WO2015083924A1

WO2015083924A1 - Movable lifting device

Info

Publication number: WO2015083924A1
Application number: PCT/KR2014/008793
Authority: WO
Inventors: 고철웅; 전경진; 홍재수; 김충연; 최형인; 변태민
Original assignee: 한국생산기술연구원
Priority date: 2013-12-04
Filing date: 2014-09-22
Publication date: 2015-06-11
Also published as: CN105828778A; CN105828778B

Abstract

The present invention relates to a movable lifting device having a travel assistance wheel. Disclosed is a movable lifting device comprising: a base having a plurality of moving wheels; a lifting unit comprising a bed part on which a user or an object to be transferred is seated, and an ascending and descending frame which extends in the upward direction from the base, which supports the bed part such that the bed part is positioned at a certain height or higher from the floor, and which selectively adjusts the height of the bed part; and a travel assistance wheel which drives in contact with the floor on the base, the movable lifting device further comprising a travel assistance unit which is located on the center of gravity of the lifting unit and assists the travel of the lifting unit.

Description

Movable Lifting Device

The present invention is formed in one side of the body is formed with a grip portion that allows the user to grip, the fluid flow path for the drug solution flows, the end is fixed to the inside of the body and the other end is inserted into the human body is extended to the outside of the body and the The present invention relates to a mobile lifting device, and more particularly, to a mobile lifting device having a separate driving wheel located on a center of gravity to assist driving. .

Recently, much attention has been paid to the research and development of elderly-friendly articles that can improve the convenience of the user and reduce the economic burden due to nursing care protection according to the rapid increase of the elderly population.

In general, care for the elderly is carried out at home or in an aged specialty care facility. Meal, bathing, bowel movements, and transportation and movement are the main activities in the performance of daily activities.

In particular, elderly people who are uncomfortable with their own needs desperately need help, so related technology development is required.

Based on such an environment, various products related to various types of beds or transfer devices for transferring a user have been recently developed, but product development through systematic research is insufficient.

In particular, a carrier having a separate driving assistance unit has been developed in various ways in order to reduce the external force used when the user is seated on the bed and then directly transferred by the user.

However, the conventional apparatus has a problem in that the user assists the driving during the movement of the bed occupied by the caregiver, but the force is not correctly transmitted according to the ground with the ground during the driving of the driving assistance unit. In particular, the driving assistance unit does not operate correctly when driving on an inclined length or an uneven road, and there is a problem in that the driving force of the driving wheel decreases.

An object of the present invention is to solve the problems of the conventional mobile lifting device, unlike the conventional mobile lifting device that must be operated manually, provided with a separate driving wheel to assist the movement of the lifting unit, as well as lifting It is to provide a mobile lifting device having a driving wheel on the center of gravity that can be provided with a driving wheel on the center of gravity of the load by the unit to increase the traction with the floor.

In addition, the present invention by using a separate rotary stopper to move the driving wheels by the user's choice during the driving of the lifting unit by moving the wheel with a driving wheel on the center of gravity to adjust the rotational force that the user can use more safely In providing a lifting device.

The objects of the present invention are not limited to the above-mentioned objects, and other objects that are not mentioned will be clearly understood by those skilled in the art from the following description.

In order to solve the above problems, the present invention is a base having a plurality of moving wheels, the bed or the user to be transported or the object to be seated is formed extending in the upper direction from the base and the bed is located above a certain height from the bottom It includes a lifting unit including a lifting frame for supporting and selectively adjusting the height of the bed portion and a driving auxiliary wheel for driving in contact with the floor on the base, the driving unit is located on the center of gravity of the lifting unit It includes a driving assistance unit for assisting.

In addition, the elevating frame is formed in the transverse direction along the upper surface of the base and one side is coupled to rotate with the rotation axis and the base is eccentric with the base and extends in the upper direction on the rotary link the bed is a certain height or more. It includes a vertical link to support the position and optionally the lifting frame can be rotated to adjust the position of the bed portion.

In addition, the base is formed so that a portion of the driving aid unit penetrates up and down, and further includes a bracket to surround the upper portion of the driving aid unit to prevent interference, the rotary link does not cause interference with the bracket A portion may be bent to rotate.

In addition, the base is provided with a guide portion formed along the position of the same radius around the rotation axis on the upper surface and is formed in the lower portion of the rotary link coupled with the guide portion and is provided with a sliding portion moving along the guide portion without being separated Can be.

In addition, the first sensing unit provided on the base, and detects the load applied to the lifting unit and transmitted as an electrical signal and the electrical signal transmitted from the first sensing unit by measuring the center of gravity of the lifting unit The apparatus may further include a first control unit including a first controller configured to control the driving assistance wheel to be positioned at the center of gravity.

In addition, the first detection unit may be composed of a plurality of sensors may be spaced apart on the base.

In addition, the driving assistance unit may further include a movable guide coupled to the driving guide wheel and the driving assistance wheel formed long in the front and rear direction on the base and selectively sliding along the sliding guide to adjust the position of the driving assistance wheel. have.

In addition, the driving assistance unit may selectively adjust the rotational force of the driving assistance wheel in response to the total load of the lifting unit detected by the first sensing unit.

The driving assistance unit may be configured such that the base elastically supports the driving assistance wheel.

The driving assistance unit may further include a separate rotation stopper for selectively stopping the operation of the driving assistance wheel.

In addition, the elevating frame has a rotation axis in the vertical direction on the base is configured to be rotatable around the rotation axis, the driving assistance unit is linked with the elevating frame in accordance with the rotation state of the elevating frame The driving auxiliary wheel may be configured to rotate together to adjust the driving direction.

In addition, the driving assistance unit may be positioned on the rotation axis of the elevating frame in the lower portion of the base and directly connected to the elevating frame to be rotatable simultaneously.

In addition, one side is connected to the elevating frame and the other side is connected to the bed portion, to attenuate the vibration generated in the bed portion, the damping coefficient selectively depending on the strength of the current applied to the magnetorheological fluid therein The control unit may further include a second control unit for sensing the vibration of the control unit and the bed, and adjusting the intensity of the current applied to the shock absorbing unit in response to the sensed intensity of the vibration.

In addition, the second control unit is provided on the bed portion to sense the vibration intensity of the bed portion, and generates an electrical signal corresponding to the detected vibration intensity and the electrical signal generated by the second detection unit It may include a second control unit for adjusting the current applied to the buffer unit according to the strength of.

Here, the second sensing unit may include an acceleration sensor and may be provided at the front end of the bed unit to generate an electrical signal according to the acceleration detected by the bed unit.

In addition, the second control unit may reduce the current applied to the buffer unit as the intensity of the vibration sensed by the second sensing unit increases.

In addition, the second control unit divides the intensity of the electrical signal generated in the second sensing unit into a plurality of regions to provide a current having the same intensity to the buffer unit in each region, the buffer unit is the second The attenuation coefficient may be adjusted by receiving a current having a different intensity from each region according to the intensity of the electrical signal measured by the detector.

