CN104127289B - 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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- CN104127289B CN104127289B CN201410407875.3A CN201410407875A CN104127289B CN 104127289 B CN104127289 B CN 104127289B CN 201410407875 A CN201410407875 A CN 201410407875A CN 104127289 B CN104127289 B CN 104127289B
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- 210000002414 leg Anatomy 0.000 claims description 32
- 244000309466 calf Species 0.000 claims description 30
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- 238000005452 bending Methods 0.000 claims description 6
- 238000003756 stirring Methods 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 abstract description 2
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- 230000009471 action Effects 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 206010011985 Decubitus ulcer Diseases 0.000 description 2
- 206010028289 Muscle atrophy 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
- 230000033001 locomotion Effects 0.000 description 2
- 201000000585 muscular atrophy Diseases 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
- 206010002027 Amyotrophy Diseases 0.000 description 1
- 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
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- 230000007306 turnover Effects 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, be related specifically 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 the monitoring of half anergy old people and a nursing difficult problem gradually highlight, nursing staff is in short supply, nursery work is heavy, cause nursing efficacy the best, therefore the outstanding many intelligent nursing equipment substituting manual labor of people's innovation and creation, what use was most among these is exactly electric wheelchair.
Having multiple electric wheelchair in the market, wheelchair form and function are the most varied, include manual and electronic, multi-pose and adjust, two just process and other additional vital functions, such as hair washing, diet and amusement etc..But these wheelchairs yet suffer from many problems and defect:
1, manual wheelchair, majority can not carry out pose adjustment, or adjustment attitude needs nursing staff to operate, and adds the amount of labour of nursing staff, can not embody the advantage of intelligent nursing；
2, multiple wheelchair is provided with defecating hole in the middle of seat board, facilitates paralysed patient to carry out defecation, but during defecation, dirt can be stained with on medicated cushion, the highest workload increasing the weight of again nursing staff of comfort level, and air can be made to be full of stink simultaneously；
3, patient transfers on wheelchair or when wheelchair is transferred to bed from the bed, needs nursing staff to expend a large amount of muscle power, or the apparatus by transfer；
4, easily there is local or the muscle wasting symptoms of general in long-term no motion of patient, does not has wheelchair to propose solution for this situation, can only be by artificial massage or by the generation slowing down muscle wasting symptoms of exercising device.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, it is provided that a kind of robot nursing bed with intelligent split regulation and control and rehabilitation training.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 want to solve the such as user branch problem from bed to wheelchair, mobile problem, comfort level problem, and easy to use, simple operations can realize bed and wheelchair conversion and body turning function.
In order to reach foregoing invention purpose, the technical scheme is that
A kind of split type robot nursing bed with rehabilitation training function, it is characterised in that this split type robot nursing bed includes nursing bed body and electric wheelchair, it is interior and can split is out in nursing bed body that described electric wheelchair is located at nursing bed body combinedly；
nullDescribed nursing bed body includes bedstead、Bed rest、Bed plate、Bed thigh plate and the little push pedal of bed，It is respectively arranged at two ends with bed head frame and tailstock frame at described bedstead，Side on described bedstead is provided with described bed rest、Bed plate、Bed thigh plate、Bed calf plate and cabinet base torr，Bed rest support mechanism it is provided with bottom bed rest，It is provided with a thigh plate support mechanism bottom bed thigh plate，It is provided with a calf plate support mechanism bottom bed calf plate，Cabinet base backing portion is provided with cabinet base torr support mechanism，Described bed rest、Bed plate、Bed thigh plate、Bed calf plate and cabinet base torr composition continuous print bed surface，Support mechanism and each self-corresponding bed panel bottom bed surface constitute multi link bindiny mechanism，And described bed rest、Bed plate、Bed thigh plate、Bed calf plate and footrest are articulated and connected successively，Described bed plate is logical to be bolted on bedstead，Described bed body is provided with the electric pushrod for bed surface pose adjustment，Connect and control the controlling organization of electric pushrod and be located on described bedstead；
The opposite side of described bedstead is provided with electric wheelchair screens, seat, wheelchair bearing base, mobile base, handrail and controlling organization is included on described electric wheelchair structure, described wheelchair bearing base is bolted on mobile 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, wheelchair footrest and wheelchair footrest support mechanism；Support mechanism and each self-corresponding seat plate in seat constitute multi link bindiny mechanism, and described wheelchair backrest, wheel chair seat board, wheelchair thigh plate, wheelchair calf plate and wheelchair footrest is articulated and connected successively；Described seat is bolted on bearing base, is provided with the electric pushrod for seat pose adjustment on described wheelchair bearing base, connects and controls the controlling organization of electric pushrod and is located on described handrail, and this handrail is located at the side of described wheelchair backrest.
