CN104127289A - Split type robot nursing bed having rehabilitation training function - Google Patents
Split type robot nursing bed having rehabilitation training function Download PDFInfo
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- CN104127289A CN104127289A CN201410407875.3A CN201410407875A CN104127289A CN 104127289 A CN104127289 A CN 104127289A CN 201410407875 A CN201410407875 A CN 201410407875A CN 104127289 A CN104127289 A CN 104127289A
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- 230000000474 nursing effect Effects 0.000 title claims abstract description 93
- 238000012549 training Methods 0.000 title claims abstract description 60
- 210000000689 upper leg Anatomy 0.000 claims abstract description 76
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 244000309466 calf Species 0.000 claims description 29
- 210000002414 leg Anatomy 0.000 claims description 20
- 230000008520 organization Effects 0.000 claims description 9
- 238000005452 bending Methods 0.000 claims description 6
- 238000003756 stirring Methods 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 abstract description 2
- 230000003313 weakening effect Effects 0.000 abstract 1
- 230000036544 posture Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 10
- 238000013461 design Methods 0.000 description 6
- 206010011968 Decreased immune responsiveness Diseases 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 206010002027 Amyotrophy Diseases 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 206010011985 Decubitus ulcer Diseases 0.000 description 2
- 208000004210 Pressure Ulcer Diseases 0.000 description 2
- 208000025865 Ulcer Diseases 0.000 description 2
- 230000013872 defecation Effects 0.000 description 2
- 230000037213 diet Effects 0.000 description 2
- 235000005911 diet Nutrition 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000024891 symptom Diseases 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 231100000397 ulcer Toxicity 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005802 health problem Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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Abstract
The invention relates to a split type robot nursing bed having the rehabilitation training function. The split type robot nursing bed having the rehabilitation training function comprises a nursing bed body and an electric wheelchair. The electric wheelchair is arranged in the nursing bed body in the mode that the electric wheelchair can be combined with the nursing bed body. The electric wheelchair can also be separated from the nursing bed body. The nursing bed body comprises a bed frame, a bed backrest, a bed stand plate, a bed thigh plate and a bed shank plate. An electric wheelchair clamping station is arranged on the other side of the bed frame. The electric wheelchair structurally comprises a chair seat, a wheelchair bearing base, a movable base, armrests and a control mechanism. A wheelchair backrest, a wheelchair seat plate, a wheelchair thigh plate, a wheelchair shank plate and wheelchair foot supports are hinged to one another in sequence. The bearing base is provided with electric pushing rods used for adjustment of the posture of the seat. The control mechanism is arranged on the armrest on one side of the wheelchair backrest. The split type robot nursing bed having the rehabilitation training function is suitable for bedridden people who suffer from limb disturbance and are disabled or semi-disabled and the old who cannot take care of themselves due to weakening of the physical function, the daily nursing demands for turning of people, adjustment of the posture, switching between the bed and the wheelchair and the like can be met, and auxiliary rehabilitation training can also be conducted.
Description
Technical field
The present invention relates to intelligent rehabilitation care appliances, specially refer to a kind of robot nursing bed with intelligent split regulation and control and rehabilitation training.
Background technology
Along with increasingly sharpening of Chinese society's aging degree, anergy or half anergy old people's monitoring and a nursing difficult problem highlight gradually, nursing staff is in short supply, nursery work is heavy, cause nursing efficacy not good, therefore the intelligent nursing equipment of the outstanding many alternative manpower work of people's innovation and creation, this wherein use maximum be exactly electric wheelchair.
Have in the market multiple electric wheelchair, wheelchair form and function are also varied, process and other additional vital functions, as hair washing, diet and amusement etc. just include manually with electronic, multi-pose adjustment, two.But still there is many problems and defect in these wheelchairs:
1, manual wheelchair, majority can not carry out attitude adjustment, or adjusts attitude and need nursing staff to operate, and has increased nursing staff's the amount of labour, can not embody the advantage of intelligent nursing;
2, multiple wheelchair is provided with defecating hole in the middle of the seat board, facilitates paralysed patient to carry out defecation, but during defecation, dirt can be stained with on medicated cushion, and the not high workload that increases the weight of again nursing staff of comfort level can make air be full of stink simultaneously;
3, patient transfers to from the bed on wheelchair or transferred to bed when from wheelchair, needs nursing staff to expend a large amount of muscle power, or by the apparatus of transfer use;
Easily there is the amyotrophy symptom of part or general in the patient who 4, does not move for a long time, does not have wheelchair to propose solution for this situation, can only be by artificial massage or by the generation that slows down amyotrophy symptom of exercising device.
Summary of the invention
The object of the invention is to overcome above-mentioned the deficiencies in the prior art, a kind of robot nursing bed with intelligent split regulation and control and rehabilitation training is provided.The split type robot nursing bed with rehabilitation training function of the present invention, this robot nursing bed is wanted to carry out rehabilitation training, and to can solve such as user the branch problem from bed to wheelchair, mobile problem, comfort level problem, and easy to use, can simple operations realize bed and wheelchair conversion and body turning function.
