JP7537662B2 - Lifting and mobility aids - Google Patents

Description

The present invention relates to a technology that makes it easier to ascend and descend ladders, and in particular to an ascending and descending movement assistance device that eliminates discomfort and increases safety.

To work at high altitudes such as on steel towers, workers must ascend and descend ladders attached to the towers, etc., and various safety devices have been developed to prevent workers from falling from ladders.

However, although devices have been developed to assist workers in ascending and descending slopes, no devices have been developed to reduce the force required for workers to climb ladders.

The hoisting speed of the winch that lifts and lowers the load does not match the climbing speed of the worker, so the winch cannot be used as a lifting and movement assistance device.

The present invention was created to solve the above-mentioned problems with the conventional technology, and its purpose is to provide a climbing and mobility assistance device that assists the person being assisted in climbing and descending a ladder.

In order to solve the above problems, the present invention provides an ascent and descent movement assistance device having a device body provided with a motor that rotates a rotating shaft, a suspension rope having one end attached to the rotating shaft, and a control device that controls the rotation direction and rotation speed of the motor's rotating shaft and causes the motor to wind and unwind the suspension rope, the suspension rope being suspended from the motor and the lower end being attached to a person to be assisted, which applies an upward force to the person to be assisted, the device having a weight detection device suspended at a high position, and a memory device in which a reference weight value and a dead lower limit value lighter than the reference weight value are stored, the device body being suspended from the weight detection device, the weight detection device detecting a detected weight value which is the sum of the weight value of the device body and the weight value suspended from the hanging rope, and when the detected weight value is lighter than the dead lower limit value, the control device applying an upward acceleration to the person to be assisted by rotating the rotating shaft.
The present invention is a lifting and movement assistance device in which, when the detected weight value detected by the weight detection device is lighter than the lower limit of insensibility, the control device determines a target ascent speed proportional to the difference between the lower limit of insensibility and the detected weight value, and an upward acceleration is applied to the person to be assisted, thereby changing the movement speed so that the person to be assisted rises at the target ascent speed.
The present invention provides an elevator movement assistance device in which a constant upward acceleration is applied to the person to be assisted by the control device, thereby changing the movement speed.
The present invention is an elevation movement assistance device in which a maximum elevation speed is stored in the memory device, and when the absolute value of the determined target elevation speed is greater than the absolute value of the maximum elevation speed, the target elevation speed is set to the maximum elevation speed.
The present invention is a lifting and movement assistance device in which an insensible upper limit value that is heavier than the reference weight value is stored in the memory device, and when the detected weight value is heavier than the insensible upper limit value, the control device applies downward acceleration to the person being assisted by rotating the rotating shaft.
The present invention is a lifting and movement assistance device in which, when the detected weight value detected by the weight detection device is heavier than the dead upper limit value, the control device determines a target descent speed proportional to the difference between the dead upper limit value and the detected weight value, and a downward acceleration is applied to the person to be assisted, thereby changing the movement speed so that the person to be assisted descends at the target descent speed.
The present invention provides an elevator movement assistance device in which a constant downward acceleration is applied to the person to be assisted by the control device, thereby changing the movement speed.
The present invention is an elevation movement assistance device in which a maximum descent speed is stored in the memory device, and when the absolute value of the determined target descent speed is greater than the absolute value of the maximum descent speed, the target descent speed is set to the maximum descent speed.
The present invention provides an elevation movement assist device that has a remote control device capable of wireless communication with the device body, and that can stop rotation of the motor by operating the remote control device.
The present invention is a lifting and movement assistance device in which, when a remote control device is operated with the rotation of the motor stopped, the control device stores the detected weight value detected by the weight detection device in the memory device as the reference weight value.
The present invention is an elevation movement assistance device in which, when the detected weight value detected by the weight detection device is between the insensitive upper limit value and the insensitive lower limit value, the control device stops the winding and unwinding of the suspension rope.

Can assist the person being assisted in climbing. Can also assist the person being assisted in descending.