In the present invention has the split type robot nursing bed of rehabilitation training function, described bed rest and wheelchair backrest all include the back frame being connected through the hinge and backrest stands up plate；All include on described bed plate and wheel chair seat board and stand up plate by connection hinge connecting base plate framework and seat board.
In the present invention has the split type robot nursing bed of rehabilitation training function, design as further structure, described back frame and backrest stand up to be provided with between plate and stand up electric pushrod, this stands up on the push rod fixed hinge that electric pushrod one end is fixed on back frame, the other end is fixed on backrest and stands up and stand up on hinge on plate, described stand up hinge and leave distance as rotating torque with being connected between hinge, the position standing up electric pushrod stood up on electric pushrod and wheelchair backrest on described bed rest is contrary, stood up plate by the backrest standing up electric pushrod promotion and stir in opposite direction.
In the present invention has the split type robot nursing bed of rehabilitation training function, design as further structure, described backrest stands up plate and is provided with two backrests and stands up connector, described seat board stands up and is provided with two seat boards on plate accordingly and stands up connector, the backrest of relevant position stands up plate connector and seat board stands up and snaps connection between connector, it is provided with through hole in the centre of described seat board connector, the width that the width of this through hole stands up connector with described backrest is identical, and described backrest stands up connector through described through hole to snap connection.
In the present invention has the split type robot nursing bed of rehabilitation training function, described bed surface stance adjustment includes bed surface back posture and adjusts and bed surface leg gesture adjusts, and carries out the structure of stance adjustment and includes bed surface back posture and adjust structure and bed surface bends one's legs structure.
nullIn the present invention has the split type robot nursing bed of rehabilitation training function，Design as further structure，Described bed surface back posture adjusts structure and includes bed rest electric pushrod、Bed rest boosts part、Reinforced shaft and connection strand part，One end of described bed rest electric pushrod connects the push rod hinge on bedstead，The other end of bed rest electric pushrod is hingedly connected at bed rest and boosts on part，It is the L-shaped structure with two connection handles that described bed rest boosts part，The link position of two connection handles is vertically and fixedly provided with described reinforced shaft as rotary 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 back plate frame including crossbeam，The two ends of described reinforced shaft are separately fixed on connection strand part，This connection strand part is the connector of bed rest and bed plate.
nullIn the present invention has the split type robot nursing bed of rehabilitation training function，Design as further structure，Carry out the bed surface of the bed surface leg gesture adjustment structure that bends one's legs and include 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，It is provided with reinforced shaft between the hinge at two ends，One end of described bed thigh plate electric pushrod is connected fixing 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，It is located in the pin shaft hole in the middle part of described cam and is provided with a bearing pin，The two ends of this bearing pin are individually fixed on bedstead，The cam bearing pin being fixed on a thigh plate framework is through the guide rail hole of cam，It is bolted between described bed plate framework and bedstead.
