 attached to both sides of the push bar 9 on the back side, and both ends of the push bar 9 on the front side of the push operator. , A long piezoelectric sensor 18 is provided.

The touch sensors 15a and 17 output an ON signal when the grip handle 8a and the hand push bar 9 are gripped by the push operator. Further, the piezoelectric sensors 16a and 18 output a signal corresponding to the grip pressure (hereinafter, a grip pressure signal).

On the other hand, the drive control unit 20 has at least the following components, and sets the internal components to an operating state in accordance with the operation of an operation switch unit described later. FIG. 3 is a schematic configuration diagram of the drive control unit 20. In the configuration of the drive control unit 20, the grip handles 8a and 8b, the driver unit 23, the battery unit 22, and the wheel drive mechanism unit 13
Will be described.

The drive control unit 20 includes the grip handle 8.
a to the touch sensor 15a and the piezoelectric sensor 16a attached to the grip handle 8b, and to the touch sensor 17 and the piezoelectric sensor 18 attached to the hand pushing bar 9. They are electrically connected by wires.

The rotation sensor 2 of the wheel drive mechanism 13
9 and the clutch 27 are electrically connected.

Further, the driver section 23, the battery section 22, and the operation switch section 24 are electrically connected by signal lines. Further, a sensor driver circuit section (not shown) for supplying power to each of the above-described sensors is provided.
The sensor driver circuit unit supplies bias power to each sensor when power is supplied from the battery unit 22.

The operation switch unit 24 includes a battery unit 22 and a drive control unit 20 when the switch is pressed.
The operation command signal V is sent to the

The battery unit 22 includes the drive control unit 2
0, the operation switch unit 24, the driver unit 23, and the AC power cord. The battery section 22 is connected to a commercial AC power supply (hereinafter referred to as AC power supply) via an AC power cord.
Is supplied (when the AC power cord is plugged into an outlet), the AC power is converted to DC and the internal battery is charged. When the operation command signal V is input from the operation switch unit 24, the battery power is supplied to the driver unit 23 and the power of a predetermined voltage is supplied to the drive control unit 20.

That is, when the mobile device 10 is merely placed on the floor, the drive control unit 20 supplies the power of the battery unit 22 to the drive control unit 20 when the operation switch unit 24 is turned on so that the power is not wasted. Has been supplied.

The driver unit 23 includes the drive control unit 2
A first wheel starting signal F1, a second wheel starting signal F2, or a brake starting signal H, which will be described later, is input from 0, and the driving is performed according to the input of the first wheel starting signal F1 or the second wheel starting signal F2. The driving power corresponding to the reference auxiliary power amount q in the memory 31 of the control unit 20 is supplied from the battery unit 22 to the motor unit 25 of the wheel driving mechanism unit 13.

Further, in response to the input of the brake start signal H, predetermined electric power for stopping the motor unit 25 is supplied from the battery unit 22. For example, when the motor unit 25 uses two phases, the input of the brake activation signal H
The control powers having opposite phases are sent to the motor unit 25.

The above-described drive control unit 20 includes a first activation determination unit 33, a second activation determination unit 34, a clutch control instruction unit 35, and an in-use brake instruction unit 36.
And torque calculating means 37.

The first activation judging means 33 receives a handle grip signal A and a handle grip pressure signal A from the touch sensor 15a and the piezoelectric sensor 16a of the grip handle 8a.

The touch sensor 1 of the grip handle 8b
5b and a handle grip signal B and a handle grip pressure signal B from the piezoelectric sensor 16b are input.

Further, the touch sensor 17 of the hand push bar 9
And a bar grip signal and a bar grip pressure signal from the piezoelectric sensor 18 are input. Further, a wheel rotation value signal T from the rotation sensor 29 of the wheel drive mechanism 13 is input.

Then, when there is a handle grip signal A, B or a bar grip signal and the handle grip pressure signal A, B or the bar grip pressure signal is input, the first activation determination means 33 starts the operation switch section. Is turned on, the clutch release start signal G is immediately sent to the clutch control command means 35, and then it is determined whether or not the pressure signal exceeds the reference operation pressing force value mo stored in the memory 38.

If the wheel rotation value signal T is not input when the reference operation pressing force value mo is exceeded, the first wheel start signal F1 is transmitted to rotate the wheels 12a and 12b.

That is, the first activation judging means 33 determines whether or not the grip handles 8a, 8b or the hand push bar 9 is gripped and pushed when the operation switch section 24 is turned on. Once the clutch is released,
After the wheels are in the free rotation state, the wheels 12a, 12b
When the is not rotating, the first wheel start signal F1 is transmitted.