When the person being assisted moves quickly up the ladder, the ladder assists the person with a large force, and when the person being assisted moves slowly up the ladder, the ladder assists the person with a small force, allowing the person being assisted to move without feeling uncomfortable.

When the movement speed of the person being assisted changes, changing the movement of the person being assisted at a constant acceleration allows the person being assisted to move without feeling uncomfortable.

When the movement speed of the person being assisted changes, a target movement speed can be set and the current movement speed can be changed to the target movement speed, preventing minute vibrations and causing discomfort to the person being assisted.

If the detected weight value is between the upper and lower insensitive limits, winding and unwinding of the suspension wire is stopped, allowing the person being assisted to remain still on the ladder with little force.

FIG. 1 is a diagram for explaining the lifting and lowering movement assistance device of the present invention; A diagram to explain the setting mode Circuit block diagram of the lifting and lowering movement assistance device of the present invention. Diagram to explain the remote control Graph for explaining the relationship between differential weight, target ascent speed, and target descent speed Top: Graph showing change in differential weight over time Bottom: Graph showing change in target ascent speed and ascent speed of support recipient over time

<Outline of the device>
1, reference numeral 2 denotes an example of an elevation movement assistance device according to the present invention, and includes a weight detection device 11 and a device main body 9. Reference numeral 23 denotes a support body formed of a part of a steel tower (not shown), and the steel tower is assumed to be firmly installed on the ground.

The support 23 is located at an elevated position, and the weight detection device 11 is suspended from the support 23 .
The device body 9 is suspended from a weight detection device 11 , and the weight of the device body 9 is detected by the weight detection device 11 .

The device body 9 has an upper hook 12 and a housing 10 attached to the upper hook 12, and the housing 10 is suspended from the weight detection device 11 by the upper hook 12.

The housing 10 is provided with a motor 13 and a control device 17. In FIG. 1, the housing of the control device 17 is shown, and the control device 17, which is an electronic circuit, is disposed inside the housing.

The motor 13 has a rotating shaft 15, and the supplied power causes the rotating shaft 15 to rotate in either the forward or reverse direction.

One end of a suspension rope 14 is attached to the rotating shaft 15 of the motor 13, and the suspension rope 14 hangs down from the motor 13.

When the rotating shaft 15 is rotated in a predetermined direction by the motor 13, the suspension rope 14 is wound around the motor 13, and when the rotating shaft 15 is rotated in the opposite direction, the wound suspension rope 14 is unwound from the motor 13.

A mounting fixture 26 is provided at the lower end of the hanging suspension rope 14, and a lower hook 18 is attached to the mounting fixture 26. The mounting fixture 26 is fixed to the hanging rope 14, so that the lower hook 18 is suspended vertically by the hanging rope 14. When the hanging rope 14 is wound up, the lower hook 18 moves upward, and when the hanging rope 14 is unwound, the lower hook 18 moves downward.

Referring to FIG. 2, reference numeral 5 denotes a person to be assisted in ascending and descending movement by the ascending and descending movement assistance device 2, and a harness 25 is attached to the person to be assisted 5 so as not to fall off.

The lower hook 18 is connected to a connecting rope 20 attached to a harness 25, so that the person to be assisted 5 and the hanging rope 14 cannot be separated against the will of the person to be assisted 5.

FIG. 3 is a circuit block diagram of the lift movement assistance device 2. As shown in FIG.
Inside the device main body 9, a main body side wireless transceiver 22 connected to the control device 17 is disposed.

The reference numeral 50 in FIG. 4 denotes a remote control device, and a remote control wireless transceiver is built into the remote control device 50. The remote control device 50 and the main body wireless transceiver 22 are capable of wireless communication, and are assumed here to be communicating in a wireless communication state.

The remote control device 50 is provided with a start button 52, a stop button 53, a memory button 54, and a lift button 55.

When any of these buttons 52 to 55 is pressed, a signal indicating the type of button pressed and the operation results such as the number of times the button was pressed and the duration of the press is wirelessly transmitted from the wireless transceiver on the remote control.