In the present invention has the split type robot nursing bed of rehabilitation training function, described seat stance adjustment includes seat back posture and adjusts and seat leg gesture adjusts, and carries out the structure of stance adjustment and includes seat backboard stance adjustment structure and seat bends one's legs structure.
nullIn the present invention has the split type robot nursing bed of rehabilitation training function，Design as further structure，Described seat back posture adjusts structure and includes wheelchair backrest electric pushrod、Wheelchair backrest boosts part、Reinforced shaft and connection strand part，On the push rod hinge that one end of described wheelchair backrest electric pushrod is connected on bearing base，The other end of wheelchair backrest electric pushrod is hingedly connected at wheelchair backrest and boosts on part，It is the L-shaped structure with two connection handles that described wheelchair backrest boosts part，The link position of two connection handles is vertically and fixedly provided with described reinforced shaft as rotary 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 back plate frame including crossbeam，The two ends of described reinforced shaft are separately fixed on connection strand part，This connection strand part is wheelchair backrest and the connector of wheel seat base.
nullIn the present invention has the split type robot nursing bed of rehabilitation training function，Design as further structure，Carry out the seat of the seat leg gesture adjustment structure that bends one's legs and include 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，It is provided with reinforced shaft between the hinge at two ends，One end of described wheelchair thigh plate electric pushrod is connected fixing 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，It is located in the pin shaft hole in the middle part of described cam and is provided with a bearing pin，The two ends of this bearing pin are individually fixed in the both sides of bearing base，The cam bearing pin being fixed on thigh plate framework is through the guide rail hole of cam，It is bolted between described seat board framework and bearing base.
Based on technique scheme, the electric wheelchair of the split type robot nursing bed that the present invention has rehabilitation training function compared with prior art has a following technological merit:
1. the present invention has the split type robot nursing bed of rehabilitation training function is mainly main power original paper with electric pushrod, multi-link structure is utilized to carry out the pose adjustment of each several part, carry on the back including back lifting, fall, bend one's legs, drop lower limb and stand up, wherein body turning function can only work as use when being combined into robot nursing bed, and this electric wheelchair can use separately as scooter.
2. the present invention is applicable to anergy or the limbs disturbance person of half anergy of bed in having the split type robot nursing bed of rehabilitation training function and electric wheelchair, and body function weakens the old people of the difficulty that causes taking care of oneself, solve the various problems generally existed, as from user branch problem from bed to wheelchair, mobile problem, diet problem, comfort level problem and the health problem caused of lying in bed for a long time, simple to operate, wheelchair can be converted to by a key from bed, there is body turning function, can effectively prevent the generation of pressure ulcer and decubital ulcer, user can be assisted to carry out rehabilitation training, the amyotrophy topically or systemically that avoiding lies in bed for a long time causes.
Accompanying drawing explanation
Fig. 1 is the axis side view such as grade that the present invention has the released state of the split type robot nursing bed of rehabilitation training function.
Fig. 2 is the front view that the present invention has the wheelchair part sitting posture state of the split type robot nursing bed of rehabilitation training function.
Fig. 3 is the axis side view such as grade that the present invention has the wheelchair part lying status of the split type robot nursing bed of rehabilitation training function.
Fig. 4 is the chair surface structure schematic diagram that the present invention has the wheelchair part lying status of the split type robot nursing bed of 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 close-up schematic view in Fig. 5 at A.
Fig. 7 be the present invention there is the wheelchair part lying status of the split type robot nursing bed of rehabilitation training function stand up attachment structure schematic diagram.
Fig. 8 be the present invention there is the wheelchair part sitting posture state of the split type robot nursing bed of rehabilitation training function stand up attachment structure schematic diagram.
Fig. 9 is the side view that the wheelchair part of the split type robot nursing bed that the present invention has rehabilitation training function stands up state.
Figure 10 is that the present invention has the seat board of the wheelchair part lying status of the split type robot nursing bed of rehabilitation training function and big leg plate structure schematic diagram.
Figure 11 is that the wheelchair part of the split type robot nursing bed that the present invention has rehabilitation training function bends one's legs the seat board of state and big leg plate structure schematic diagram.