Therefore, the first wheel start signal F1 is transmitted when the mobile device 10 is mounted with, for example, any heavy device, when starting to move, or when moving up a slope or moving on a step. Or when the moving device 10 is pressed with a weak force.

When the first start-up judging unit 33 judges that the driving handle is ON, the second start-up judging unit 34 stores the wheel torque from the torque calculating unit 37 described later in the memory 3.
9, when the wheel rotation speed is determined to be smaller than the reference rotation speed by the wheel rotation value signal T, instead of the first activation determination unit 33, A wheel start signal F2 is transmitted.

That is, when the operation switch unit 24 is turned on, the second start-up determination unit 34 determines whether the grip handles 8a, 8b or the hand push bar 9 is gripped and pressed. The second wheel activation signal F2 is transmitted to a field where the wheels 12a and 12b are lower than a certain reference rotational speed even if a torque equal to or more than a predetermined value is applied to the wheels 12a and 12b.

The clutch control command means 35 controls the clutch 27 of the wheel drive mechanism 13 in response to the input of the first wheel start signal F1 or the second wheel start signal F2, and To the wheels 12a, 12b
To be rotatable.

Further, while the clutch release start signal G is being input, the clutch 27 of the wheel drive mechanism 13 is controlled to release the connection between the gear 26 and the motor unit 25 and
2a and 12b are set in a free rotation state.

When the operation switch unit 24 is turned ON and the first wheel start signal F1 is not input, the in-use brake command unit 36 sends the brake start signal H to the driver unit 23 and the clutch control unit 32. Send out.

That is, the in-use brake command means 36
When the operation switch unit 24 is turned on and the moving device 10 is stopped, the motor unit 25 and the wheels 1
By connecting 2a and 12b and applying a brake,
Even if the moving device 10 is pushed by some force, it does not move.

The operation of the mobile device 10 according to the first embodiment configured as described above will be described with reference to the flowcharts of FIGS. 4 and 5 and the above-described drawings. Also, the table 11a
Describes an operation when a certain device or luggage is loaded and moves to a predetermined place. The case where the reference rotation speed is set to “0” is particularly described.

The battery unit 22 monitors whether the AC power cord is connected (S1). Step S
In 1, when the battery unit 22 determines that the AC power cord is not connected, it determines whether the operation switch unit 24 is operated to be ON (S2).

In step S2, the operation switch unit 2
If it is determined that the device 4 has been turned ON, the battery unit 22 supplies power of a predetermined voltage to the drive control unit 20 to prepare for the device movement preparation (S3).

That is, when the AC power cord is not connected to the outlet and the operation switch unit 24 is turned on, the movement is started and the drive control unit 2 is started.
Supply battery power to 0.

With the supply of power to the battery, the first activation determination means 33 of the drive control unit 20 includes the touch sensors 15a and 15b attached to the grip handles 8a and 8b and the hand push bar 9, and the piezoelectric sensor 16a ,
16b, the touch sensor 17, and the state of the piezoelectric sensor 18 (collectively, pressure detection sensors), it is determined whether or not the pressure detection sensor (hereinafter, referred to as a handle sensor) of the driving handle portion is on (S4). When the handle sensor is turned on, it is determined that the handle sensor is turned on when both signals from the touch sensor and the piezoelectric sensor are output.

When the grip handles 8a, 8b are gripped and pressed, the handle grip signal A and the handle grip signal A are output from the touch sensors 15a, 15b of the grip handles 8a, 8b, respectively. From 16b, a handle grip pressure signal A and a handle grip pressure signal B are sent to the first activation determination means 33, respectively.

When the hand pushing bar 9 is grasped and pushed, a bar grasping signal is sent from the touch sensor 17 and a bar grasping pressure signal is sent from the piezoelectric sensor 18 to the first activation judging means 33. You.

Next, when the first activation determination means 33 determines that the handle sensor is ON, the first activation determination means 33 sends a clutch release activation signal G to the clutch control command means 35 to connect the motor unit 25 to the gear 26. Is released (S5).

That is, immediately after the AC power cord is not connected to the outlet, the operation switch is in the ON state, and the grip handles 8a, 8b or the push bar 9 are gripped and pressed, the clutch is released and manually operated once. Can be moved.