In order to reach foregoing invention object, the invention provides following technical scheme:
A split type robot nursing bed with rehabilitation training function, is characterized in that, this split type robot nursing bed includes nursing bed body and electric wheelchair, and described electric wheelchair is located in nursing bed body capable of being combinedly and can be from split in nursing bed body out;
Described nursing bed body includes bedstead, bed rest, bed plate, bed thigh plate and the little push pedal of bed, be respectively equipped with bed head frame and tailstock frame at the two ends of described bedstead, the side on described bedstead is provided with described bed rest, bed plate, bed thigh plate, bed calf plate and cabinet base holder, bed rest bottom is provided with bed rest support mechanism, and bed thigh plate bottom is provided with a thigh plate support mechanism, and bed calf plate bottom is provided with a calf plate support mechanism, and cabinet base backing portion is provided with cabinet base holder support mechanism, described bed rest, bed plate, bed thigh plate, bed calf plate and cabinet base holder form continuous bed surface, and support mechanism and each self-corresponding bed panel of bed surface bottom form many connecting rods bindiny mechanism, and described bed rest, bed plate, bed thigh plate, bed calf plate and foot holder are articulated and connected successively, and described bed plate is logical to be bolted on bedstead, and described bed body is provided with the electric pushrod of adjusting for bed surface attitude, connect and the controlling organization of controlling electric pushrod is located on described bedstead,
The opposite side of described bedstead is provided with electric wheelchair screens, on described electric wheelchair structure, include seat, wheelchair bearing base, movable base, handrail and controlling organization, described wheelchair bearing base is bolted on movable base, and described seat includes wheelchair backrest, wheelchair backrest support mechanism, wheel chair seat board, wheelchair thigh plate, wheelchair thigh plate support mechanism, wheelchair calf plate, wheelchair calf plate support mechanism, the holder of wheelchair foot and wheelchair foot holder support mechanism; Support mechanism in seat and each self-corresponding seat plate form many connecting rods bindiny mechanism, and described wheelchair backrest, wheel chair seat board, wheelchair thigh plate, wheelchair calf plate and the holder of wheelchair foot are articulated and connected successively; Described seat is bolted on bearing base, is provided with the electric pushrod of adjusting for seat attitude on described wheelchair bearing base, connects and the controlling organization of controlling electric pushrod is located on described handrail, and this handrail is located at a side of described wheelchair backrest.
In the present invention, have in the split type robot nursing bed of rehabilitation training function, on described bed rest and wheelchair backrest, include the back frame and the backrest that are connected through the hinge and stand up plate; Described bed plate stands up plate with having included by being connected hinge connecting base plate framework and seat board on wheel chair seat board.
In the present invention, have in the split type robot nursing bed of rehabilitation training function, as further structural design, described back frame and backrest stand up between plate and are provided with and stand up electric pushrod, this stands up electric pushrod one end and is fixed on the push rod fixed hinge on back frame, the other end is fixed on backrest and stands up standing up on hinge on plate, the described hinge that stands up leaves distance as rotating torque with being connected between hinge, on described bed rest, stand up the position opposite of standing up electric pushrod on electric pushrod and wheelchair backrest, by the backrest that stands up electric pushrod promotion, stand up plate and stir opposite direction.
In the present invention, have in the split type robot nursing bed of rehabilitation training function, as further structural design, described backrest stands up plate and is provided with two backrests and stands up connector, described seat board stands up and on plate, is provided with accordingly two seat boards and stands up connector, the backrest of relevant position stands up plate connector and seat board stands up buckle connection between connector, centre at described seat board connector is provided with through hole, the width of this through hole is identical with the width that described backrest stands up connector, and described backrest stands up connector and passes described through hole to carry out buckle connection.
In the present invention, have in the split type robot nursing bed of rehabilitation training function, described bed surface stance adjustment includes that bed surface back posture is adjusted and bed surface shank stance adjustment, and the structure of carrying out stance adjustment includes bed surface back posture adjustment structure and the bed surface structure that bends one's legs.
In the present invention, have in the split type robot nursing bed of rehabilitation training function, as further structural design, described bed surface back posture is adjusted structure and is included bed rest electric pushrod, bed rest boosts part, reinforced shaft is twisted part with being connected, one end of described bed rest electric pushrod connects the push rod hinge on bedstead, the other end chain connection of bed rest electric pushrod boosts on part at bed rest, described bed rest boosts part for the L shaped structure with two connection handles, the link position of two connection handles is vertically fixed with described reinforced shaft as rotating shaft, one of them connection handle connects bed rest electric pushrod, another connection handle is fixed on the cruciform bracing of a backboard, the bottom of described bed backboard is the bed backboard framework that includes crossbeam, the two ends of described reinforced shaft are separately fixed at and connect on strand part, this connection strand part is the connector of bed rest and bed plate.