Figure 12 is that the present invention has the split type robot nursing bed of rehabilitation training function axis side view such as grade of lying status when zoarium.
What Figure 13 present invention had that split type robot nursing bed wheelchair part when zoarium of rehabilitation training function stands up state waits axis side view.
What Figure 14 present invention had that split type robot nursing bed bed body part when zoarium of rehabilitation training function stands up state waits axis side view.
Figure 15 present invention have the split type robot nursing bed of rehabilitation training function wheelchair and bed body when zoarium synchronize pose adjustment state etc. axis side view.
Figure 16 present invention has the split type robot nursing bed of rehabilitation training function rehabilitation training state left lower limb training schematic diagram when zoarium.
Figure 17 present invention has the split type robot nursing bed of rehabilitation training function rehabilitation training state right lower limb training schematic diagram when zoarium.
Detailed description of the invention
We combine accompanying drawing and specific embodiment and have the split type robot nursing bed of rehabilitation training function to the present invention and electric wheel-chair vehicle therein elaborates further below; in the hope of being more clearly understood that architectural feature and the use process of the present invention, but can not limit the scope of the invention with this.
As it is shown in figure 1, figure is robot of the present invention nursing bed in released state, wherein the wheelchair part of robot nursing bed is in sitting posture state, and described electric wheelchair is located in nursing bed body combinedly and can split is out in nursing bed body.
Above-mentioned nursing bed body mainly includes bedstead 14, bed rest 10, bed plate 12, bed thigh plate 18 and the little push pedal of bed 17.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 torr, bed rest support mechanism it is provided with bottom bed rest 10, it is provided with a thigh plate support mechanism bottom bed thigh plate 18, being provided with a calf plate support mechanism bottom bed calf plate 17, cabinet base backing portion is provided with cabinet base torr support mechanism.Described bed rest 10, bed plate 12, bed thigh plate 18, bed calf plate 17 and cabinet base torr composition continuous print bed surface, support mechanism and each self-corresponding bed panel bottom bed surface constitute multi link bindiny mechanism, and described 10 bed rests, bed plate 12, bed thigh plate 18, bed calf plate 17 and cabinet base torr is articulated and connected successively, described bed plate 12 is logical to be bolted on bedstead 14, described bedstead 14 is provided with the electric pushrod for bed surface pose adjustment, connects and control the controlling organization of electric pushrod and be located on described bedstead 14.Being provided with self-locking universal wheel 16 in bedstead 15 bottom corner position, the Liang Jiaochu bottom bed surface is respectively provided with self-locking universal wheel 16, and the bedstead bipod in electric wheelchair side is respectively provided with a self-locking universal wheel 16.
Opposite side at described bedstead 14 is provided with electric wheelchair screens, a self-locking universal wheel 16 it is respectively provided with in the both sides of screens, electric wheelchair can move to this screens to be combined into the robot nursing bed of entirety, certainly electric wheelchair independently can also get up from robot nursing bed, in addition to using as common wheelchair, different postures can also be adjusted, meet different use demands.Wherein, the structure of bed surface is similar to the structure of seat, and function is identical, and then both can carry out the pose adjustment that synchronizes.
So that robot nursing bed is more safe and reliable, it is respectively arranged at two ends with bed head frame 19 and tailstock frame 14, to prevent patient from stretching out from one end or falling down at described bedstead 14.In like manner, it is provided with little guardrail 11 near bed head frame 19 position in the both sides of robot nursing bed, it is provided with big guardrail 13 near tailstock frame 14 position in the both sides of robot nursing bed, the effect of big guardrail 13 and little guardrail 11 is all to prevent patient or user from turning down from the side of bed, or head and foot remove outside bed.In order to easy to use, described big guardrail 13, little guardrail 11 can go down from two lateral bucklings, thus form a smooth robot nursing bed.