The first activation determining means 33 calculates the values of the handle grip pressure signals A and B or the bar grip pressure signals (hereinafter collectively referred to as push operation force value ki) and the reference operation push force value m.
o, and the operation pressing pressure value ki becomes the reference operation pressing force value mo.
It is determined whether it is below (S6). If it is determined in step S6 that the operation pressing force value ki is equal to or less than the reference operation pressing force value mo, the first activation determination unit 33 reads the wheel rotation value signal T from the rotation sensor 29, and reads the wheels 12a, 12a.
It is determined whether or not b is rotating (S7).

If it is determined in step S7 that the wheels 12a and 12b are rotating, it is determined that the vehicle is moving manually (S8). In other words, it means that a light device or luggage is mounted and movement on a flat floor is started.

In step S6, the operation pressing pressure value ki is determined.
If exceeds the reference operation pressing force value mo, the process proceeds to step S8, and it is determined that the movement is performed manually. That is, when pressed with a large force, it can be moved manually.

Next, the in-use brake command means 36 reads the wheel rotation value signal T of the rotation sensor 29, and uses the wheel rotation value signal and the rotation rotation value signal several tens of seconds before to read the moving device 10
It is determined whether or not the apparatus is ready to stop based on whether or not the apparatus has been decelerated (S9). If it is determined in step S9 that the apparatus is ready to be stopped, it is determined that the deceleration is performed manually (S1).
0).

Next, the in-use brake command means 36 uses the wheel rotation value signal T from the rotation sensor 29 to
It is determined whether 0 has stopped (S11).

If it is determined in step S11 that the moving device 10 has stopped, the in-use brake command unit 36 sends a brake start signal H to the driver unit 23 and the clutch control command unit 35, and the motor unit 25 and the gear 27 Are connected (S12), and the wheels 12a and 12b are stopped by the motor unit 25 using the electric power from the battery (S13).

That is, when the moving device 10 moves and stops, the wheels 12a and 12b are stopped by applying an electric brake.

For this reason, when the mobile device 10 comes to a destination, for example, and moves the luggage from the platform 11a, the mobile device 10 does not move, so that it is possible to carry the luggage more easily.

When any device is mounted on the table 11a and this device is used with the device mounted on the table 11a, the mobile device 10 does not move, so that the device mounted on the table is operated. It has the effect of being easy.

In step S1, the battery unit 22
If it is determined that the AC power cord is connected to the outlet, it is determined whether the operation switch unit 24 has been operated to be turned off (S14).

If it is determined in step S14 that the operation switch unit 24 has been turned off, the battery unit 22 converts the AC power from the AC power cord into DC and charges the internal battery ( S15), the process returns to step S1.

If it is determined in step S14 that the operation switch section 24 has not been turned off, the process returns to step S12, and the in-use brake command means 3
6 sends a brake start signal H to the driver unit 23 and the clutch control command means 35 to send the motor unit 25 and the gear 26
And the wheels 12a and 12b are stopped by the motor unit 25 with the electric power from the battery.

That is, while the AC power cord is inserted into the outlet and the operation switch unit 24 is turned on, the wheels 12a and 12b are stopped by applying an electric brake. Therefore, the moving device 1
There is an effect that the work can be performed without moving the moving device 10 at the place without moving and stopping the 0.

On the other hand, in step S7, the wheels 12a, 12a
b is not rotating, that is, when the AC power outlet is not inserted, the operation switch unit 2
In the case where it is determined that the wheels 12a and 12b are not rotating when the operation pressing pressure value ki of the pressing operator is equal to or less than the reference operation pressing force value mo when the turning operation of the wheel 4 is performed,
As shown in FIG. 5, the first activation determination means 33 sends a first wheel activation signal F1 to the clutch control commanding means 35, controls the clutch 27 of the wheel drive mechanism 13, and controls the gear 26 and the motor section. 25 and the wheels 12a, 12b
Is rotated (S21), and the wheel start signal F1 is sent to the driver unit 23 to rotate the motor unit 25 (S22), thereby rotating the wheels 12a and 12b (S23).

The driving energy supplied from the driver unit 23 to the motor unit 25 at this time is based on the reference auxiliary power q of the memory 31.

That is, the first activation judging means 33 causes the wheels 12a and 12b to rotate by the auxiliary power of the battery when the pushing force of the pushing operator during movement is weak. Thus, even if heavy luggage is placed on the platform 11a, it can be easily moved with a small force.