In the present invention, have in the split type robot nursing bed of rehabilitation training function, as further structural design, the bed surface that the carries out bed surface shank stance adjustment structure that bends one's legs includes a thigh plate electric pushrod, cam and cam bearing pin, the bottom of described bed plate is bed chassis, the bottom of bed thigh plate is bed thigh plate framework, described bed plate framework is connected bending hinge part chain connection with bed thigh plate framework by two, between the hinge at two ends, be provided with reinforced shaft, one end of described bed thigh plate electric pushrod is connected and fixed with the fixed hinge being welded on bedstead, the bed thigh plate electric pushrod other end is connected with cam, described cam is provided with the guide rail hole of pin shaft hole and arc, be located in the pin shaft hole at described cam middle part and be provided with a bearing pin, the two ends of this bearing pin are individually fixed on bedstead, be fixed on cam bearing pin on a thigh plate framework through the guide rail hole of cam, between described bed plate framework and bedstead, be bolted.
In the present invention, have in the split type robot nursing bed of rehabilitation training function, described seat stance adjustment includes that seat back posture is adjusted and seat shank stance adjustment, and the structure of carrying out stance adjustment includes seat backboard stance adjustment structure and the seat structure that bends one's legs.
In the present invention, have in the split type robot nursing bed of rehabilitation training function, as further structural design, described seat back posture is adjusted structure and is included wheelchair backrest electric pushrod, wheelchair backrest boosts part, reinforced shaft is twisted part with being connected, one end of described wheelchair backrest electric pushrod is connected on the push rod hinge on bearing base, the other end chain connection of wheelchair backrest electric pushrod boosts on part at wheelchair backrest, described wheelchair backrest boosts part for the L shaped structure with two connection handles, the link position of two connection handles is vertically fixed with described reinforced shaft as rotating shaft, one of them connection handle fifth wheel chair back electric pushrod, another connection handle is fixed on the cruciform bracing of backboard, the bottom of described backboard is the backboard framework that includes crossbeam, the two ends of described reinforced shaft are separately fixed at and connect on strand part, this connection strand part is the connector of wheelchair backrest and wheel seat base.
In the present invention, have in the split type robot nursing bed of rehabilitation training function, as further structural design, the seat that the carries out seat shank stance adjustment structure that bends one's legs includes wheelchair thigh plate electric pushrod, cam and cam bearing pin, the bottom of described seat board is seat board framework, the bottom of thigh plate is thigh plate framework, described seat board framework is connected bending hinge part chain connection with thigh plate framework by two, between the hinge at two ends, be provided with reinforced shaft, one end of described wheelchair thigh plate electric pushrod is connected and fixed with the fixed hinge being welded on bearing frame, the wheelchair thigh plate electric pushrod other end is connected with cam, described cam is provided with the guide rail hole of pin shaft hole and arc, be located in the pin shaft hole at described cam middle part and be provided with a bearing pin, the two ends of this bearing pin are individually fixed in the both sides of bearing base, be fixed on cam bearing pin on thigh plate framework through the guide rail hole of cam, between described seat board framework and bearing base, be bolted.
Based on technique scheme, the electric wheelchair that the present invention has the split type robot nursing bed of rehabilitation training function compared with prior art has following technological merit:
1. the split type robot nursing bed that the present invention has a rehabilitation training function mainly be take electric pushrod as main power original paper, utilize multi-link structure to carry out the attitude adjustment of each several part, comprise back lifting, fall the back of the body, bend one's legs, fall lower limb and stand up, wherein body turning function can only be worked as while being combined into robot nursing bed and used, and this electric wheelchair can be used as scooter separately.
2. the present invention has and in the split type robot nursing bed of rehabilitation training function and electric wheelchair, is applicable to the anergy of bed or the limbs disturbance person of half anergy, and body function weakens and causes the difficult old people that takes care of oneself, solved ubiquitous various problems, as the branch problem from bed to wheelchair from user, mobile problem, diet problem, the health problem that comfort level problem and long-time bed cause, simple to operate, can from bed, be converted to wheelchair by a key, there is body turning function, can effectively prevent the generation of pressure ulcer and decubital ulcer, can carry out rehabilitation training by auxiliary user, the part that avoiding lies in bed for a long time causes or the amyotrophy of general.
Accompanying drawing explanation
Fig. 1 be the present invention's split type robot nursing bed with rehabilitation training function released state wait axis side view.
Fig. 2 is the front view of the wheelchair part sitting posture state of the present invention's split type robot nursing bed with rehabilitation training function.
Fig. 3 be the present invention's split type robot nursing bed with rehabilitation training function wheelchair part lying status wait axis side view.
Fig. 4 is the chair surface structure schematic diagram of the wheelchair part lying status of the present invention's split type robot nursing bed with rehabilitation training function.