Above-mentioned electric wheelchair structurally includes seat, wheelchair bearing base 4, mobile base 5, handrail 2 and controlling organization 9, described wheelchair bearing base 4 is bolted on mobile 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 footrest 7 and wheelchair footrest support mechanism.Support mechanism and each self-corresponding seat plate in seat constitute multi link bindiny mechanism, and described wheelchair backrest 1, wheel chair seat board 3, wheelchair thigh plate 8, wheelchair calf plate 6 and wheelchair footrest is articulated and connected successively.Seat is bolted on wheelchair bearing base 4, is provided with the electric pushrod for seat pose adjustment on described wheelchair bearing base 4, connects and controls the controlling organization 9 of electric pushrod and is located on described handrail 2, and this handrail 2 is located at the side of described wheelchair backrest 1.
All include, on the bed rest of the present invention and wheelchair backrest, the back frame being connected through the hinge and backrest stands up plate；All include on described bed plate and wheel chair seat board and stand up plate by connection hinge connecting base plate framework and seat board.If wheelchair and bed body part zoarium are as nursing bed, owing to having body turning function, effectively prevent the generation of pressure ulcer and decubital ulcer.As a example by electric wheelchair, as shown in Figure 5 and Figure 6, wheelchair backrest all includes the back frame 101 being connected through the hinge and backrest stands up plate 102, wheel chair seat board all includes and stands up plate 105 by the hinged seat board framework 106 of connection and seat board.In order to realize the body turning function of robot nursing bed, described back frame 101 and backrest stand up to be provided with between plate 102 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 and stand up on hinge on plate 102, stand up hinge leave distance and realize body turning function as rotating torque, electric pushrod as power original paper with being connected between hinge described.In like manner, described bed rest is also configured with corresponding turning over structure, but the position standing up electric pushrod stood up on electric pushrod and wheelchair backrest on bed rest is contrary, the backrest standing up electric pushrod promotion stand up plate and stir in opposite direction.The most just can accomplish that user can stand up on the seat of electric wheelchair from the side bed surface of robot nursing bed, or stand up on the seat of electric wheelchair on the side bed surface of robot nursing bed.
Or as a example by electric wheelchair, described backrest stands up plate 102 and is provided with two backrests and stands up connector 103, described seat board stands up and is provided with two seat boards on plate 105 accordingly and stands up connector 104, the backrest of relevant position stands up plate connector 103 and seat board stands up and snaps connection between connector 104, the centre standing up connector 104 at described seat board is provided with through hole, the width that the width of this through hole stands up connector 103 with described backrest is identical, and described backrest stands up connector 103 through described through hole to snap connection.When lying status, stand up electric pushrod 112 when working, utilize bar linkage structure principle to drive backrest to stand up plate 102 and stand up, simultaneously as backrest stands up connector 103 and seat board stands up the special connected mode of connector 104, backrest stands up plate 102 and drives seat to stand up plate 105 to stand up, as shown in Figure 9.Thus said structure can realize backrest and seat board body turning function simultaneously, and body turning function does not affect back lifting and fall back of the body function.
In the present invention has the split type robot nursing bed of rehabilitation training function, described seat stance adjustment includes seat back posture and adjusts and seat leg gesture adjusts, and carries out the structure of stance adjustment and includes seat backboard stance adjustment structure and seat bends one's legs structure.
As shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8, above-mentioned seat back posture adjusts that structure includes wheelchair backrest electric pushrod 108, wheelchair backrest boosts part 109, reinforced shaft 111 and connect 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 of wheelchair backrest electric pushrod 108 is hingedly connected at wheelchair backrest and boosts on part 109.It is the L-shaped structure with two connection handles that described wheelchair backrest boosts part 109, the link position of two connection handles is vertically and fixedly provided with described reinforced shaft 111 as rotary 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 back plate frame including crossbeam, the two ends of described reinforced shaft 111 are separately fixed on connection strand part 110, and this connection strand part 110 is wheelchair backrest and the connector of wheel seat base.