Next, the first activation determining means 33 determines that the operation pressing force value ki from the handle sensor is equal to the reference operation pressing force value mo.
It is determined below whether or not there is an operation rotation value signal T (S24). In step S24, if the operation pressing pressure value ki from the handle sensor is equal to or less than the reference operation pressing force value mo and the operation rotation value signal T is present, it is determined that the moving device 10 is moving with a slight force, and the clutch The release start signal G is sent to the clutch control command means 35, and the motor unit 2
5 and the gear 26 are disconnected (S25). With the transmission of the clutch release activation signal G, the driver unit 23
Stops the power supply of the battery to the motor unit 25, stops the control of the motor unit 25 (S26), and causes the wheels 12a and 12b to rotate freely (S27),
The process returns to step S10.

That is, when the AC power cord is not connected to the outlet, the operation switch unit 24 is in the ON state, and the grip handles 8a, 8b or the hand push bar 9 are gripped and pushed, the moving device 10 is driven by auxiliary power. After moving the wheel, even if the pushing force of the pushing operator becomes weak, the wheels 12a, 1
When 2b is rotating, it is determined that the vehicle is traveling on a flat floor, and can be moved only by the force of the push operator.

In step S9 shown in FIG.
If it is determined that the apparatus is not in the device stop preparation state, the second activation determination unit 34 compares the rotation torque value Ui from the torque calculation unit 37 with the reference torque value P0, and
It is determined whether or not i exceeds the reference torque value P0 (S20).

If it is determined in step S20 that the rotation torque value Ui exceeds the reference torque value P0, the process returns to step S21, and the second activation determination means 34 sends a second wheel activation signal to the clutch control commanding means 35. F2 is transmitted to control the clutch 27 of the wheel drive mechanism unit 13 to connect the gear 26 and the motor unit 25 to enable the wheels 12a and 12b to rotate, and to transmit the wheel start signal F2 to the driver unit 23. And the motor unit 25 is rotated to drive the wheel 1
2a and 12b are rotationally driven.

In step S20, the rotational torque value U
If i is equal to or less than the reference torque value P0, the process returns to step S8 in FIG.

Further, in step S24, if the first activation determination means 33 determines that the operation pressing pressure value ki from the handle sensor is equal to or greater than the reference operation pressing force value mo and there is no rotation signal, the second activation determination means 33 executes the second The start determination unit 34 compares the rotation torque value Ui from the torque calculation unit 37 with the reference torque value P0, and determines whether the rotation torque value Ui exceeds the reference torque value P0 (S28).

If it is determined in step S28 that the rotation torque value Ui is equal to or less than the reference torque value P0, it is determined that the moving device 10 is moving with a slight force, and the clutch release start signal G is transmitted to the clutch control command means 35. Then, the motor unit 25 is disconnected from the gear 26 (S29).
In response to the transmission of the clutch release start signal G, the driver unit 23 stops the power supply of the battery to the motor unit 25 and stops the control of the motor unit 25 (S30).
The wheels 12a and 12b are caused to rotate freely (S3
1) The process returns to step S9.

In step S28, the rotational torque value U
If it is determined that i exceeds the reference torque value P0,
The process returns to step S23, and the wheels 12a,
Rotate 12b.

That is, when the AC power cord is not connected to the outlet, the operation switch is turned on, and the grip handles 8a, 8b or the push bar 9 are gripped and pushed, the moving device 10 is moved by the auxiliary power. After that, if the pushing force of the pushing operator is large and the wheels 12a and 12b are not rotating, it is determined that the vehicle is traveling on an incline or the weight is heavy, and the vehicle is moved by applying auxiliary power by a motor.

<Second Embodiment> FIG. 6 is a side view of a second embodiment. FIG. 7 is a rear view of FIG. This figure is an example of an ultrasonic apparatus, and is an example in which two rear wheels are subjected to auxiliary driving so that an operator holds a handle and performs a moving operation.

As shown in FIGS. 6 and 7, a main unit 4 includes a monitor 1, an operation unit 2, and a peripheral unit 3 including a photographing unit, a printer, an LSR, and the like. And an ultrasonic diagnostic apparatus 41 integrated with the moving apparatus 40 of the second embodiment.

That is, the touch sensors 15a and 15b are attached to the grip handles 8a and 8b, and the piezoelectric sensors 16a and 16b are attached to the front side, which is the front of the operator. A long touch sensor 17 extending across both ends of the push bar 9 is attached to the push bar 9, and a long piezoelectric sensor 18 extending across both ends of the push bar 9 is attached on the front side.

The operation unit 2 of the ultrasonic diagnostic apparatus 41
Is provided with a power-on switch 51, and an on-off signal of the power-on switch 51 is transmitted to a drive control unit and a battery unit described later.

The operating section 2 is provided with a probe (not shown).
Are provided, and contact sensors 46a and 46b are provided around the box 45, respectively.