The wirelessly transmitted signal is received by the main body wireless transceiver 22, and the received operation signal is transmitted via cable from the main body wireless transceiver 22 to the control device 17.

The weight detection device 11 is electrically connected to the control device 17 via the amplifier 16, and a signal indicating the weight value detected by the weight detection device 11 is transmitted by wire to the amplifier 16, amplified by the amplifier 16, and transmitted by wire to the control device 17. The amplifier 16 is disposed at a position separated from the weight detection device 11, and the reference numeral 19 in FIG. 1 denotes a signal line that electrically connects the weight detection device 11 and the amplifier 16 to transmit a signal.

<Settings mode>
2 denotes a ladder, and the ladder 30 has a plurality of rungs 32 arranged between two parallel posts 31a and 31b at equal intervals perpendicular to the posts 31a and 31b. Both ends of the rung 32 are fixed to the posts 31a and 31b, respectively.

The ladder 30 is fixed to the above-mentioned steel tower, and the person to be assisted 5 climbs the ladder 30 to work at a height, and then descends.

To climb or descend with assistance from the ascent/descent mobility assistance device 2, the person to be assisted 5 first places his/her foot on the lower rung 32 of the ladder 30 and presses the upper button 55a or the lower button 55b of the ascent/descent buttons 55 to raise or lower the lower hook 18, positioning the suspension rope 14 and the connecting rope 20 in a position where they are not slack, and then presses the stop button 53 on the remote control device 50 to cause the control device 17 to stop the operation of the motor 13.

When the motor 13 is stopped, the suspension rope 14 is not wound or unwound and remains stationary. The person to be assisted 5 stands on the rung 32 of the ladder 30 while holding the suspension rope 14 with both hands or one hand, with part of the person to be assisted 5's body weight suspended from the suspension rope 14 and the remainder of the body weight supported by the ladder 30.

In this state, part of the weight of the person being assisted 5 who is pulling downward on the hanging rope 14 is detected as a weight value by the weight detection device 11 and input to the control device 17.

Here, the detected weight value Wa, which is the weight value detected by the weight detection device 11, is the sum of the device main body weight value Wh, which is the weight value of the device main body 9, and the hanging weight value Wm, which is the weight suspended from the hanging rope 14, and is expressed by the following equation.
Wa = Wh + Wm

A storage device 21 is connected to the control device 17 .
When the assistance recipient 5 presses the store button 54 on the remote control device 50, the control device 17 stores the detected weight value Wa at the time the store button 54 was pressed in the storage device 21 as the reference weight value Wr.

The value obtained by subtracting the device body weight value Wh from the detected weight value Wa becomes the suspended weight value Wm when the reference weight value Wr is stored.

The device body weight value Wh is measured in advance and stored in the memory device 21. Because there is no change in the device body weight value Wh when the auxiliary work is performed, the control device 17 subtracts the device body weight value Wh from the reference weight value Wr, and stores the obtained suspension weight value Wm in the memory device 21 as the set weight value Wk. The set weight value Wk is part of the body weight of the person to be suspended 5 at the time the memory button 54 is pressed.

The reference weight value Wr is a value obtained by adding the set weight value Wk and the device body weight value Wh of the device body 9, and can be expressed by the following formula.
Wr = Wh + Wk

Next, the person being assisted 5 presses the start button 52 on the remote control device 50 to end the setting mode and release the motor 13 from the stopped state.

Depending on the magnitude of the detected weight value Wa, the ascending/descending movement assistance device 2 transitions to an ascending mode, a descending mode, or a stationary mode in which the assistance recipient 5 assists the assistance recipient 5 in ascending/descending movement using the ladder 30.

<Ascending mode, descending mode, stationary mode>
When the setting mode is finished, the motor 13 applies a rotational force to the rotating shaft 15 in a direction to wind the suspension rope 14. If the force with which the suspension rope 14 is wound is called a winding force, the winding force applies an upward force to the suspension rope 14. The magnitude of the winding force is controlled by the control device 17.