During wheelchair backrest pose adjustment, wheelchair backrest stands up connector 103 and rotates around reinforced shaft 111, and wheelchair backrest stands up connector 103 and wheel chair seat board stands up connector 104 and do not has the transmission of direct power.Back lifting and fall back of the body action at backrest stand up plate 105 all without having influence on seat board, so seat board stands up plate 105 is constantly in lying status in the back lifting fall back of the body stage.When lying status, stand up electric pushrod 112 when working, utilizing bar linkage structure principle to drive backrest to stand up plate 102 and stand up, simultaneously as backrest stands up connector 103 and seat board stands up the special connected mode of connector 104, backrest stands up plate 102 and drives seat board to stand up plate 105 to stand up.Thus said structure can realize backrest and seat board body turning function simultaneously, and body turning function does not affect back lifting fall back of the body function.
nullAs shown in Figure 10 and Figure 11，Carry out the seat structure that bends one's legs that above-mentioned seat leg gesture adjusts and include wheelchair thigh plate electric pushrod 113、Cam 114 and cam bearing pin 117，The described bottom 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 connection with thigh plate framework 116 by two，Reinforced shaft 111 it is provided with between the hinge at two ends，One end of described wheelchair thigh plate electric pushrod 113 is connected fixing with the fixed hinge 107 being welded on wheelchair bearing frame 4，Wheelchair thigh plate electric pushrod 113 other end is connected with cam 114，Described cam 114 is provided with the guide rail hole of pin shaft hole and arc，It is located in the pin shaft hole in the middle part of described cam 114 and is provided with a bearing pin，The two ends of this bearing pin are individually fixed in the both sides of wheelchair bearing base 4，The cam bearing pin 117 being fixed on thigh plate framework 116 is through the guide rail hole of cam 114，It is fixed by bolt between described seat board framework 121 and wheelchair bearing base 4.The cam bearing pin 117 being fixed on thigh plate framework is through the rail sections of cam, when thigh plate electric pushrod 113 works, promote cam 114 to rotate around bearing pin, drive the cam bearing pin 117 through cam guiding part along slide simultaneously, now the lifting of thigh plate, completes the action that bends one's legs.
In conjunction with Fig. 4 it can be seen that calf plate load-carrying members 22, wheelchair calf plate 6 and wheelchair thigh plate 8 form linkage, electric pushrod controls the wheelchair calf plate 6 position relative to wheelchair thigh plate 8.Footrest load-carrying members, wheelchair calf plate 6 and wheelchair footrest 7 form multi-connecting-rod mechanism, and electric pushrod controls the wheelchair footrest 7 position relative to wheelchair calf plate 6.In sum, when wheelchair from the pose adjustment that lies low to sitting posture state, need to control 4 electric pushrod synergy movements.
In the present invention has the split type robot nursing bed of rehabilitation training function, chair surface structure such as electric wheelchair can adjust identical, described bed surface stance adjustment includes bed surface back posture and adjusts and bed surface leg gesture adjusts, and carries out the structure of stance adjustment and includes bed surface back posture and adjust structure and bed surface bends one's legs structure.
Above-mentioned bed surface back posture adjusts structure and includes bed rest electric pushrod, bed rest boosts part, reinforced shaft and connection strand part, one end of described bed rest electric pushrod connects the push rod hinge on bedstead, the other end of bed rest electric pushrod is hingedly connected at bed rest and boosts on part, it is the L-shaped structure with two connection handles that described bed rest boosts part, the link position of two connection handles is vertically and fixedly provided with described reinforced shaft as rotary 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 back plate frame including crossbeam, the two ends of described reinforced shaft are separately fixed on connection strand part, this connection strand part is the connector of bed rest and bed plate.Carry out the bed surface structure that bends one's legs that above-mentioned bed surface leg gesture adjusts and include 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, it is provided with reinforced shaft between the hinge at two ends, one end of described bed thigh plate electric pushrod is connected fixing 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, it is located in the pin shaft hole in the middle part of described cam and is provided with a bearing pin, the two ends of this bearing pin are individually fixed on bedstead, the cam bearing pin being fixed on a thigh plate framework is through the guide rail hole of cam, it is bolted between described bed plate framework and bedstead.