As shown in FIG. 7, the moving unit 40 integrated with the above-described ultrasonic diagnostic apparatus 41 is provided with the driver unit 23 and the drive control unit 50 as in the first embodiment. .

Further, a battery section 49 is provided, and this battery section 49 is connected to the power-on switch 51 and to an AC power cord.

When AC power is supplied via the AC power cord (when the AC power cord is plugged into an outlet), the battery unit 49 converts the AC power into DC and charges the internal battery. When an ON signal is input from the power-on switch 51, the charging power is supplied to the driver unit 23 and the power of a predetermined voltage is supplied to the drive control unit 50.

That is, when the ultrasonic diagnostic apparatus 41 is not used, the power of the battery is supplied to the drive control unit 50 by the ON signal of the power-on switch 51 so that the power is not wasted. I have.

As shown in FIG. 8, the drive control unit 50 is similar to the drive control unit 50 shown in FIG.
a, a piezoelectric sensor 16a, a touch sensor 15b and a piezoelectric sensor 16b mounted on the grip handle 8b,
Sensor 17 and piezoelectric sensor 1 attached to
8 are electrically connected to each other by a signal line.

The rotation sensor 2 of the wheel drive mechanism 13
9 and the clutch 27 are electrically connected.

Further, the driver section 23, the battery section 49, the contact sensors 46a and 46b of the probe box 45 of the operation section 2, and the power-on switch 51 provided on the operation section 2 are electrically connected by signal lines. Have been.

On the other hand, the drive control unit 50 includes a first start determining unit 33, a second start determining unit 34, a clutch control commanding unit 35, and a torque calculating unit 37 similar to FIG. 3 of the first embodiment. And

Further, an in-use brake command means 48 is provided. The in-use brake command unit 48 is configured such that the operation switch unit 24 is turned on and the first wheel start signal F1
Alternatively, when there is no input of the second wheel start signal F2, a brake start signal H is sent to the driver unit 23 and the clutch control means 32. In use brake command means 48
Are the on / off signals of the power-on switch 51 of the operation unit 2 and the contact sensors 46a and 46b of the probe box 45.
When the power-on switch 51 is turned on and the probe storage signals from the contact sensors 46a and 46b are not output, it is determined that the probe of the ultrasonic diagnostic apparatus 41 is being used by the patient and the brake activation signal is output. By transmitting, the wheels 12a and 12b are brought into a stopped state (brake state) using the motor unit 25.

When the power-on switch 51 is turned on and the probe storage signal is output from the contact sensors 46a and 46b, the brake activation signal H is output.
Is stopped, the first activation determination means 33,
Second start-up determining means 34 and clutch control commanding means 35
Thereby, the movement by the auxiliary power or the movement by human power is enabled.

Therefore, the ultrasonic diagnostic apparatus 41 moves by the operation described below at the time of stopping, at the time of starting moving, and during moving.

(1) At the time of stop At the time of stop, when the AC power cord is plugged into the outlet and the power-on switch 51 is turned off, the battery unit 49 converts AC from the AC power cord into DC. And charge the battery.

When the AC power cord is plugged into the outlet and the power-on switch 51 is turned on, the in-use brake command means 48 of the drive control unit 50 transmits the brake start signal H to the clutch control command means 35. And the motor unit 25 is connected to the gear 26 to bring the wheels 12a and 12b into a stopped state (braking state).

That is, since the inadvertent movement during the use of the ultrasonic device is prevented by the auxiliary power, the ultrasonic diagnostic device 41 can be used when the ultrasonic wave is irradiated by applying the probe to the part of the patient. Since there is no inadvertent movement, the effect of safely irradiating the ultrasonic wave to the target location is obtained.

(2) At the start of movement (2-a) Example of control by the pushing force of the pushing operator When the pushing operator grasps and pushes the handles 8a, 8b or the hand pushing bar 9, the first of the drive control unit 50 is started. The activation determination means 33 determines an input signal from the steering wheel sensor. Then, the first activation determination means 33 determines that the push operation force of the handle sensor exceeds the preset reference operation push force value mo and the rotation sensor 29 of the wheel drive mechanism unit 13
It is determined whether or not rotation is not detected from.

Next, when there is an input signal from the steering wheel sensor and rotation is not detected, the first start-up determining means 33 sends out a first wheel start-up signal F1 to
The wheels 12a and 12b are rotated by the electric power based on the predetermined reference auxiliary power amount q by connecting the motor parts 25 with the motor parts 25a and 12b.