In addition to the setting mode, the operation of the lifting and lowering mobility assistance device 2 has an ascending mode, a descending mode, and a stationary mode, and the lifting and lowering mobility assistance device 2 operates in one of these three modes.

The memory device 21 stores an insensitive lower limit Wlower that is lighter than the reference weight value Wr, and an insensitive upper limit Wupper that is heavier than the reference weight value Wr. When the detected weight value Wa is lighter than the insensitive lower limit Wlower, the ascending mode is entered, and the control device 17 causes the motor 13 to generate an upward force that is greater than the downward force due to the hanging weight value Wm. When this force is applied to the hanging rope 14, the difference between the upward force and the downward force due to the hanging weight value Wm becomes an upward ascending force, which assists the person being assisted 5 during the climbing movement, making climbing easier.

Conversely, when the detected weight value Wa is greater than the insensitive upper limit value Wupper, the system goes into descent mode, and the control device 17 causes the motor 13 to generate an upward force that is smaller than the downward force due to the suspended weight value Wm, and applies this force to the suspension rope 14. As a result, the difference between the downward and upward forces due to the suspended weight value Wm becomes a downward force that is applied to the person to be suspended 5, and the downward force assists the person to be assisted 5 as he or she moves down the ladder 30, making the descent easier.

When the detected weight value Wa is equal to or greater than the dead lower limit Wlower and equal to or less than the dead upper limit Wupper, the system goes into stationary mode, and the control device 17 causes the motor 13 to generate an upward force equal to the suspended weight value Wm and apply it to the suspension rope 14. Since the downward force due to the detected weight value Wa and the upward force due to the motor 13 are equal, the suspension rope 14 comes to a standstill, and the person to be assisted 5 can also stand still while being supported by the ladder 30 and the suspension rope 14.

An upward force that suspends the reference weight value Wr, rather than the same magnitude as the suspended weight value Wm, may be applied to the suspension rope 14.

The person to be assisted 5 stands still with his/her feet on the rungs 32 while holding onto the rungs 32 and posts 31a, 31b of the ladder 30 to prevent falling off the ladder 30. Part of the weight of the person to be assisted 5 is applied to the suspension rope 14, and the remaining weight is supported by the ladder 30.

When the start button 52 is pressed, the motor 13 applies an upward force to the hanging rope 14 that is equal to the set weight value Wk, and the hanging rope 14 operates to support the set weight value Wk.

Assuming that the person to be assisted 5 is in the same position as when the memory button 54 is pressed, a weight value equal to or close to the set weight value Wk is applied to the hanging rope 14, and the detected weight value Wa at this time is equal to or greater than the insensitive lower limit Wlower and equal to or less than the insensitive upper limit Wupper, so the hanging rope 14 and the person to be assisted 5 are stationary.

When the person to be assisted 5 starts climbing the ladder 30 from this stationary state, the lower hook 18 and the hanging rope 14 are pushed upward as the person to be assisted 5 ascends, and the hanging rope 14 is wound up.

When winding occurs, the detected weight value Wa becomes lighter than the reference weight value Wr, and when the climbing speed increases and the detected weight value Wa becomes lighter than the insensitive lower limit Wlower, the lifting and movement assistance device 2 goes into ascending mode and an ascending force is applied to the person being assisted 5.

On the other hand, when the person to be assisted 5 starts to descend the ladder 30, the lower hook 18 is pulled downward as the person to be assisted 5 descends, and the hanging rope 14 is unwound.

When unwinding occurs, the detected weight value Wa becomes heavier than the reference weight value Wr, and when the speed of descent increases and the detected weight value Wa becomes heavier than the upper insensitive value Wupper, the lifting and mobility assistance device 2 goes into descent mode and a downward force is applied to the person being assisted 5.

<Movement Speed>
Next, the ascent speed and descent speed of the assistance recipient 5 will be described.