In addition, the shock absorbing unit has a predetermined length, a cylinder filled with the magnetorheological fluid therein, a piston moving in the longitudinal direction within the cylinder, and is formed long and a part is inserted from one side of the cylinder and connected to the piston And a piston unit including a shaft that flows together and a magnetic field generating unit having a plurality of coils inside the piston to generate a magnetic field by an applied electric power. The viscosity of the magnetorheological fluid may vary according to the strength of the current supplied by the second control unit.

According to the present invention to solve the above problems has the following effects.

First, unlike conventional lifting devices, separate driving wheels are provided to assist driving when moving to reduce the physical burden of the user, and at the same time, the driving wheels are provided on the weight center of the lifting device to maintain the grounding force with the floor. There is an advantage that can be increased.

Second, it is configured to adjust the position of the driving auxiliary wheel in the lower part of the lifting device, and by providing a separate load sensor to adjust the driving auxiliary wheel to be located on the center of gravity of the entire lifting device, active regardless of the object to be transported As a result, it is possible to maintain the traction of the driving auxiliary wheel.

Third, the driving auxiliary wheel is provided with a separate shock absorbing member to elastically support the driving auxiliary wheel, there is an effect that can increase the traction with the floor and the impact of the floor condition when the mobile lifting device moves.

Fourth, by providing a separate rotary stopper to the driving auxiliary unit is configured to allow the user to selectively stop the rotation of the driving auxiliary wheel, the user can determine the running of the mobile lifting device in a desired state to prevent safety accidents It works.

The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a view schematically showing the configuration of a mobile lifting apparatus according to a first embodiment of the present invention;

FIG. 2 is a view illustrating a state in which a bed part is elevated in the movable lifting device of FIG. 1; FIG.

3 is a view showing a state in which the bed portion is lowered in the mobile lifting device of FIG.

4 is a view showing the configuration of the base and the driving assistance unit in the mobile lifting device of FIG.

5 is a view showing a state in which the position of the driving auxiliary wheel does not move in the mobile lifting device of FIG.

6 is a view showing a state in which the position of the driving auxiliary wheel moved to the left side in the mobile lifting device of FIG.

7 is a view showing a state in which the lifting frame rotates in the mobile lifting device of FIG.

8 is an enlarged view of A in the mobile lifting device of FIG. 7;

9 is a view showing a configuration in which the driving auxiliary wheel elastically grounded in the mobile lifting device of FIG.

10 is a view showing the configuration of the base and the driving assistance unit in the mobile lifting apparatus according to the second embodiment of the present invention;

11 is a view showing a state in which the driving auxiliary wheel rotates in the mobile lifting device of FIG.

12 is a view showing a configuration in which the driving auxiliary wheel elastically grounded with the ground in the mobile lifting device of FIG.

13 is a view schematically showing the configuration of a mobile lifting apparatus according to a third embodiment of the present invention;

14 is a view showing a state in which the bed lifting in the movable lifting device of FIG.

FIG. 15 is a view illustrating a state in which the bed portion descends in the movable lifting apparatus of FIG. 14; FIG.

16 is a view showing the configuration of the shock absorbing unit in the mobile lifting device of FIG.

17 is a view showing that the vibration occurs in the mobile lifting device of Figure 13 in the absence of the transfer object in the bed portion;

18 is a view showing that vibration occurs in a state in which the transfer object is placed on the bed in the mobile lifting device of FIG.

19 is a view showing a state in which the attenuation coefficient is adjusted according to the strength of the electrical signal generated by the strength of the vibration acting on the second sensing unit in the lifting device of FIG.

20 is a view showing a modified configuration of the shock absorbing unit in the lifting device of FIG. And

21 is a view showing a state in which the piston member moves in the shock absorbing unit of FIG.

Exemplary embodiments of a mobile lifting apparatus having a driving wheel on the center of gravity according to the present invention configured as described above will be described with reference to the accompanying drawings. However, this is not intended to limit the present invention to a specific form, but to help a more clear understanding through the present embodiment.

In the description of this embodiment, the same name and the same reference numerals are used for the same configuration and additional description thereof will be omitted.

First embodiment

First, referring to FIGS. 1 to 4, a configuration of a mobile lifting device having a driving assistance wheel according to a first embodiment of the present invention will be described.

1 is a view schematically showing the configuration of a mobile lifting device according to a first embodiment of the present invention, Figure 2 is a view showing a state in which the bed portion is raised and lowered in the mobile lifting device of FIG.

3 is a view showing a state in which the bed portion is lowered in the mobile lifting device of FIG. 2, and FIG. 4 is a view showing the configuration of the base and the driving assistance unit in the mobile lifting device of FIG.

As shown, a mobile lifting apparatus according to an exemplary embodiment of the present invention includes a lifting unit 100, a driving assistance unit 200, and the first control unit 300.

The lifting unit 100 has a configuration similar to that of a general movable lifting bed and includes a base 110, a bed part 130, and a lifting frame 120.

The base 110 supports the entire lifting device and includes a plurality of moving wheels 112 to allow the lifting unit 100 to move by an external force.

Specifically, the base 110 according to the present invention supports the elevating frame 120 at the bottom of the bed portion 130 and the elevating frame 120, the elevating frame 120 is the base Is rotatably coupled with 110.

In addition, the base 110 has a communication groove is formed so that a portion of the driving assistance unit 200 to be described later penetrates up and down and surrounds the upper portion of the traveling assistance unit 200 through the bracket 114 to prevent interference It is configured to further include.

Detailed configuration of the base 110 will be described later together with the elevating frame 120.

The bed 130 may be disposed above the base 110 to allow the user to be seated and have a general bed shape. Here, the bed 130 may be configured to transport the object to be transported, as well as the shape of the bed specifically seated.

In the present embodiment, the bed portion 130 is configured in the form of a bed on which the user is seated and consists of a reclining bed that can be partially adjusted inclination angle through rotation.

The lifting frame 120 is coupled to the base 110 is formed to extend in the upper direction and supports the bed portion 130 is located above a certain height from the bottom. Here, the lifting frame 120 is configured to selectively adjust the height of the bed 130.

Looking at the configuration in which the position of the bed 130 is adjusted in the vertical direction by the elevating frame 120, the elevating frame 120 is coupled to the bed portion 130, one side is in the vertical direction It is formed in a form surrounding a portion along the lifting frame 120 is provided with a coupling guide 126 coupled to the lifting and lowering.

As described above, the coupling guide 126 is configured to allow the bed 130 to be coupled to the elevating frame 120 and to elevate along the up and down direction of the elevating frame 120. Configured to adjust the height of 130.

The lifting unit 100 configured as described above is configured such that the bed 130 is raised and lowered as shown in FIG. 2.