Fig. 5 is wheelchair part backrest and the base plate structure schematic diagram that the present invention has the split type robot nursing bed of rehabilitation training function.
Fig. 6 is the local enlarged diagram at A place in Fig. 5.
Fig. 7 be the present invention's split type robot nursing bed with rehabilitation training function wheelchair part lying status stand up syndeton schematic diagram.
Fig. 8 be the present invention's split type robot nursing bed with rehabilitation training function wheelchair part sitting posture state stand up syndeton schematic diagram.
Fig. 9 is the side view that wheelchair that the present invention has a split type robot nursing bed of rehabilitation training function partly stands up state.
Figure 10 is seat board and the large leg plate structure schematic diagram of the wheelchair part lying status of the present invention's split type robot nursing bed with rehabilitation training function.
Figure 11 is partly bend one's legs seat board and the large leg plate structure schematic diagram of state of wheelchair that the present invention has a split type robot nursing bed of rehabilitation training function.
Figure 12 is the axis side view such as grade that the present invention has split type robot nursing bed lying status when zoarium of rehabilitation training function.
Split type robot nursing bed wheelchair when zoarium that Figure 13 the present invention has a rehabilitation training function partly stands up the axis side view that waits of state.
Split type robot nursing bed bed body when zoarium that Figure 14 the present invention has a rehabilitation training function divides the axis side view that waits of the state of standing up.
The split type robot nursing bed that Figure 15 the present invention has a rehabilitation training function wheelchair and the synchronous attitude of bed body when zoarium are adjusted the axis side view that waits of state.
Figure 16 the present invention has the left lower limb training of split type robot nursing bed rehabilitation training state when the zoarium schematic diagram of rehabilitation training function.
Figure 17 the present invention has the right lower limb training of split type robot nursing bed rehabilitation training state when the zoarium schematic diagram of rehabilitation training function.
The specific embodiment
Below we have the split type robot nursing bed of rehabilitation training function with specific embodiment to the present invention and electric wheel-chair vehicle wherein elaborates further by reference to the accompanying drawings; in the hope of more clearly understanding architectural feature of the present invention and use procedure, but can not limit the scope of the invention with this.
As shown in Figure 1, Tu Zhongwei robot of the present invention nursing bed is in released state, and wherein the wheelchair of robot nursing bed is partly in sitting posture state, and described electric wheelchair is located in nursing bed body capable of being combinedly and can be from split in nursing bed body out.
Above-mentioned nursing bed body mainly includes bedstead 14, bed rest 10, bed plate 12, bed thigh plate 18 and the little push pedal 17 of bed.A side on described bedstead 14 is provided with described bed rest 10, bed plate 12, bed thigh plate 18, bed calf plate 17 and cabinet base holder, bed rest 10 bottoms are provided with bed rest support mechanism, bed thigh plate 18 bottoms are provided with a thigh plate support mechanism, bed calf plate 17 bottoms are provided with a calf plate support mechanism, and cabinet base backing portion is provided with cabinet base holder support mechanism.Described bed rest 10, bed plate 12, bed thigh plate 18, bed calf plate 17 and cabinet base holder form continuous bed surface, support mechanism and each self-corresponding bed panel of bed surface bottom form many connecting rods bindiny mechanism, and 10 described bed rests, bed plate 12, bed thigh plate 18, bed calf plate 17 and cabinet base holder are articulated and connected successively, described logical being bolted on bedstead 14 of bed plate 12, on described bedstead 14, be provided with the electric pushrod of adjusting for bed surface attitude, connect and the controlling organization of controlling electric pushrod is located on described bedstead 14.In bedstead 15 bottom corner positions, be provided with self-locking universal wheel 16, at two jiaos of places of bed surface bottom, be respectively provided with self-locking universal wheel 16, at the bedstead bipod of electric wheelchair one side, be respectively provided with a self-locking universal wheel 16.
Opposite side at described bedstead 14 is provided with electric wheelchair screens, in the both sides of screens, be respectively provided with a self-locking universal wheel 16, electric wheelchair can move in this screens to be combined into whole robot nursing bed, certainly electric wheelchair also can independently get up from robot nursing bed, except the wheelchair as common is used, can also adjust different postures, meet different user demands.Wherein, the structure of bed surface and the structural similarity of seat, function is identical, and then both can carry out synchronous attitude adjustment.
In order to make robot nursing bed more safe and reliable, at the two ends of described bedstead 14, be respectively equipped with bed head frame 19 and tailstock frame 14, to prevent that patient from stretching out from one end or falling down.In like manner, both sides at robot nursing bed are provided with little guardrail 11 near bed head frame 19 positions, both sides at robot nursing bed are provided with large guardrail 13 near tailstock frame 14 positions, the effect of large guardrail 13 and little guardrail 11 is all to prevent that patient or user from turning down from the side of bed, or head and foot shift out outside bed.For easy to use, described large guardrail 13, little guardrail 11 can go down from two lateral bucklings, thereby form a smooth robot nursing bed.