The difference between the dead lower limit Wlower and the reference weight value Wr is the rising dead band load W1 (W1 = Wr - Wlower > 0), and the difference between the dead upper limit Wupper and the reference weight value Wr is the falling dead band load W2 (W2 = Wr - Wupper < 0). In addition, the difference between the detected weight value Wa and the reference weight value Wr is the difference weight ΔW (ΔW = Wr - Wa).

When the detected weight value Wa is lighter than the dead-limit value Wlower (Wa<Wlower), an upward force is applied to the support recipient 5, and the differential weight ΔW is positive (0<ΔW) and greater than the upward dead-limit load W1 (W1<ΔW).

When the detected weight value Wa is heavier than the upper insensitive value Wupper (Wupper<Wa), a downward force is applied to the person to be assisted 5, and the differential speed ΔW is negative (ΔW<0) and smaller than the insensitive load W2 during descent (ΔW<W2).

If the upward force is continuously applied to the person being supported 5, the person being supported 5 accelerates upward, and the upward ascent speed Vx1 (>0) of the person being supported 5 gradually increases.

Conversely, if a downward force is continuously applied to the person being assisted 5, the person being assisted 5 will accelerate downward, and the downward descent speed Vx2 (<0) of the person being assisted 5 will gradually increase.

The storage device 21 stores a maximum ascending speed Vmax1 (>0), which is the maximum value of the ascending speed Vt1, and a maximum descending speed Vmax2 (<0), which is the maximum value of the descending speed Vt2.

The rotation direction and rotation speed of the rotating shaft 15 are detected by a sensor built into the motor 13, and the ascent and descent speeds of the person to be assisted 5 are determined by the control device 17. A sensor for detecting the movement direction and movement speed of the hanging rope 14 may be provided, and the control device 17 may determine the ascent and descent speeds of the person to be assisted 5.

The weight detection device 11 detects the detected weight value Wa at a frequency of more than ten times per second and outputs it to the control device 17, which determines the differential weight ΔW from the input detected weight value Wa. From the sign of the differential weight ΔW, the control device 17 can determine whether the recipient 5 is moving upward or downward.

In the ascent mode, the person to be assisted 5 is accelerated and decelerated so as to ascend at a target ascent speed Vt1 (>0), and in the descent mode, the person to be assisted 5 is accelerated and decelerated so as to move at a target descent speed Vt2 (<0).

The target ascent speed Vt1 and the target descent speed Vt2 are determined according to the magnitude of the differential weight ΔW. Here, if the value of the differential weight ΔW when the target ascent speed Vt1 is set to the maximum ascent speed Vmax1 is W3 (>0), and the value of the differential weight ΔW when the target descent speed Vt2 is set to the maximum descent speed Vt1 is W4 (<0), then when the detected weight value Wa is input to the control device 17, in the ascent mode, the target ascent speed Vt1 is determined according to the differential weight ΔW using the following formula (1), and in the ascent mode, the target descent speed Vt2 is determined according to the differential weight ΔW using the following formula (2).

Vt1=Vmax1×(ΔW-W1)/(W3-W1)...(1)
Vt2=Vmax2×(ΔW-W2)/(W4-W2)...(2)
FIG. 5 is a graph showing the relationship between the weight difference ΔW and the moving speed.

Assuming that the person to be assisted 5 is currently moving at an upward speed Vx1 or a downward speed Vx2, a constant upward acceleration or a constant downward acceleration is applied to the person to be assisted 5, so that the upward speed Vx1 or the downward speed Vx2 becomes equal to the target upward speed Vt1 or the target downward speed Vt2, thereby changing the magnitude of the upward speed Vx1 or the downward speed Vx2. When the moving speed of the person to be assisted 5 becomes equal to the target upward speed Vt1 or the target downward speed Vt2, the person to be assisted 5 will move at a constant speed at the target upward speed Vt1 or the target downward speed Vt2.