In the present embodiment, the lifting unit 100 is configured in the form of a general bed that is raised and lowered in the up and down direction, but alternatively, the general unit or the carrier may be used as well as the lifting unit 100.

On the other hand, looking at the specific configuration of the elevating frame 120 according to the present embodiment, it includes a rotary link 122 and the vertical link 124 large.

The rotary link 122 is formed in the transverse direction along the upper surface of the base 110 and is coupled to rotate on one side eccentrically with the base 110 with a rotation axis. That is, the rotary link 122 is rotatably coupled to one side having a rotation shaft on an upper surface of the base 110.

The other side may be fixedly coupled to the vertical link 124 to be described later to support the vertical link 124 and selectively rotate to adjust the position of the vertical link 124 and the bed 130. .

Here, as shown in the rotary link 122 is partially bent upward by the above-described bracket 114 is configured so as not to interfere with the bracket 114 when rotating around the rotation axis.

In the present embodiment, the rotary link 122 has a rotation axis on the upper surface of the bracket 114 and is rotatably coupled and bent to correspond to the shape of the bracket 114.

The vertical link 124 extends upwardly on the rotary link 122 to support the bed 130 at a predetermined height or more. Specifically, the vertical link 124 according to the present invention is coupled to the other end of the rotary link 122 is formed to extend in the upper direction from the top of the base 110.

In the present embodiment, the vertical link 124 includes the coupling guide 126 as described above, and wins the coupling guide 126 as the coupling guide 126 is coupled to the bed portion 130. Lowering is configured to adjust the height of the bed portion 130.

As described above, the lifting frame 120 includes the rotary link 122 and the vertical link 124, and adjusts the position of the bed 130 through the rotation of the rotary link and at the same time the coupling guide ( By elevating 126, the bed 130 may be elevated.

As the lifting unit 100 is configured as described above, the object may be transported by being seated on the bed 130 and may be selectively adjusted.

On the other hand, the lifting unit 100 includes a handle 132 is formed so that the user can grip the user to move the lifting unit 100. In this embodiment, the handle 132 is coupled to the coupling guide 126 as shown. Here, the handle 132 may be configured in a variety of forms, in this embodiment the handle 132 has a square ring shape and a portion is coupled to the coupling guide 126 is configured.

The driving assistance unit 200 includes a driving assistance wheel 210 that is driven in contact with the floor on the base 110 and is positioned on the center of gravity of the lifting unit 100 to travel of the lifting unit 100. To assist.

In detail, the driving assistance unit 200 includes the driving assistance wheel 210 and the driving motor 220, and the driving assistance wheel 210 is coupled to the bottom of the base 110 and grounded. It is configured to be. The driving motor 220 is connected to the driving auxiliary wheel 210 and configured to rotate the driving auxiliary wheel 210.

That is, the driving assistance unit 200 is additionally provided in addition to the plurality of moving wheels 112 to rotate the driving assistance wheel 210 as the driving motor 220 operates. Here, the driving auxiliary wheel 210 is rotated by the drive motor 220, the drive motor 220 is configured to adjust the rotational force.

As shown, the driving assistance wheel 210 and the driving motor 220 may be directly connected to each other. Alternatively, the driving assistance wheel 210 and the driving motor 220 may be disposed to be spaced apart from each other, and may include a separate power transmission unit (not shown) to transmit power. It may be.

In addition, the driving auxiliary wheel 210 may further include a separate clutch (not shown), so that the driving auxiliary wheel 210 may be grounded on the floor, but may be configured to allow no load rotation when the user does not want to operate the wheel. . That is, the driving auxiliary wheel 210 is grounded on the floor and rotates together when the lifting unit 100 moves, but is not configured to transmit the rotational force according to the driving motor 220, thereby driving the motor 220 ) Can be prevented from being broken.

On the other hand, the driving assistance unit 200 may further include a sliding guide 230 and a moving member 240 for adjusting the position of the driving assistance wheel 210 to the center of gravity of the lifting unit 100. have.

Specifically, the sliding guide 230 is formed long in the front and rear direction on the base 110 to support the movable member 240 to slide in the longitudinal direction.

In the present invention, the sliding guide 230 is provided in the lower portion of the bracket 114 formed on the base 110, so that a part of the driving assistance wheel 210 can be exposed to the communication groove interlocked up and down. It is composed.

In this case, the bracket 114 may be formed long in correspondence with the longitudinal direction of the sliding guide 230, otherwise may be formed in a circular shape as shown.

In this embodiment, the sliding guide 230 is formed long and both ends are formed in the form of a shaft that is supported by the side of the bracket 114 and selectively rotated by receiving power. The sliding guide 230 has a thread formed on its outer circumferential surface.

The moving member 240 is coupled to the driving assistance wheel 210 and selectively slides along the sliding guide 230 to adjust the position of the driving assistance wheel 210.

Specifically, the movable member 240 is disposed to penetrate the above-mentioned sliding guide 230 and is formed to engage with the screw thread on the contact surface with the sliding guide 230 is positioned according to the rotation of the sliding guide 230 Is adjusted.

The driving auxiliary wheel 210 is coupled to the lower portion of the moving member 240 to adjust the position of the driving auxiliary wheel 210 according to the position adjustment of the moving member 240.

Accordingly, the driving assistance unit 200 may further include the sliding guide 230 and the movable member 240 to adjust the driving assistance wheel 210 on the center of gravity of the lifting unit 100. have.

As such, as the driving assistance wheel 210 is positioned on the center of gravity of the lifting unit 100, the grounding force with the floor is increased by the load. In particular, when the floor is formed unevenly, since the driving assistance wheel 210 is not in contact with the floor, it is possible to stably assist the driving of the lifting unit 100 by preventing it.

Meanwhile, as described above, a portion of the driving assistance unit 200 penetrates and the bracket 114 is formed on the base 110 so as to lower the center of gravity of the lifting device. 110 may be formed close to the floor, and the size of the driving auxiliary wheel 210 may be selectively adjusted to increase the efficiency of the driving auxiliary wheel 210.

Accordingly, the center of gravity of the entire lifting device can be moved downward to prevent overturning of the lifting device.

In addition, although not shown in the drawing, the handle 132 further includes a separate operation means (not shown), and the driving assistance unit 200 is operated by the operation means and optionally the driving assistance wheel 210. It may be configured to further include a rotation stopper (not shown) to stop the rotation state of the).

Therefore, the user can stably stop the lifting unit 100 by driving the rotary stopper through a separate operation means (not shown) while driving the lifting unit 100. Here, the operation means may be provided on the handle 132, it is further provided with the rotation stopper in this way can prevent a safety accident that may occur during the running of the lifting unit (100).

The configuration for stopping the rotation of the driving auxiliary wheel 210 may be applied in various configurations and in the present embodiment is generally configured in the form of a brake to control the rotation state of the driving auxiliary wheel 210 by the operation through the operation means. Configured to stop.