Above-mentioned electric wheelchair structurally includes seat, wheelchair bearing base 4, movable base 5, handrail 2 and controlling organization 9, described wheelchair bearing base 4 is bolted on movable base 5, and described seat includes wheelchair backrest 1, wheelchair backrest support mechanism, wheel chair seat board 3, wheelchair thigh plate 8, wheelchair thigh plate support mechanism, wheelchair calf plate 6, wheelchair calf plate support mechanism, wheelchair foot holder 7 and wheelchair foot holder support mechanism.Support mechanism in seat and each self-corresponding seat plate form many connecting rods bindiny mechanism, and described wheelchair backrest 1, wheel chair seat board 3, wheelchair thigh plate 8, wheelchair calf plate 6 and the holder of wheelchair foot are articulated and connected successively.Seat is bolted on wheelchair bearing base 4, on described wheelchair bearing base 4, be provided with the electric pushrod of adjusting for seat attitude, the controlling organization 9 that connects and control electric pushrod is located on described handrail 2, and this handrail 2 is located at a side of described wheelchair backrest 1.
On bed rest of the present invention and wheelchair backrest, include the back frame and the backrest that are connected through the hinge and stand up plate; Described bed plate stands up plate with having included by being connected hinge connecting base plate framework and seat board on wheel chair seat board.If when wheelchair and bed body divide zoarium as nursing bed, owing to thering is body turning function, effectively prevent the generation of pressure ulcer and decubital ulcer.Take electric wheelchair as example, as shown in Figure 5 and Figure 6, on wheelchair backrest, include the back frame 101 and the backrest that are connected through the hinge and stand up plate 102, on wheel chair seat board, included by connecting hinged seat board framework 106 and seat board and stood up plate 105.In order to realize the body turning function of robot nursing bed, described back frame 101 and backrest stand up between plate 102 and are provided with and stand up electric pushrod 112, this stands up electric pushrod 112 one end and is fixed on the push rod fixed hinge on back frame 101, the other end is fixed on backrest and stands up standing up on hinge on plate 102, the described hinge that stands up leaves distance as rotating torque with being connected between hinge, at the described hinge that stands up, leave distance as rotating torque with being connected between hinge, electric pushrod is realized body turning function as power original paper.In like manner, on described bed rest, be also designed with corresponding turning over structure, but stand up the position opposite of standing up electric pushrod on electric pushrod and wheelchair backrest on bed rest, by standing up backrest that electric pushrod promotes, stand up plate and stir opposite direction.So just can accomplish that user can stand up on the seat of electric wheelchair from a side bed surface of robot nursing bed, or on the seat of electric wheelchair, stand up on a side bed surface of robot nursing bed.
Or take electric wheelchair as example, described backrest stands up plate 102 and is provided with two backrests and stands up connector 103, described seat board stands up and on plate 105, is provided with accordingly two seat boards and stands up connector 104, the backrest of relevant position stands up plate connector 103 and seat board stands up buckle connection between connector 104, the centre of standing up connector 104 at described seat board is provided with through hole, the width of this through hole is identical with the width that described backrest stands up connector 103, and described backrest stands up connector 103 and passes described through hole to carry out buckle connection.When lying status, while standing up electric pushrod 112 work, utilize bar linkage structure principle to drive backrest to stand up plate 102 and stand up, simultaneously because backrest stands up the special connected mode that connector 103 and seat board stand up connector 104, backrest stands up plate 102 and drives seat to stand up plate 105 to stand up, as shown in Figure 9.Said structure can be realized backrest and seat board while body turning function thus, and body turning function does not affect back lifting and falls back of the body function.
In the present invention, have in the split type robot nursing bed of rehabilitation training function, described seat stance adjustment includes that seat back posture is adjusted and seat shank stance adjustment, and the structure of carrying out stance adjustment includes seat backboard stance adjustment structure and the seat structure that bends one's legs.
As shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8, above-mentioned seat back posture adjustment structure includes wheelchair backrest electric pushrod 108, wheelchair backrest boosts part 109, reinforced shaft 111 and is connected strand part 110, one end of described wheelchair backrest electric pushrod 108 is connected on the push rod hinge 107 on wheelchair bearing base 4, and the other end chain connection of wheelchair backrest electric pushrod 108 boosts on part 109 at wheelchair backrest.Described wheelchair backrest boosts part 109 for the L shaped structure with two connection handles, the link position of two connection handles is vertically fixed with described reinforced shaft 111 as rotating shaft, one of them connection handle fifth wheel chair back electric pushrod 108, another connection handle is fixed on the cruciform bracing of backboard, the bottom of described backboard is the backboard framework that includes crossbeam, the two ends of described reinforced shaft 111 are separately fixed at and connect on strand part 110, and this connects the connector that strand part 110 is wheelchair backrest and wheel seat base.