As a result, at the start of the movement of the ultrasonic diagnostic apparatus 41, the predetermined auxiliary power and the force of the push operator are applied to the wheels 12a and 12b, so that the effect that the ultrasonic diagnostic apparatus 41 can be started with a weak force is obtained. I do.

The above-described rotation detection at the time of starting the movement is as follows.
The determination is made by releasing the connection between the motor unit 25 and the gear 26 using the clutch 27.

(2-b) Example of Control Based on Torque on Wheels When the push operator grasps and pushes the handles 8a, 8b or the hand push bar 9, the first start-up determination means 33 of the drive control unit 50 sends the signals from the handle sensors. Are determined. If the rotation is not detected, the second activation determination means 34 calculates the torque for the wheels from the state of the output signal of the rotation sensor 29 of the wheel drive mechanism 13, and when the torque exceeds the reference torque PO. Then, the wheels 12a and 12b are connected to the motor unit 25 using the clutch control commanding means 35, and electric power based on the reference auxiliary power is supplied to the motor unit 25 to rotate the wheels 12a and 12b.

That is, when the apparatus does not move even if pressed with a strong force, that is, when the apparatus itself is heavy, the reference torque PO
The application of the above torque is used as a so-called one trigger to apply auxiliary power. As a result, when the ultrasonic diagnostic apparatus is moving, even if the apparatus itself is heavy, the predetermined auxiliary power and the force of the push operator are applied to the wheels 12a and 12b, so that the ultrasonic diagnostic apparatus can be started with a weak force.

(2-c) Example of Control Based on Push Operation Force and Torque on Wheels When the push operator grips and pushes the handlebars 8a, 8b or the hand push bar 9, the drive control unit 50 generates the push operation force. If the wheel does not rotate even if it exceeds a preset reference operation pressing force value mo, or if it does not rotate even if the torque for the wheel exceeds the reference torque PO, the wheel 12
a, 12b and the motor unit 25, and supplies electric power based on the reference auxiliary power amount to the motor unit 25 so that the wheels 12a, 12b
Rotate 12b.

That is, whether to rotate the wheels using the auxiliary power is determined based on the pushing operation force or the torque to the wheels and the number of rotations.

In any of the above (2-a), (2-b) and (2-c), unless the handle sensor is turned on, the clutch 27 releases the connection between the motor section 25 and the gear 26. The wheels 12a and 12b are in a free rotation state.

(3) Moving The moving speed of the ultrasonic diagnostic apparatus 41 is controlled by the drive control unit 5.
0 is obtained based on the number of rotations from the rotation sensor 29. When the obtained moving speed exceeds a predetermined speed, the driving by the auxiliary power is stopped. Therefore, the moving speed by the auxiliary driving does not exceed the set value.

Further, during the movement, due to the inertia of the ultrasonic device,
It is possible to move with a smaller pressing operation force than at the time of starting movement.
Therefore, the auxiliary power is controlled by the following method.

(3-a) Example of Control Based on Pushing Force of Pushing Operator During Movement When the pushing operator grips and pushes the handlebars 8a, 8b or the hand pushing bar 9, the drive control unit 50 generates the pushing operation force. It becomes equal to or less than the preset reference operation pressing force value mo,
When the rotation of the wheels 12a and 12b is detected, the connection between the wheels 12a and 12b and the motor unit 25 is released,
The wheels 12a and 12b are brought into a free rotation state.

That is, if the wheels 12a and 12b are rotating at a predetermined speed or more with a small force during the movement, the driving by the auxiliary power is stopped and the wheels 12a and 12b are stopped.
It is possible to set b to the free rotation state and to move it only with the force of the push operator.

Further, due to the change of the floor surface or the inclination of the floor surface,
When the push operation force for the movement of the push operator becomes equal to or larger than the set reference push operation force, the auxiliary power is again supplied to the wheel 1.
The push force transmitted to the push operators 2a and 12b is always kept below a certain level.

(3-b) Example of Control Based on Torque on Moving Wheels When the push operator grips the handles 8a, 8b or the hand push bar 9 and pushes to move, the drive control unit 5
0 means that when the torque to the wheels is equal to or less than the reference torque PO and the wheels 12a and 12b are rotating, the connection between the wheels 12a and 12b and the motor unit 25 is released, and the wheels 12a and 12b rotate freely. State.

That is, if the wheels 12a and 12b are rotating during the movement even if the torque to the wheels is small, the driving by the auxiliary power is stopped and the wheels 12a and 12b are stopped.
12b can be set in a free rotation state and can be moved only by the force of the push operator.