The first control unit 300 is configured to adjust the position of the driving auxiliary wheel 210 by sensing the center of gravity of the lifting unit 100, the first detecting unit 310 and the first control unit (not shown) It is configured to include).

The first detecting unit 310 is provided on the base 110 and detects the load applied by the lifting unit 100 and transmits the load as an electrical signal.

In detail, the first detection unit 310 may be configured as a general load sensor, and may be formed in plurality and spaced apart from the base 110.

In the present exemplary embodiment, the first sensing unit 310 is provided between the base 110 and the movable wheel 112 coupled to the lower portion of the base 110 and applied to the movable wheel 112 by a load. It is configured to detect the center of gravity of the total load of the lifting unit 100 by sensing the losing pressure.

Each of the first sensing units 310 transmits the sensed pressure to an electrical signal to the first control unit.

The first controller measures the center of gravity of the lifting unit 100 by the electrical signal transmitted from the first sensing unit 310 and controls the driving assistance wheel 210 to be positioned on the center of gravity.

In detail, the first control unit detects an electrical signal transmitted from each of the plurality of first sensing units 310 and derives the center of gravity of the lifting unit 100 correspondingly. Then, the moving member 240 is adjusted so that the driving assistance wheel 210 is positioned on the derived weight center.

As the first control unit 300 is configured as described above, even when the load or the position of the object or the patient seated on the bed 130 is changed, the driving assistance wheel 210 is positioned on the center of gravity correspondingly. By controlling so as to maintain the traction of the driving assistance wheel 210 and the floor.

On the other hand, the first control unit may be configured to selectively adjust the rotational force of the driving auxiliary wheel 210 in response to the total load of the lifting unit 100 detected by the first detecting unit 310.

In detail, the first control unit increases the total load of the lifting unit 100 when the object to be transported or the patient is seated on the bed unit 130, and thus the driving auxiliary wheel ( Control to increase the rotational force of the 210.

Accordingly, the first control unit actively controls the rotational force of the driving assistance wheel 210 in response to the load of the lifting unit 100.

As described above, in the movable lifting apparatus according to the present invention, the traveling assisting wheel 210 is disposed on the center of gravity of the lifting unit 100 by the first control unit 300 to effectively move the lifting device when the lifting device is moved. Can be assisted by the auxiliary wheel (210).

Next, a state in which the moving position of the driving assistance wheel 210 changes to the center of gravity will be described with reference to FIGS. 5 and 6.

5 is a view illustrating a state in which the position of the driving auxiliary wheel does not move in the mobile lifting apparatus of FIG. 1, and FIG. 6 is a view illustrating a state in which the position of the driving auxiliary wheel moves to the left side in the mobile lifting apparatus of FIG. 5. to be.

Referring to the figure shown, the driving assistance wheel 210 is supported by the sliding guide 230 in the bracket 114 formed on the base 110.

Here, when the object to be transported or the patient is seated on the bed 130, the load of the entire lifting unit 100 is increased. At this time, since the lifting frame 120 is eccentric to the left on the base 110, the weight of the lifting unit 100 changes and the center of gravity moves to the left.

In this case, the first detection unit 310 detects the weight acting at the corresponding point by using the plurality of first detection units 310, and the first control unit through this weight of the lifting unit 100 Deriving a center to rotate the sliding guide 230.

Accordingly, the moving member 240 is moved along the longitudinal direction of the sliding guide 230 as shown in Figure 6 so that the driving assistance wheel 210 is located on the center of gravity.

At this time, although not shown in the drawing, the sliding guide 230 is connected to a separate rotary motor (not shown), and the rotary motor is configured to selectively rotate by the first control unit.

As such, the driving assistance wheel 210 may be stably in contact with the floor as it is positioned on the center of gravity of the lifting unit 100.

Next, referring to FIGS. 7 and 8, the guide frame 116 and the sliding part 122a are provided to look at a state in which the lifting frame 120 rotates.

7 is a view showing a state in which the lifting frame is rotated in the mobile lifting device of Figure 1, Figure 8 is an enlarged view of A in the mobile lifting device of FIG.

Referring to the drawings, the lifting frame 120 rotatably coupled to the rotation axis on the base 110 further includes a separate guide part 116 and a sliding part 122a for stable rotation. do.

The guide portion 116 is formed along the position of the same radius around the axis of rotation of the rotary link 122 on the upper surface of the base 110. Specifically, as shown in the present embodiment, the guide part 116 is recessed below the point where the rotary link 122 and the vertical link 124 are coupled to the rotation axis.

At this time, the guide portion 116 has the same radius around the rotation axis and is formed in a circular shape.

That is, the guide part 116 is formed to have the same radius within the radius that the rotary link 122 rotates about the rotation axis.

On the other hand, the sliding portion 122a is formed in the lower portion of the rotary link 122 is coupled to the guide portion 116 is configured to move along the guide portion 116 without being separated.

In the present invention, the sliding part 122a is slidably coupled to the guide part 116 and not only supports to rotate stably when the rotary link 122 rotates, but also an upper surface of the base 110. And friction with the rotary link 122 is reduced.

Specifically, in the present embodiment, the sliding portion 122a is formed to protrude from the lower portion of the rotary link 122 to face the guide portion 116, and the recessed portion of the sliding portion 122a is formed Is inserted into the guide portion 116 is configured to slide along the guide portion 116 when the rotary link 122 rotates.

In this case, as shown in the drawing, the sliding part 122a is formed in a roller shape to reduce friction between the guide part 116 and the sliding part 122a and at the same time, the rotary link 122 and the base 110. It also plays a role of a spacer so that the upper surface of the) does not contact.

As described above, as the sliding part 122a and the guide part 116 are provided, the lifting frame 120 can be stably rotated about the rotation axis, and the lifting frame 120 is shown. ) Can also support the load.

Next, referring to FIG. 9, the driving assistance wheel 210 looks at the configuration of the elastic ground on the floor.

FIG. 9 is a view illustrating a configuration in which the driving assistance wheel 210 is elastically grounded with the floor in the movable lifting device of FIG. 1.

As shown in the driving assistance unit 200, the driving assistance wheel 210 is configured to elastically support the base 110 to elastically ground with the floor.

Specifically, the driving assistance wheel 210 is supported by a separate support jacket 212 and is coupled to the moving member 240. Specifically, the insertion groove 242 is provided at the lower end of the moving member 240, a portion of the support jacket 212 is inserted into the insertion groove 242 is coupled.

A buffer member 244 is provided in the insertion groove 242, and the support jacket 212 is elastically supported by the buffer member 244.

Accordingly, the driving auxiliary wheel 210 receives elastic pressure and stably contacts the floor, and at the same time, the shock transmitted through the driving auxiliary wheel 210 by the shock absorbing member 244 is transmitted to the bed unit 300. There is an effect to prevent.