In the process of adjusting in wheelchair backrest attitude, wheelchair backrest stands up connector 103 around reinforced shaft 111 rotations, and wheelchair backrest stands up connector 103 and stands up with wheel chair seat board the transmission that connector 104 does not have direct power.In the back lifting of backrest with fall back of the body action and can not have influence on seat board and stand up plate 105, fall always in lying status so seat board stands up plate 105 back of the body stage in back lifting.When lying status, while standing up electric pushrod 112 work, utilize bar linkage structure principle to drive backrest to stand up plate 102 and stand up, simultaneously because backrest stands up the special connected mode that connector 103 and seat board stand up connector 104, backrest stands up plate 102 and drives seat boards to stand up plate 105 to stand up.Said structure can be realized backrest and seat board body turning function simultaneously thus, and body turning function does not affect back lifting and falls back of the body function.
As shown in Figure 10 and Figure 11, the seat that the carries out above-mentioned seat shank stance adjustment structure that bends one's legs includes wheelchair thigh plate electric pushrod 113, cam 114 and cam bearing pin 117, described bottom of taking turns chair seat board is seat board framework 121, the bottom of wheelchair thigh plate is thigh plate framework 116, described seat board framework 121 is connected bending hinge part 115 chain connections with thigh plate framework 116 by two, between the hinge at two ends, be provided with reinforced shaft 111, one end of described wheelchair thigh plate electric pushrod 113 is connected and fixed with the fixed hinge 107 being welded on wheelchair bearing frame 4, wheelchair thigh plate electric pushrod 113 other ends are connected with cam 114, described cam 114 is provided with the guide rail hole of pin shaft hole and arc, be located in the pin shaft hole at described cam 114 middle parts and be provided with a bearing pin, the two ends of this bearing pin are individually fixed in the both sides of wheelchair bearing base 4, be fixed on cam bearing pin on thigh plate framework 116 117 through the guide rail hole of cam 114, between described seat board framework 121 and wheelchair bearing base 4, by bolt, be fixed.Be fixed on the rail sections that the cam bearing pin 117 on thigh plate framework passes cam, when 113 work of thigh plate electric pushrod, actuating cam 114 rotates around bearing pin, drives the cam bearing pin 117 through cam tracks part to slide along guide rail simultaneously, now thigh plate lifting, completes the action that bends one's legs.
In conjunction with Fig. 4, can find out, calf plate load-carrying members 22, wheelchair calf plate 6 and wheelchair thigh plate 8 form linkage again, and electric pushrod is controlled wheelchair calf plate 6 positions with respect to wheelchair thigh plate 8.Foot holder load-carrying members, wheelchair calf plate 6 and wheelchair foot holder 7 form multi-connecting-rod mechanism, and electric pushrod is controlled wheelchair foot holder 7 positions with respect to wheelchair calf plate 6.In sum, when wheelchair is adjusted to sitting posture state from the attitude that lies low, need to control 4 electric pushrod synergy movements.
In the present invention, have in the split type robot nursing bed of rehabilitation training function, as the chair surface structure of electric wheelchair can be adjusted identical, described bed surface stance adjustment includes that bed surface back posture is adjusted and bed surface shank stance adjustment, and the structure of carrying out stance adjustment includes bed surface back posture adjustment structure and the bed surface structure that bends one's legs.
Above-mentioned bed surface back posture is adjusted structure and is included bed rest electric pushrod, bed rest boosts part, reinforced shaft is twisted part with being connected, one end of described bed rest electric pushrod connects the push rod hinge on bedstead, the other end chain connection of bed rest electric pushrod boosts on part at bed rest, described bed rest boosts part for the L shaped structure with two connection handles, the link position of two connection handles is vertically fixed with described reinforced shaft as rotating shaft, one of them connection handle connects bed rest electric pushrod, another connection handle is fixed on the cruciform bracing of a backboard, the bottom of described bed backboard is the bed backboard framework that includes crossbeam, the two ends of described reinforced shaft are separately fixed at and connect on strand part, this connection strand part is the connector of bed rest and bed plate.The bed surface that the carries out above-mentioned bed surface shank stance adjustment structure that bends one's legs includes a thigh plate electric pushrod, cam and cam bearing pin, the bottom of described bed plate is bed chassis, the bottom of bed thigh plate is bed thigh plate framework, described bed plate framework is connected bending hinge part chain connection with bed thigh plate framework by two, between the hinge at two ends, be provided with reinforced shaft, one end of described bed thigh plate electric pushrod is connected and fixed with the fixed hinge being welded on bedstead, the bed thigh plate electric pushrod other end is connected with cam, described cam is provided with the guide rail hole of pin shaft hole and arc, be located in the pin shaft hole at described cam middle part and be provided with a bearing pin, the two ends of this bearing pin are individually fixed on bedstead, be fixed on cam bearing pin on a thigh plate framework through the guide rail hole of cam, between described bed plate framework and bedstead, be bolted.