Further, due to the change of the floor surface or the inclination of the floor surface,
When the torque for the wheels becomes equal to or greater than the set reference torque P0, the auxiliary power is transmitted to the wheels 12a and 12b again, and the pushing operation force of the pushing operator is always kept below a certain value.

(3-c) Example of control based on push operation force during movement and torque to wheels Wheel drive control is performed when the push operator is moving while holding and pushing the handles 8a, 8b or the hand push bar 9. When the pushing operation force is equal to or less than a preset reference operation pushing force value mo, or the torque for the wheel is equal to or less than the reference torque PO, and the rotation of the wheel is detected, the unit 50 and the wheel 12a, 12b Release the connection with the part 25,
The driving by the auxiliary power is stopped, and the wheels 12a, 12b
In the free rotation state.

When the push operator is moving while gripping the handle 8a, 8b or the hand push bar 9, the push operation force exceeds the preset reference operation push force value mo, or Is the reference torque P
If the rotation of the wheels 12a, 12b is not detected beyond O, the wheels 12a, 12b and the motor unit 25 are connected again, and the wheels 12a, 12b are rotated by the auxiliary power.

That is, since it is determined whether or not to rotate the wheels using the auxiliary power based on the pushing operation force or the torque to the wheels and the number of rotations, when the vehicle climbs a slope or moves on a step, Alternatively, when moving on a flat floor, when the pushing operation force or the torque to the wheels is large and the speed is reduced, auxiliary power is applied. If the pushing force or the torque to the wheels is small and the speed is higher than a certain value when descending the slope or moving on a flat floor, the auxiliary power is released and only the pushing operator's force is applied. Will be moved.

In the first and second embodiments, the wheels 12a, 12a are determined based on the rotation speed of the rotation sensor 29.
b, but the torque sensor is newly added to the shaft 3 regardless of the rotation speed from the rotation sensor 29.
0 may be provided near the wheel 12a or the wheel 12b, and the torque value from this torque sensor may be compared with the reference torque P0.

Further, in the second embodiment, the case where the moving device 10 is used for the ultrasonic diagnostic apparatus has been described, but it may be used for an endoscope device or the like.

Further, in the first and second embodiments, a touch sensor and a piezoelectric sensor are used for the grip handle and the push bar of the driving handle portion, and the grip of the handle and the pressing pressure are detected. However, the grip and the pressing force of the handle may be detected by one piezoelectric sensor.

[0120]

As described above, according to the present invention, when the operation handle portion is pressed while the operation handle portion of the device is being turned on and the operation handle portion is pressed, the drive control unit is pressed by the drive control unit. When it is determined that the reference pressure value is exceeded and the rotation of the wheel is stopped, the wheel of the wheel drive mechanism is rotated by applying the auxiliary electric power.

Therefore, even when the present apparatus is heavy, the auxiliary electric power is applied to the wheels at the time of starting movement or running on an inclination, so that the pushing operator can move with a small force.

If the commercial AC power supply is not applied when the operation switch of the present apparatus is turned on, the wheels are in a brake state.

Therefore, it is possible to completely prevent the risk that the apparatus is inadvertently moved during operation of the apparatus mounted on the apparatus or when unloading luggage mounted on the table.

[Brief description of the drawings]

FIG. 1 is a three-dimensional perspective view of a first embodiment of the present invention.

FIG. 2 is a sectional view of a driving handle portion.

FIG. 3 is a schematic configuration diagram of a drive control unit.

FIG. 4 is a flowchart illustrating an operation of the mobile device according to the first embodiment.

FIG. 5 is a flowchart illustrating an operation of the mobile device according to the first embodiment.

FIG. 6 is a side view of the second embodiment.

FIG. 7 is a rear view of FIG. 6;

FIG. 8 is a schematic configuration diagram of a drive control unit according to a second embodiment.

FIG. 9 is a side view of a conventional ultrasonic diagnostic apparatus.

FIG. 10 is a rear view of a conventional ultrasonic diagnostic apparatus.