When the support recipient 5 is accelerating upward and the sign of the speed difference ΔW is reversed, causing the movement to change downward, a constant downward acceleration is applied, and for example, after the upward speed Vx1 is decelerated to zero, downward movement begins, and when the value of the downward speed Vx2 increases and becomes equal to the target downward speed Vt2, the support recipient 5 moves at a constant speed.

When the sign of the speed difference ΔW is reversed while the person being assisted 5 is accelerating downward and the movement is changed to upward, a constant upward acceleration is applied, and for example, after the descent speed Vx2 is decelerated to zero, the person begins to move upward, and the value of the ascent speed Vx1 increases until it becomes equal to the target ascent speed Vt1, at which point the person will move at a constant speed.

Figure 6 is a graph showing the relationship between the differential weight ΔW, the target ascent speed Vt1, and the ascent speed Vx1 of the assistance recipient 5 over time.

In this Figure 6, in the initial state, the differential weight ΔW is smaller than the ascent dead zone load W1, the target ascent speed Vt1 is zero, the person to be assisted 5 is stationary, and the ascent speed Vx1 of the person to be assisted 5 is also zero.

As time passes, the differential weight ΔW gradually increases, and at the first time _t1 , the differential weight ΔW becomes greater than the ascent dead zone load W1, the target ascent speed Vt1 is determined, a predetermined acceleration is applied to the assistance recipient 5, and the assistance recipient 5 begins to ascend at an ascent speed Vx1 which is slower than the target ascent speed Vt1.

After the first time _t1 , the differential weight ΔW increases, and the target ascending speed Vt1 and the ascending speed Vx1 increase with the increase in the differential weight ΔW, and when the differential weight ΔW starts to decrease at the second time _t2 , the target ascending speed Vt1 starts to decrease from the second time _t2 , but since the ascending speed Vx1 is smaller than the target ascending speed Vt1, it continues to increase even after the second time _t2 . The ascending speed Vx1 increases at a constant acceleration before and after the second time _t2 .

If the time when the increasing speed Vx1 and the target increasing speed Vt1 become equal is defined as the third time _t3 , then after the third time _t3 , the target increasing speed Vt1 becomes smaller than the increasing speed Vx1, and therefore the increasing speed Vx1 starts to decrease from the third time _t3 .

When the differential weight ΔW changes from decreasing to increasing at the fourth time _t4 , the target ascending speed Vt1 also changes from decreasing to increasing at the fourth time _t4 . However, since the ascending speed Vx1 is greater than the target ascending speed Vt1 at the fourth time _t4 , the decrease is maintained.

If the ascending speed Vx1 and the target ascending speed Vt1 become equal at the fifth time _t5 , then after the fifth time _t5 , the ascending speed Vx1 becomes smaller than the increasing target ascending speed Vt1, and the ascending speed Vx1 starts to increase.

In this way, the target ascending speed Vt1 and the ascending speed Vx1 change, and when the differential weight ΔW becomes equal to or less than the ascending dead band load W1 at the sixth time _t6 , the target ascending speed Vt1 becomes zero, but the ascending speed Vx1 is not zero and so decreases and becomes zero at the seventh time _t7, which is later than the sixth time _t6 .

The change over time between the differential weight ΔW, the target descent speed Vt2, and the descent speed Vx1 of the assistance recipient 5 also has the same relationship.

Here, if a change from an increase to a decrease, or from a decrease to an increase, is called a reversal of increase or decrease, then a reversal of the increase or decrease in the differential weight ΔW immediately reverses the increase or decrease in the target ascending speed Vt1 or the target descending speed Vt2, whereas the reversal of the increase or decrease in the ascending speed Vx1 and the descending speed Vx2 lags behind the reversal of the increase or decrease in the target ascending speed Vt1 and the target descending speed Vt2.

Therefore, even if the increase or decrease in the differential weight ΔW is reversed, the ascending speed Vx1 and descending speed Vx2 do not immediately reverse, but rather maintain their current state, so that vibrations caused by the ascending speed Vx1 and descending speed Vx2 repeatedly reversing in a short period of time are not generated.