As shown in Figure 12 and Figure 15, because the structural similarity of the seat of the structure of the bed surface that bed body divides and wheelchair part, comprise each several part size, load-carrying members, to be connected and fixed mode identical, and there is electric pushrod separately, non-interference on wheelchair and bed structure, therefore can complete two-part synchronous attitude adjustment.As shown in Figure 13 and Figure 14, the turning over structure that divides of bed body but opposite direction identical with wheelchair part turning over structure, realizes a left side with this and turns over the right side and turn over, and can only when lying low, stand up action.Shown in Figure 16 and Figure 17, be robot nursing bed rehabilitation training schematic diagram, due to wheelchair and the bed body structure of dividing non-interference, can control wheel chair and a bed body divide alternately and bend one's legs and stretch one's legs, or the one-sided training that bends one's legs, reaches the object of rehabilitation training.
Claims (10)
1. a split type robot nursing bed with rehabilitation training function, it is characterized in that, this split type robot nursing bed includes nursing bed body and electric wheelchair, and described electric wheelchair is located in nursing bed body capable of being combinedly and can be from split in nursing bed body out;
Described nursing bed body includes bedstead, bed rest, bed plate, bed thigh plate and the little push pedal of bed, be respectively equipped with bed head frame and tailstock frame at the two ends of described bedstead, the side on described bedstead is provided with described bed rest, bed plate, bed thigh plate, bed calf plate and cabinet base holder, bed rest bottom is provided with bed rest support mechanism, and bed thigh plate bottom is provided with a thigh plate support mechanism, and bed calf plate bottom is provided with a calf plate support mechanism, and cabinet base backing portion is provided with cabinet base holder support mechanism, described bed rest, bed plate, bed thigh plate, bed calf plate and cabinet base holder form continuous bed surface, and support mechanism and each self-corresponding bed panel of bed surface bottom form many connecting rods bindiny mechanism, and described bed rest, bed plate, bed thigh plate, bed calf plate and foot holder are articulated and connected successively, and described bed plate is logical to be bolted on bedstead, and described bed body is provided with the electric pushrod of adjusting for bed surface attitude, connect and the controlling organization of controlling electric pushrod is located on described bedstead,
The opposite side of described bedstead is provided with electric wheelchair screens, on described electric wheelchair structure, include seat, wheelchair bearing base, movable base, handrail and controlling organization, described wheelchair bearing base is bolted on movable base, and described seat includes wheelchair backrest, wheelchair backrest support mechanism, wheel chair seat board, wheelchair thigh plate, wheelchair thigh plate support mechanism, wheelchair calf plate, wheelchair calf plate support mechanism, the holder of wheelchair foot and wheelchair foot holder support mechanism; Support mechanism in seat and each self-corresponding seat plate form many connecting rods bindiny mechanism, and described wheelchair backrest, wheel chair seat board, wheelchair thigh plate, wheelchair calf plate and the holder of wheelchair foot are articulated and connected successively; Described seat is bolted on bearing base, is provided with the electric pushrod of adjusting for seat attitude on described wheelchair bearing base, connects and the controlling organization of controlling electric pushrod is located on described handrail, and this handrail is located at a side of described wheelchair backrest.
2. a kind of split type robot nursing bed with rehabilitation training function according to claim 1, is characterized in that, includes the back frame and the backrest that are connected through the hinge and stand up plate on described bed rest and wheelchair backrest; Described bed plate stands up plate with having included by being connected hinge connecting base plate framework and seat board on wheel chair seat board.
3. a kind of split type robot nursing bed with rehabilitation training function according to claim 2, it is characterized in that, described back frame and backrest stand up between plate and are provided with and stand up electric pushrod, this stands up electric pushrod one end and is fixed on the push rod fixed hinge on back frame, the other end is fixed on backrest and stands up standing up on hinge on plate, the described hinge that stands up leaves distance as rotating torque with being connected between hinge, on described bed rest, stand up the position opposite of standing up electric pushrod on electric pushrod and wheelchair backrest, by the backrest that stands up electric pushrod promotion, stand up plate and stir opposite direction.
4. according to a kind of split type robot nursing bed with rehabilitation training function described in claim 2 or 3, it is characterized in that, described backrest stands up plate and is provided with two backrests and stands up connector, described seat board stands up and on plate, is provided with accordingly two seat boards and stands up connector, the backrest of relevant position stands up plate connector and seat board stands up buckle connection between connector, centre at described seat board connector is provided with through hole, the width of this through hole is identical with the width that described backrest stands up connector, described backrest stands up connector and passes described through hole to carry out buckle connection.
5. a kind of split type robot nursing bed with rehabilitation training function according to claim 1, it is characterized in that, described bed surface stance adjustment includes that bed surface back posture is adjusted and bed surface shank stance adjustment, and the structure of carrying out stance adjustment includes bed surface back posture adjustment structure and the bed surface structure that bends one's legs.