[Explanation of symbols]

 Reference Signs List 10 moving device 11 cart 12a wheels 12b wheels 13 wheel drive mechanism 15a touch sensor 15b touch sensor 16a piezoelectric sensor 16b piezoelectric sensor 20 drive control unit 22 battery unit 23 driver unit 24 operation switch unit 27 clutch 29 rotation sensor 33 first activation Judgment means 34 Second activation judgment means 35 Clutch control command means 36 In-use brake command means 37 Torque calculation means

Claims (9)

[Claims] 1. A moving device provided with a driving handle for an operator to hold and move the device on a bogie unit having wheels mounted thereon, wherein the moving device is provided on the driving handle, and the operator controls the driving handle. A pressure detection sensor that transmits a pressure signal corresponding to a pressure generated when the device is gripped and moved, and a clutch that is connected to wheels mounted on the bogie unit and controls connection between the wheels and a motor that rotates the wheels. And a wheel drive mechanism unit that includes a wheel rotation detection sensor that detects a rotation speed of the wheel and that rotates or stops the wheel, a driving switch unit that transmits an on or off signal when operated by an operator, and the wheel. A memory unit storing auxiliary power for assisting the rotation of the motor, and a press signal from the press detection sensor is predicted when an ON signal is input from the operation switch unit. When the wheel rotation detection sensor detects that the rotation speed of the wheel is smaller than a predetermined reference speed, and the wheel rotation detection sensor detects that the rotation speed of the wheel is larger than the set reference pressing value, the drive control transmits a start signal for rotating the wheel with the auxiliary power. A drive unit that supplies the auxiliary power to the motor in response to a start signal from the drive control unit; and a battery unit that charges from an external power source and supplies the charged charge to the drive control unit and the driver unit. A moving device with an auxiliary electric power mechanism. 2. The drive control unit further includes torque calculation means for calculating torque to the wheels, and when an ON signal from the operation switch unit is input, a pressing signal from the pressing detection sensor is set in advance. In the case of being equal to or less than the set reference pressing value, the wheel rotation detecting sensor detects that the rotation speed of the wheel is smaller than the preset reference speed, and the torque value calculated by the torque calculation means is the predetermined reference torque. The moving device with an auxiliary electric power mechanism according to claim 1, wherein when the value is larger than the value, a start signal for rotating a wheel with the auxiliary power is transmitted. 3. The drive control unit, when an ON signal from the operation switch unit is being input, does not output a pressing signal from the pressing detection sensor,
The assist signal according to claim 1 or 2, wherein when the wheel rotation detection sensor detects that the rotation speed of the wheel is zero, a stop signal for stopping the wheel is transmitted to the wheel drive mechanism. A moving device with an electric power mechanism. 4. The drive control unit releases a connection between a wheel and the motor by a clutch of the wheel drive mechanism in response to an input of a press signal from the press sensor, and transmits the start signal. The wheel and the motor are connected by a clutch.
4. The moving device with an auxiliary electric power mechanism according to any one of claims 1 to 3. 5. The drive control unit, when an ON signal is input from the operation switch unit, a pressure signal from the pressure detection sensor is equal to or less than the preset reference pressure value and a wheel rotation is detected. When the rotation speed of the wheel is detected by the sensor to be higher than the preset reference speed, the connection between the wheel and the motor is released by the clutch of the wheel drive mechanism, and the transmission of the start signal is stopped. 5. The moving device with an auxiliary electric power mechanism according to claim 1, wherein: 6. The wheel control circuit according to claim 1, wherein the drive control unit detects the wheel rotation when an ON signal from the operation switch unit is input and the pressure signal from the pressure detection sensor is equal to or less than a predetermined reference pressure value. If the rotation speed of the wheel is detected by the sensor to be lower than a predetermined reference speed, and the torque value calculated by the torque calculation means is lower than the predetermined reference torque value, the clutch of the wheel drive mechanism section 6. The moving device with an auxiliary electric power mechanism according to claim 2, wherein the connection between the wheel and the motor is released by means of the control unit, and the transmission of the activation signal is stopped. 7. The operating handle portion comprises a rod-shaped push bar and grip handles provided at both ends thereof. The grip portion of the grip handle is used when an operator grips the grip handle portion to move the device. A first piezoelectric sensor for detecting the pressure generated at the first position and a second piezoelectric sensor for detecting the grip, and the pressing bar is provided with a pressure generated when an operator grips the pressing bar and moves the apparatus. The moving device with an auxiliary electric power mechanism according to claim 1, further comprising a first piezoelectric sensor for detecting and a second piezoelectric sensor for detecting grip. 8. The auxiliary electric power according to claim 7, wherein the pressing signal is a set of output signals from the first or second piezoelectric sensor or the third or fourth piezoelectric sensor. A moving device with a mechanism. 9. When a device that operates using an external power supply is mounted on the bogie unit, the wheel drive mechanism unit is mounted on the bogie based on the detection results of the sensors at the same time as the device starts operating. 9. The moving device with an auxiliary electric power mechanism according to claim 1, wherein the rotation control is performed.