In this embodiment, although the driving auxiliary wheel 210 is elastically supported through the configuration of the buffer member 244 and the insertion groove 242, the driving auxiliary wheel 210 is applied by applying a hydraulic damper, a pneumatic damper, a spring, and the like. It can be applied to the elastic support. However, the present invention is not limited thereto, and any configuration may be applied as long as the shock transmitted from the floor through the driving assistance wheel 210 may be buffered.

Second embodiment

Next, a second embodiment of a mobile lifting apparatus according to the present invention will be described with reference to FIGS. 10 and 11.

10 is a view showing the configuration of the base and the driving aid unit in the mobile lifting device according to the second embodiment of the present invention, Figure 11 is a view showing a state in which the driving wheel in the mobile lifting device of Figure 10 rotates; to be.

As shown, the mobile lifting apparatus according to the second embodiment of the present invention includes a lifting unit 100, a driving assistance unit 200, and the first control unit 300 similarly to the first embodiment described above. It is configured by.

The basic configuration is similar to that of the first embodiment, but the driving assistance unit 200 is configured to rotate in conjunction with the lifting frame 120.

Specifically, the elevating frame 120 according to the present embodiment is rotatably coupled around the rotation axis on the base 110.

Accordingly, the elevating frame 120 may selectively adjust the position of the bed unit 130 as it supports the bed unit 130 and rotates about the rotation axis in the base 110.

On the other hand, looking at the configuration in which the position of the bed 130 is adjusted in the vertical direction by the elevating frame 120, the elevating frame 120 is coupled to the bed portion 130, one side up and down It is formed in a form surrounding a portion along the direction is provided with a coupling guide 126 coupled to the elevating frame 120 and the elevating.

On the other hand, the specific configuration of the elevating frame 120 according to the second embodiment of the present invention also includes a rotary link 122 and the vertical link 124 as in the first embodiment described above.

On the other hand, the driving assistance unit 200 includes a driving assistance wheel 210 for driving and contacting the floor on the base 110 to assist driving, the driving assistance wheel 210 is the elevating frame 120 ) And the driving direction is adjusted by rotating together in accordance with the rotation state of the elevating frame (120).

Accordingly, when the elevating frame 120 is rotated and the position of the bed 130 is changed, the driving auxiliary wheels 210 rotate together in response to the driving direction of the driving auxiliary wheels 210. Change to assist in driving.

In detail, the driving assistance unit 200 includes the driving assistance wheel 210 and the driving motor 220, and the driving assistance wheel 210 is coupled to the bottom of the base 110 and grounded. It is configured to be. In addition, the driving motor 220 is connected to the driving auxiliary wheel 210 to drive the driving auxiliary wheel 210.

Here, the driving assistance unit 200 according to the second embodiment of the present invention is located on the rotation axis of the rotary link 122 under the base 110 and is directly connected to the rotary link 122 to rotate simultaneously. It is configured to be possible.

Specifically, as described above in the present embodiment, the base 110 is formed in communication with a portion of the driving assistance wheel 210 to protrude upward, and surrounds the upper portion of the driving assistance wheel 210 and the rotary link 122. It is configured to include a bracket 114 to prevent interference with.

In this manner, the rotary link 122 is rotatably coupled to the upper surface of the bracket 114 about the rotating shaft in the state in which the base 110 includes the bracket 114, and the driving assistance unit ( 200 has the same axis of rotation at the bottom of the bracket 114 and is directly coupled to the rotary link 122 through the bracket 114.

Accordingly, the rotary link 122 and the driving assistance unit 200 are coupled to the top and bottom of the bracket 114 so as to be rotated at the same time.

In the present embodiment, the driving assistance unit 200 has the driving assistance wheel 210 formed relatively larger than the movement wheel 112, and a portion thereof penetrates through the base 110, and by the bracket 114. The upper portion is formed to be wrapped.

Here, the rotary link 122 is formed to be bent in the upper direction to correspond to the shape of the bracket 114, is arranged in the transverse direction on the upper surface of the base 110 is configured to rotate around the rotation axis.

In this embodiment, the rotary link 122 is rotatably coupled to the upper surface of the bracket 114, but unlike the rotary link 122 is rotatably coupled to the upper surface of the base 110, the bracket A portion of the longitudinal direction may be bent upward to correspond to the shape of the bracket 114 so that interference with the 114 does not occur.

As such, the rotary link 122 and the driving auxiliary wheel 210 have the same rotation axis through the bracket 114 and are directly connected to each other so that the rotary link 122 can rotate at the same time. Correspondingly, the driving direction of the driving assistance wheel 210 is also rotated to adjust the driving direction.

As the lifting device according to the present invention is configured, the lifting frame 120 does not cause interference with the driving auxiliary wheel 210, and the driving auxiliary wheel 210 corresponds to the rotation state of the lifting frame 120. By rotating along the driving direction of the), even when the direction of the bed unit 130 can be continuously assisted by using the driving auxiliary wheel 210.

Next, referring to FIG. 12, the driving assistance wheel 210 looks at the configuration of the elastic ground on the floor.

FIG. 12 is a view illustrating a configuration in which the driving assist wheel is elastically grounded with the ground in the mobile lifting apparatus of FIG. 10.

Specifically, the driving auxiliary wheel 210 is supported by a separate support jacket 212 and is not coupled to the moving member 240, unlike the first embodiment described above, and is coupled to one side of the rotary link 122. do. Specifically, an insertion groove 122a is provided at one lower side of the rotary link 122, and a part of the support jacket 212 is inserted into the insertion groove 122a and coupled thereto.

That is, one end of the rotary link 122 penetrates the upper surface of the bracket 114 and is coupled to the support jacket 212 by the insertion groove 122a formed at the bottom thereof while being coupled to the rotation axis. .

A buffer member 214 is provided in the insertion groove 122a, and the support jacket 212 is elastically supported by the buffer member 214.

Accordingly, the driving auxiliary wheel 210 receives elastic pressure and stably contacts the floor, and at the same time, the shock transmitted through the driving auxiliary wheel 210 by the shock absorbing member 214 is transmitted to the bed 130. There is an effect to prevent.

In this embodiment, although the driving auxiliary wheel 210 is elastically supported through the configuration of the buffer member 214 and the insertion groove 122a, the driving auxiliary wheel 210 is applied by applying a hydraulic damper, a pneumatic damper, a spring, or the like. It can be applied to the elastic support. However, the present invention is not limited thereto, and any configuration may be applied as long as the shock transmitted from the floor to the driving assistance wheel 210 is buffered.

Third embodiment

Next, referring to Figures 13 to 16 will be described with respect to the configuration of a mobile lifting apparatus according to a third embodiment of the present invention.

FIG. 13 is a view schematically showing the configuration of a mobile lifting apparatus according to a third embodiment of the present invention, and FIG. 14 is a view showing a state in which a bed part is lifted and lifted in the mobile lifting apparatus of FIG.