6. a kind of split type robot nursing bed with rehabilitation training function according to claim 5, it is characterized in that, described bed surface back posture is adjusted structure and is included bed rest electric pushrod, bed rest boosts part, reinforced shaft is twisted part with being connected, one end of described bed rest electric pushrod connects the push rod hinge on bedstead, the other end chain connection of bed rest electric pushrod boosts on part at bed rest, described bed rest boosts part for the L shaped structure with two connection handles, the link position of two connection handles is vertically fixed with described reinforced shaft as rotating shaft, one of them connection handle connects bed rest electric pushrod, another connection handle is fixed on the cruciform bracing of a backboard, the bottom of described bed backboard is the bed backboard framework that includes crossbeam, the two ends of described reinforced shaft are separately fixed at and connect on strand part, this connection strand part is the connector of bed rest and bed plate.
7. a kind of split type robot nursing bed with rehabilitation training function according to claim 5, it is characterized in that, the bed surface that the carries out bed surface shank stance adjustment structure that bends one's legs includes a thigh plate electric pushrod, cam and cam bearing pin, the bottom of described bed plate is bed chassis, the bottom of bed thigh plate is bed thigh plate framework, described bed plate framework is connected bending hinge part chain connection with bed thigh plate framework by two, between the hinge at two ends, be provided with reinforced shaft, one end of described bed thigh plate electric pushrod is connected and fixed with the fixed hinge being welded on bedstead, the bed thigh plate electric pushrod other end is connected with cam, described cam is provided with the guide rail hole of pin shaft hole and arc, be located in the pin shaft hole at described cam middle part and be provided with a bearing pin, the two ends of this bearing pin are individually fixed on bedstead, be fixed on cam bearing pin on a thigh plate framework through the guide rail hole of cam, between described bed plate framework and bedstead, be bolted.
8. a kind of split type robot nursing bed with rehabilitation training function according to claim 1, it is characterized in that, described seat stance adjustment includes that seat back posture is adjusted and seat shank stance adjustment, and the structure of carrying out stance adjustment includes seat backboard stance adjustment structure and the seat structure that bends one's legs.
9. a kind of split type robot nursing bed with rehabilitation training function according to claim 8, it is characterized in that, described seat back posture is adjusted structure and is included wheelchair backrest electric pushrod, wheelchair backrest boosts part, reinforced shaft is twisted part with being connected, one end of described wheelchair backrest electric pushrod is connected on the push rod hinge on bearing base, the other end chain connection of wheelchair backrest electric pushrod boosts on part at wheelchair backrest, described wheelchair backrest boosts part for the L shaped structure with two connection handles, the link position of two connection handles is vertically fixed with described reinforced shaft as rotating shaft, one of them connection handle fifth wheel chair back electric pushrod, another connection handle is fixed on the cruciform bracing of backboard, the bottom of described backboard is the backboard framework that includes crossbeam, the two ends of described reinforced shaft are separately fixed at and connect on strand part, this connection strand part is the connector of wheelchair backrest and wheel seat base.
10. a kind of split type robot nursing bed with rehabilitation training function according to claim 8, it is characterized in that, the seat that the carries out seat shank stance adjustment structure that bends one's legs includes wheelchair thigh plate electric pushrod, cam and cam bearing pin, the bottom of described seat board is seat board framework, the bottom of thigh plate is thigh plate framework, described seat board framework is connected bending hinge part chain connection with thigh plate framework by two, between the hinge at two ends, be provided with reinforced shaft, one end of described wheelchair thigh plate electric pushrod is connected and fixed with the fixed hinge being welded on bearing frame, the wheelchair thigh plate electric pushrod other end is connected with cam, described cam is provided with the guide rail hole of pin shaft hole and arc, be located in the pin shaft hole at described cam middle part and be provided with a bearing pin, the two ends of this bearing pin are individually fixed in the both sides of bearing base, be fixed on cam bearing pin on thigh plate framework through the guide rail hole of cam, between described seat board framework and bearing base, be bolted.
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| CN201410407875.3A CN104127289B (en) | 2014-08-19 | 2014-08-19 | Split type robot nursing bed having rehabilitation training function |
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| CN113975015A (en) * | 2021-10-25 | 2022-01-28 | 河北工业大学 | Separable integrated multifunctional nursing bed chair |
| CN113975015B (en) * | 2021-10-25 | 2023-11-17 | 河北工业大学 | Separable integrated multifunctional nursing bed and chair |
| CN114305913A (en) * | 2022-01-13 | 2022-04-12 | 沈阳新松机器人自动化股份有限公司 | Full-automatic bed-chair robot with standing function |
| CN116138973A (en) * | 2022-12-30 | 2023-05-23 | 燕山大学 | Integrated intelligent composite rehabilitation bed |
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| CN104127289B (en) | 2017-01-11 |
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