As shown in Figure 12 and Figure 15, because the structure of the bed surface of bed body part is similar to the structure of the seat of wheelchair part, identical including the size of each several part, load-carrying members, connection fixed form, and have respective electric pushrod, on wheelchair and bed structure non-interference, therefore can complete two-part synchronization pose adjustment.As shown in Figure 13 and Figure 14, the turning over structure of bed body part is identical but in opposite direction with wheelchair part turning over structure, realizes a left side with this and turns over and turn over the right side, and can only carry out when lying low standing up action.Shown in Figure 16 and Figure 17, for robot nursing bed rehabilitation training schematic diagram, owing to the structure of wheelchair and bed body part is non-interference, control wheel chair and bed body part can alternately bend one's legs and stretch one's legs, or one side bends one's legs training, reaches the purpose of rehabilitation training.
Claims (7)
1. a split type robot nursing bed with rehabilitation training function, it is characterised in that this split type robot nursing bed includes nursing bed body and electric wheelchair, split is out in described electric wheelchair is located at nursing bed body in combination and in nursing bed body；nullDescribed nursing bed body includes bedstead、Bed rest、Bed plate、Bed thigh plate and bed calf plate，It is respectively arranged at two ends with bed head frame and tailstock frame at described bedstead，Side on described bedstead is provided with described bed rest、Bed plate、Bed thigh plate、Bed calf plate and cabinet base torr，Bed rest support mechanism it is provided with bottom bed rest，It is provided with a thigh plate support mechanism bottom bed thigh plate，It is provided with a calf plate support mechanism bottom bed calf plate，Cabinet base backing portion is provided with cabinet base torr support mechanism，Described bed rest、Bed plate、Bed thigh plate、Bed calf plate and cabinet base torr composition continuous print bed surface，Support mechanism and each self-corresponding bed panel bottom bed surface constitute multi link bindiny mechanism，And described bed rest、Bed plate、Bed thigh plate、Bed calf plate and footrest are articulated and connected successively，Described bed plate is bolted on bedstead，Described bed body is provided with the electric pushrod for bed surface pose adjustment，Connect and control the controlling organization of electric pushrod and be located on described bedstead；The opposite side of described bedstead is provided with electric wheelchair screens, seat, wheelchair bearing base, mobile base, handrail and controlling organization is included on described electric wheelchair structure, described wheelchair bearing base is bolted on mobile 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, wheelchair footrest and wheelchair footrest support mechanism；Support mechanism and each self-corresponding seat plate in seat constitute multi link bindiny mechanism, and described wheelchair backrest, wheel chair seat board, wheelchair thigh plate, wheelchair calf plate and wheelchair footrest is articulated and connected successively；Described seat is bolted on bearing base, is provided with the electric pushrod for seat pose adjustment on described wheelchair bearing base, connects and controls the controlling organization of electric pushrod and is located on described handrail, and this handrail is located at the side of described wheelchair backrest；All include, on described bed rest and wheelchair backrest, the back frame being connected through the hinge and backrest stands up plate；All include on described bed plate and wheel chair seat board and stand up plate by connection hinge connecting base plate framework and seat board；Described back frame and backrest stand up to be provided with between plate and stand up electric pushrod, this stands up on the push rod fixed hinge that electric pushrod one end is fixed on back frame, the other end is fixed on backrest and stands up and stand up on hinge on plate, described stand up hinge and leave distance as rotating torque with being connected between hinge, the position standing up electric pushrod stood up on electric pushrod and wheelchair backrest on described bed rest is contrary, the backrest standing up electric pushrod promotion stand up plate and stir in opposite direction；Described backrest stands up plate and is provided with two backrests and stands up connector, described seat board stands up and is provided with two seat boards on plate accordingly and stands up connector, the backrest of relevant position stands up plate connector and seat board stands up and snaps connection between connector, the centre standing up connector at described seat board is provided with through hole, the width that the width of this through hole stands up connector with described backrest is identical, and described backrest stands up connector through described through hole to snap connection.