FIG. 15 is a view illustrating a state in which the bed portion descends in the mobile lifting apparatus of FIG. 14, and FIG. 16 is a view illustrating a configuration of a shock absorbing unit in the mobile lifting apparatus of FIG. 13.

The lifting device according to the third embodiment of the present invention additionally includes the shock absorbing unit 500 and the lifting unit 100 together with the driving assistance unit 200 and the first control unit 300 similarly to the first embodiment. It further comprises a second control unit (400).

Here, the lifting unit 100, the driving assistance unit 200 and the first control unit 300 is substantially the same as the above-described first embodiment and a detailed description thereof will be omitted.

The buffer unit 500 is configured to buffer the shock applied to the bed 130, one side is connected to the elevating frame 120 and the other side is connected to the bed 130, the bed by an external force The vibration generated in the unit 130 is attenuated.

Specifically, the buffer unit 500 according to the present invention is selectively controlled by the damping coefficient according to the intensity of the current applied to the magnetorheological fluid (MR) therein.

In this case, the magnetorheological fluid (MR) is a fluid unit of a micro unit having a polarity around the electromagnet generating a magnetic field, the particle arrangement is upright by the magnetic field to increase the viscosity in the upright direction, which is due to the action of the magnetic field The result is a change in the yield stress of the liver.

Accordingly, the magnetorheological fluid MR refers to a fluid in which particles dispersed in the fluid cause magnetization when the external magnetic field is applied, thereby forming annular clusters of fibrous structure in a direction parallel to the magnetic field. .

That is, the intensity of the magnetic field generated according to the strength of the current applied to the buffer unit 500 is changed, and accordingly the viscosity of the magnetorheological fluid MR is changed to change the attenuation coefficient of the buffer unit 500. do.

Here, the buffer unit 500 is similar to a damper using a general fluid, but the magnetic fluid instead of the fluid is filled with the magnetorheological fluid (MR) further includes a configuration that can selectively form a magnetic field therein.

As described above, the magnetorheological fluid MR is included in the buffer unit 500, and the damping coefficient is adjusted according to the viscosity change of the magnetorheological fluid MR. In this case, the damping coefficient is a force that tries to prevent the motion per unit speed of the object, and means a degree of damping the vibration generated in the bed 130 by an impact from the outside.

Looking at the configuration of the shock absorbing unit 500 according to the present embodiment, as shown in FIG. 16 includes a cylinder 510, a piston 520 and a magnetic field generating unit 530.

The cylinder 510 has a predetermined length and a receiving space is formed therein to fill the magnetorheological fluid MR. A portion of the piston 520 is inserted into the accommodation space and configured to slide along the longitudinal direction of the cylinder 510.

The piston part 520 includes a piston member 522 and a shaft 524, and the piston member 522 is configured to move along the longitudinal direction inside the cylinder 510. Here, the piston member 522 has a shape corresponding to the cross-sectional shape of the cylinder 510 and is arranged to partition the inside of the receiving space to move along the longitudinal direction inside the cylinder 510.

At this time, the piston member 522 and the inner wall surface of the cylinder 510 is disposed spaced apart and is configured to flow the magnetorheological fluid (MR) when the piston member 522 moves.

In addition, the shaft 524 is formed to be long, a portion of which is inserted into one side of the cylinder 510 is coupled to the piston member 522, so as to move along the longitudinal direction with the piston member 522 It is composed.

That is, the piston part 520 is integrally formed with the piston member 522 and the shaft 524 moving in the cylinder 510, and is configured to slide with the cylinder 510. Here, a separate elastic member 512 is provided inside the cylinder 510 to restore the position of the piston member 522 and may also be configured to perform a shock absorbing action. The elastic member 512 may be in contact with the piston member 522 in the accommodation space, and may be disposed in an opposite direction of the shaft 524 based on the piston member 522.

In this way, the piston unit 520 is provided in a state coupled to the cylinder 510, the other side of the cylinder 510 is connected to any one of the coupling guide 126 or the bed unit 130, The other side of the shaft 524 is coupled to the other place where the cylinder 510 is not coupled.

On the other hand, the magnetic field generating unit 530 has a plurality of coils in the piston member 522 to generate a magnetic field by the power applied.

In detail, the magnetic field generating unit 530 has a plurality of coils wound along the circumference of the piston member 522 in the piston member 522, and as the power is supplied to the coil, the piston member 522. It forms a magnetic field inside.

As the magnetic field generator 530 generates the magnetic field in the piston member 522, the viscosity of the magnetorheological fluid MR filled in the accommodation space changes. At this time, the viscosity of the magnetorheological fluid (MR) is adjusted according to the strength of the magnetic field generated by the magnetic field generating unit 530.

For example, when the intensity of the magnetic field generated by the magnetic field generating unit 530 is increased, the viscosity of the magnetorheological fluid MR is gradually increased. When the intensity of the magnetic field is decreased, the magnetorheological fluid MR is increased. Viscosity is weakened.

As such, the viscosity of the magnetorheological fluid MR is changed according to the intensity generated by the magnetic field generating unit 530, thereby decreasing the attenuation coefficient of the buffer unit 500.

On the other hand, in the present embodiment, the buffer unit 500 is configured to selectively change the viscosity by having the magnetorheological fluid (MR) inside, but unlike the viscosity of the electric field provided with an electric rheological fluid It may be configured to.

As the shock absorbing unit 500 is provided, the vibration generated in the bed 130 may be attenuated, and the damping of the shock absorbing unit 500 is selectively applied by applying a current to the magnetic field generating part 530. The coefficient can be adjusted.

On the other hand, the piston member 522 and the inner wall of the cylinder 510 is formed so as to be spaced apart so that the magnetorheological fluid (MR) flows. As the magnetorheological fluid MR flows in the cylinder 510, the piston member 522 may be slidable, thereby damping vibration generated in the bed 130.

The second control unit 400 detects the vibration of the bed unit 130 and adjusts the strength of the current applied to the buffer unit 500 in response to the sensed strength of the vibration.

Specifically, the second control unit 400 according to the present invention is provided on the bed portion 130 to detect the vibration generated by the lifting and lowering of the bed portion 130 or the driving of the lifting unit 100 do. The intensity of the current applied to the magnetic field generator 530 is adjusted in response to the sensed intensity of the vibration.

In the present embodiment, the second control unit 400 largely includes a second sensing unit 410 and a second control unit, and the second sensing unit 410 is provided on the bed unit 130 to provide the bed. The vibration intensity of the unit 130 is sensed, and an electrical signal is generated in response to the sensed vibration intensity.

As shown in the drawing, the second sensing unit 410 is provided at the position where the greatest movement occurs when vibration is generated on the bed unit 130, and in this embodiment, the coupling guide 126 and the coupling guide 126 on the bed unit 130. It is arranged in the opposite position.

And it detects the strength of the vibration generated when the vibration occurs in the bed 130 to transmit an electrical signal.