The absolute values of the above-mentioned ascent dead zone load W1 and descent dead zone load W2 are appropriately about 5 kg. Also, it is assumed that there is no slack in the suspension rope 14, and the movement speed (ascending speed or descending speed) of the support recipient 5 is a constant multiple of the rotation speed of the rotating shaft 15.

2: Lifting and lowering movement assist device 9: Device body 11: Weight detection device 13: Motor 14: Suspension rope 17: Control device

Claims (11)

A motor that rotates the rotating shaft;
A suspension rope having one end attached to the rotating shaft;
A control device that controls a rotation direction and a rotation speed of a rotation shaft of the motor and causes the motor to wind and unwind the suspension rope;
The device body has a
A lifting and moving assistance device that suspends the suspension rope from the motor, attaches a lower end to a person to be assisted, and applies an upward force to the person to be assisted, and assists the person to be assisted in moving up and down a ladder,
A weight detection device suspended at a high altitude;
a storage device in which a reference weight value and an insensitive lower limit value that is lighter than the reference weight value are stored;
a remote control device that has a storage button and is capable of communicating with the control device, the remote control device storing a predetermined value in the storage device when the storage button is pressed;
the reference weight value is a weight value detected by the weight detection device when the memory button is pressed in a state in which the assistance recipient is standing on the rung of the ladder while holding the suspension rope,
The device body is suspended from the weight detection device, and a detected weight value is detected by the weight detection device, which is the sum of the weight value of the device body and the weight value suspended from the suspension rope, and when the detected weight value is lighter than the lower insensible limit value, the control device applies upward acceleration to the person being assisted by rotating the rotating shaft. The lifting and movement assistance device of claim 1, wherein when the detected weight value detected by the weight detection device is lighter than the dead lower limit, the control device determines a target ascent speed proportional to the difference between the dead lower limit and the detected weight value, and applies upward acceleration to the person to be assisted so that the person to be assisted ascends at the target ascent speed. 3. The lifting and movement assistance device according to claim 2, wherein the control device applies a constant upward acceleration to the person to be assisted. The lifting and lowering movement assistance device according to claim 2 or 3, wherein a maximum lifting speed is stored in the storage device, and when the absolute value of the determined target lifting speed is greater than the absolute value of the maximum lifting speed, the target lifting speed is set to the maximum lifting speed. The storage device stores an insensitive upper limit value that is heavier than the reference weight value,
5. The lifting and movement assistance device according to claim 1, wherein when the detected weight value is heavier than the insensitive upper limit, the control device applies a downward acceleration to the person to be assisted by rotating the rotating shaft. The lifting and moving assistance device according to claim 5, wherein when the detected weight value detected by the weight detection device is heavier than the upper dead zone, the control device determines a target descent speed proportional to the difference between the upper dead zone and the detected weight value, and applies a downward acceleration to the person to be assisted so that the person to be assisted descends at the target descent speed. 7. The lifting and movement assistance device according to claim 6, wherein the control device applies a constant downward acceleration to the person to be assisted. The lifting and moving assistance device according to claim 6 or 7, wherein a maximum descent speed is stored in the storage device, and when the absolute value of the determined target descent speed is greater than the absolute value of the maximum descent speed, the target descent speed is set to the maximum descent speed. a remote control device capable of wireless communication with the device body;
9. The lifting movement assist device according to claim 1, wherein the rotation of the motor can be stopped by operating the remote control device. The lifting and moving assistance device according to any one of claims 1 to 9, wherein when the remote control device is operated with the rotation of the motor stopped, the control device stores the detected weight value detected by the weight detection device in the storage device as the reference weight value. 9. A lifting and movement assistance device as claimed in any one of claims 5 to 8, wherein when the detected weight value detected by the weight detection device is between the insensitive upper limit value and the insensitive lower limit value, the control device stops winding and unwinding of the suspension rope.

Images