A kind of split type robot nursing bed with rehabilitation training function the most according to claim 1, it is characterized in that, bed surface stance adjustment includes bed surface back posture and adjusts and bed surface leg gesture adjusts, and carries out the structure of stance adjustment and includes bed surface back posture and adjust structure and bed surface bends one's legs structure.
nullA kind of split type robot nursing bed with rehabilitation training function the most according to claim 2，It is characterized in that，Described bed surface back posture adjusts structure and includes bed rest electric pushrod、Bed rest boosts part、Reinforced shaft and connection strand part，One end of described bed rest electric pushrod connects the push rod hinge on bedstead，The other end of bed rest electric pushrod is hingedly connected at bed rest and boosts on part，It is the L-shaped structure with two connection handles that described bed rest boosts part，The link position of two connection handles is vertically and fixedly provided with described reinforced shaft as rotary 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 back plate frame including crossbeam，The two ends of described reinforced shaft are separately fixed on connection strand part，This connection strand part is the connector of bed rest and bed plate.
nullA kind of split type robot nursing bed with rehabilitation training function the most according to claim 2，It is characterized in that，Carry out the bed surface of the bed surface leg gesture adjustment structure that bends one's legs and include a thigh plate electric pushrod、Cam and cam bearing pin，The bottom of described bed plate is bed plate framework，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，It is provided with reinforced shaft between the hinge at two ends，One end of described bed thigh plate electric pushrod is connected fixing 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，It is located in the pin shaft hole in the middle part of described cam and is provided with a bearing pin，The two ends of this bearing pin are individually fixed on bedstead，The cam bearing pin being fixed on a thigh plate framework is through the guide rail hole of cam，It is bolted between described bed plate framework and bedstead.
A kind of split type robot nursing bed with rehabilitation training function the most according to claim 1, it is characterized in that, seat stance adjustment includes seat back posture and adjusts and seat leg gesture adjusts, and carries out the structure of stance adjustment and includes seat backboard stance adjustment structure and seat bends one's legs structure.
nullA kind of split type robot nursing bed with rehabilitation training function the most according to claim 5，It is characterized in that，Described seat back posture adjusts structure and includes wheelchair backrest electric pushrod、Wheelchair backrest boosts part、Reinforced shaft and connection strand part，On the push rod hinge that one end of described wheelchair backrest electric pushrod is connected on bearing base，The other end of wheelchair backrest electric pushrod is hingedly connected at wheelchair backrest and boosts on part，It is the L-shaped structure with two connection handles that described wheelchair backrest boosts part，The link position of two connection handles is vertically and fixedly provided with described reinforced shaft as rotary 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 back plate frame including crossbeam，The two ends of described reinforced shaft are separately fixed on connection strand part，This connection strand part is wheelchair backrest and the connector of wheel seat base.
nullA kind of split type robot nursing bed with rehabilitation training function the most according to claim 5，It is characterized in that，Carry out the seat of the seat leg gesture adjustment structure that bends one's legs and include wheelchair thigh plate electric pushrod、Cam and cam bearing pin，The described bottom taking turns chair seat board is wheel chair seat board framework，The bottom of wheelchair thigh plate is wheelchair thigh plate framework，Described wheel chair seat board framework is connected bending hinge part chain connection with wheelchair thigh plate framework by two，It is provided with reinforced shaft between the hinge at two ends，One end of described wheelchair thigh plate electric pushrod is connected fixing 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，It is located in the pin shaft hole in the middle part of described cam and is provided with a bearing pin，The two ends of this bearing pin are individually fixed in the both sides of bearing base，The cam bearing pin being fixed on wheelchair thigh plate framework is through the guide rail hole of cam，It is bolted between described wheel chair seat board framework and bearing base.
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