In the present embodiment, the second sensing unit 410 may be configured as an acceleration sensor and is provided at the front end of the bed unit 130 to detect the bed unit 130 when vibration of the bed unit 130 occurs. ) It detects the acceleration of the end movement. As described above, the electrical signal is generated by measuring the vibration intensity generated by the bed 130 using the acceleration of the vibration of the bed 130 detected by the second sensing unit 410.

In this case, the electrical signal generated by the second sensing unit 410 is changed in intensity in response to the vibration intensity generated by the bed 130.

The second controller receives an electrical signal generated by the second sensing unit 410 and adjusts a current applied to the buffer unit 500. Specifically, the second control unit changes the intensity of the current applied to the buffer unit 500 corresponding to the intensity of the electrical signal generated by the second sensing unit 410.

In the present embodiment, as the intensity of the vibration sensed by the second sensing unit 410 increases, the second control unit reduces the intensity of the current applied to the magnetic field generating unit 530.

That is, the second sensing unit 410 increases the intensity of the electrical signal transmitted to the second control unit as the intensity of the vibration generated in the bed unit 130 increases, and the second control unit the second sensing unit As the intensity of the electrical signal transmitted from 410 increases, the intensity of the current applied to the magnetic field generator 530 is reduced.

Accordingly, the strength of the magnetic field generated by the magnetic field generating unit 530 is reduced, and the viscosity of the magnetic rheological fluid MR is weakened, so that the damping coefficient of the buffer unit 500 is adjusted.

Here, the second control unit allows a current of a constant intensity to be continuously applied to the magnetic field generating unit 530 in a state where the vibration is not generated in the bed unit 130, the generation of vibration in the bed unit 130 It is configured to reduce the strength of the current applied to the magnetic field generating unit 530 at the time.

In this case, the degree of reduction of the current intensity applied to the magnetic field generator 530 is adjusted according to the vibration intensity of the bed 130 detected by the second sensing unit 410.

That is, as the vibration intensity of the bed unit 130 increases, the second control unit decreases the intensity of the current applied to the magnetic field generating unit 530, and the magnetic field decreases as the vibration intensity of the bed unit 130 decreases. The intensity of the current applied to the generator 530 is reduced to a small level.

As the second control unit 400 according to the present invention is configured as described above, the bed is stably adjusted to control the damping coefficient of the shock absorbing unit 500 in response to the strength of the vibration generated in the bed 130. The vibration of the unit 130 may be attenuated.

The configuration of the mobile lifting apparatus according to the third embodiment of the present invention has been described above. Next, the bed part 130 according to the load in the lifting device according to the third embodiment of the present invention is described with reference to FIGS. 17 and 18. Looking at the vibration occurs in the) as follows.

FIG. 17 is a view illustrating vibration in a state in which there is no transport object in the bed in the movable lifting device of FIG. 13, and FIG. 18 is vibration in a state in which the transport object is placed in the bed in the mobile lifting device of FIG. 17. It is a figure which showed.

First, referring to FIG. 17, a separate transfer object S is not provided on the bed 130, and vibration is generated on the bed 130 by an external force.

Here, the transfer object (S) is not provided on the bed 130, the strength of the generated vibration itself is not large, and thus the second sensing unit 410 is the vibration of the bed 130 Senses and generates an electrical signal.

In this case, the second detecting unit 410 is provided at the front end of the bed 130 as described above to measure the acceleration of the movement generated by the vibration, and based on the measured acceleration the strength of the vibration Detect and generate an electrical signal.

The second controller adjusts the strength of the current applied to the magnetic field generator 530 in response to the intensity of the electrical signal generated by the second sensing unit 410.

In the present embodiment, since the vibration of the bed 130 is not large as shown, the second controller slightly reduces the intensity of the current applied to the magnetic field generator 530.

On the contrary, referring to FIG. 18, when the separate transfer object S is seated on the bed 130, when the bed 130 vibrates due to external force, the transfer object ( The strength of vibration is greater than that of the bed 130 without S).

As such, when the vibration intensity of the bed 130 is increased, the shock absorbing unit 500 must attenuate the vibration of the bed 130 more. Therefore, the magnetorheological fluid (MR) viscosity inside the cylinder 510 is increased. Should be weakened. Accordingly, the second control unit can absorb the vibration of the bed unit 130 by reducing the strength of the current applied to the magnetic field generating unit 530 to reduce the strength of the magnetic field.

That is, as shown in FIGS. 17 and 18, the intensity of the vibration generated in the bed 130 is changed according to the load, and accordingly, the degree of decrease in the intensity of the current applied to the magnetic field generator 530 is adjusted. The vibration of the bed 130 is reduced by the buffer unit 500.

Next, referring to FIG. 19, the buffer unit 500 of the second control unit is changed according to the intensity change of the electrical signal generated by the second sensing unit 410 of the lifting apparatus according to the third embodiment of the present invention. The state of adjusting the attenuation coefficient is as follows.

The second control unit divides the intensity of the electrical signal generated by the second sensing unit 410 into a plurality of regions to provide a current having the same intensity to the buffer unit 500 in each region, and the buffer unit 500 is configured to adjust the attenuation coefficient by receiving a current having different intensity for each region according to the intensity of the electrical signal measured by the second sensing unit 410.

Specifically, the second control unit according to the present invention is configured to change the intensity of the current applied to the magnetic field generating unit 530 according to the intensity of the electrical signal generated by the second sensing unit 410, this embodiment In the configuration, the strength of the current applied to the magnetic field generator 530 is increased step by step without continuously changing. Here, a current having a uniform intensity is applied to the magnetic field generator 530 in the step divided into the respective regions.

Looking at the graph shown, the change in the current intensity applied to the magnetic field generating unit 530 according to the strength of the electrical signal transmitted to the second control unit, the X-axis vibration generated in the bed portion 130 The Y axis represents the intensity of the electric current generated from the second sensing unit 410 and the intensity of the current applied to the magnetic field generating unit 530.

Looking at the graph shown I is a continuous representation of the change in the intensity of the electrical signal generated in the second sensing unit 410 by the vibration of the bed 130, the vibration generated in the bed 130 The intensity increases with the intensity of the.

P represents the strength of the current applied to the magnetic field generator 530 according to the strength of the electrical signal transmitted to the second controller.

However, as shown, the graph of I is shown in a continuous form, but the graph of P is divided into a plurality of regions so that the strength of the current applied to the magnetic field generator 530 is the same in each region. I can see that there is.

That is, the second controller divides the intensity of the electrical signal generated by the second sensing unit 410 into a plurality of regions so that a current having a uniform intensity is applied to the magnetic field generating unit 530 in each region. The strength of the current applied to the magnetic field generator 530 is different for each region according to the strength of the electrical signal generated by the second sensing unit 410.

Accordingly, the second control unit divides the electrical signal generated by the second sensing unit 410 into a plurality of regions according to its intensity, and the current having the intensity set in the magnetic field generating unit 530 in each corresponding region. Apply.

Thus, the second controller senses the intensity of the electrical signal generated by the second sensing unit 410 and applies a current of the intensity corresponding to the region to which the sensed electrical signal belongs to the magnetic field generator 530. Let's do it.

Next, the modified configuration of the shock absorbing unit 500 in the lifting apparatus according to the third embodiment of the present invention will be described with reference to FIGS. 20 and 21 as follows.

20 is a view showing a modified configuration of the shock absorbing unit in the lifting device of Figure 13, Figure 21 is a view showing a state in which the piston member moves in the shock absorbing unit of FIG.

As shown, the basic configuration of the shock absorbing unit 500 is similar to that described above, but the configuration of the piston member 522 is modified.

The piston member 522 is in direct contact with the inner wall of the receiving space inside the cylinder 510 and has a separate seal (not shown) so that the inner wall of the cylinder 510 and the piston member when the piston member 522 is slid. The magnetorheological fluid (MR) does not flow between the (522).

In addition, the piston member 522 is configured to partition the inside of the cylinder 510, and an orifice is formed to communicate the inside of the cylinder 510 partitioned in the piston member 522.

That is, the magnetorheological fluid MR does not flow between the piston member 522 and the cylinder 510 when the piston member 522 slides, but flows through the orifice.

As such, the piston member 522 may further include an orifice to selectively adjust the orifice diameter to adjust the buffering degree of the shock absorbing unit 500.

As described above, the preferred embodiments of the present invention have been described. In addition to the above-described embodiments, the present invention may be embodied in other forms without departing from the spirit or scope of the present invention. Therefore, the present embodiments are to be considered as illustrative and not restrictive, and the invention is not to be limited to the foregoing description, and may be modified within the scope of the appended claims and their equivalents.

100: lifting unit 110: base

120: lifting frame 130: bed part

200: driving auxiliary unit 210: driving auxiliary wheel

214, 244: shock absorbing member 220: drive motor

230: sliding guide 240: moving member

300: first control unit 310: first detection unit

400: second control unit 410: second detecting unit

500: shock absorber unit 510: cylinder

520: piston portion 530: magnetic field generating portion

MR: magnetorheological fluid

Claims

A base having a plurality of moving wheels, the bed portion to which the user or the transfer object is seated and formed extending in the upper direction from the base and supporting the bed portion above a certain height from the bottom and selectively adjusting the height of the bed portion A lifting unit including a lifting frame; And

A driving assistance unit including a driving assistance wheel driving in contact with a floor on the base and positioned on a center of gravity of the lifting unit to assist driving of the lifting unit;

Removable lifting device comprising a.
The method of claim 1,

The lifting frame is,

A rotary link formed in a transverse direction along an upper surface of the base and coupled to one side to be eccentrically rotated with the base; And

A vertical link extending upward on the rotary link to support the bed at a predetermined height or more;

And optionally the lifting frame rotates to adjust the position of the bed portion.
The method of claim 2,

The base is formed so that a portion of the driving assistance unit penetrates up and down,

It further includes a bracket surrounding the upper portion of the driving assistance unit penetrated to prevent interference,

And the rotary link is partially bent to rotate without causing interference with the bracket.
The method of claim 2,

On the upper surface of the base is provided with a guide formed along the position of the same radius around the rotation axis of the rotary link,

Lifting device is formed in the lower portion of the rotary link coupled to the guide portion and sliding along the guide portion without being separated.
The method of claim 1,

The driving assistance is provided on the base and measures the center of gravity of the lifting unit by a first sensing unit which senses a load applied to the lifting unit and transmits it as an electrical signal and an electrical signal transmitted from the first sensing unit. And a first control unit including a first control unit for controlling a wheel to be positioned on the center of gravity.
The method of claim 5,

The first detection unit,

A mobile lifting device composed of a plurality of sensors are spaced apart on the base.
The method of claim 5,

The driving assistance unit,

A sliding guide elongated in the front-rear direction on the base; And

A moving member coupled to the driving auxiliary wheel and selectively sliding along the sliding guide to adjust a position of the driving auxiliary wheel;

Removable lifting device further comprising.
The method of claim 5,

The driving assistance unit,

And a rotational force of the driving auxiliary wheel is selectively adjusted in response to the total load of the lifting unit detected by the first sensing unit.
The method of claim 1,

The driving assistance unit,

And the base is configured to elastically support the driving assistance wheel.
The method of claim 1,

The driving assistance unit,

And a separate rotary stopper for selectively stopping the operation of the driving auxiliary wheel.
The method of claim 1,

The lifting frame has a rotation axis in the vertical direction on the base and configured to be rotatable about the rotation axis,

The driving assistance unit is a mobile lifting device, characterized in that configured to move in conjunction with the elevating frame and the driving auxiliary wheel is rotated together in accordance with the rotation state of the elevating frame.
The method of claim 11,

The driving assistance unit,

A mobile lifting device positioned on the rotation axis of the lifting frame in the lower portion of the base and directly connected to the lifting frame is configured to be rotatable simultaneously.
The method of claim 1,

One side is connected to the elevating frame and the other side is connected to the bed part to attenuate the vibration generated in the bed part, and selectively adjust the damping coefficient according to the strength of the current applied to the magnetorheological fluid therein A buffer unit; And

A second control unit which senses the vibration of the bed and adjusts the intensity of the current applied to the buffer unit in response to the sensed intensity of the vibration;

Removable lifting device comprising a more.
The method of claim 13,

The second control unit,

A second sensing unit provided on the bed unit to sense the vibration intensity of the bed unit and generate an electrical signal in response to the sensed vibration intensity; And

A second controller configured to adjust a current applied to the buffer unit according to the strength of the electrical signal generated by the second detector;

Removable lifting device comprising a.
The method of claim 14,

The second detection unit,

A mobile lifting device, comprising an acceleration sensor, is provided at the front end of the bed and generates an electrical signal according to the acceleration detected by the bed.
The method of claim 14,

The second control unit,

And a current applied to the shock absorbing unit decreases as the intensity of the vibration sensed by the second sensing unit increases.
The method of claim 14,

The second control unit,

The intensity of the electrical signal generated in the second sensing unit is divided into a plurality of regions to provide a current having the same intensity to the buffer unit in each region, and the buffer unit is the electrical signal measured by the second sensing unit. The lifting device is configured to adjust the attenuation coefficient by receiving a current of different intensity for each region according to the intensity of the.
The method of claim 13,

The buffer unit,

A cylinder having a predetermined length and filled with the magnetorheological fluid therein;

A piston which moves in the cylinder in the longitudinal direction and is formed to be elongated and includes a shaft which is partially inserted into one side of the cylinder and connected to the piston and flows together; And

A magnetic field generating unit including a plurality of coils inside the piston to generate a magnetic field by an applied electric power;

And a viscosity of the magnetorheological fluid changes according to the strength of the current supplied by the second control unit.