CN106580589A - Steering engine type integrated rehabilitation bed/chair - Google Patents

Steering engine type integrated rehabilitation bed/chair Download PDF

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Publication number
CN106580589A
CN106580589A CN201510683695.2A CN201510683695A CN106580589A CN 106580589 A CN106580589 A CN 106580589A CN 201510683695 A CN201510683695 A CN 201510683695A CN 106580589 A CN106580589 A CN 106580589A
Authority
CN
China
Prior art keywords
wheelchair
bed
frame
general frame
leg
Prior art date
Application number
CN201510683695.2A
Other languages
Chinese (zh)
Inventor
徐方
王宏玉
邹风山
杨奇峰
陈睿
邓德智
Original Assignee
沈阳新松机器人自动化股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 沈阳新松机器人自动化股份有限公司 filed Critical 沈阳新松机器人自动化股份有限公司
Priority to CN201510683695.2A priority Critical patent/CN106580589A/en
Publication of CN106580589A publication Critical patent/CN106580589A/en

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/002Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
    • A61G7/015Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/002Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
    • A61G7/018Control or drive mechanisms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/16Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto converting a lying surface into a chair

Abstract

The invention relates to the technical field of rehabilitation beds, in particular to a steering engine type integrated rehabilitation bed/chair, which comprises a mechanical portion and a control portion, wherein the mechanical portion comprises a bed body and a wheelchair part; the bed part comprises an integral bed body frame, a bed body back frame and a bed body leg bending structure frame; a left side turning-over frame and a back lifting linkage mechanism are arranged on the bed body back frame; a left side turning-over transmission mechanism, a left side turning-over electric push rod, a right side turning-over transmission mechanism and a right side turning-over electric push rod are arranged on the integral bed body frame; a leg bending structure linkage device is arranged on the bed body leg bending structure frame; a right side turning-over frame and a wheelchair-side back lifting linkage device are arranged on the wheelchair back frame; and a wheelchair-side leg bending linkage device is arranged on the wheelchair leg bending mechanism frame. Bed and chair connection and separation can be achieved; and under a connected state, automatic charging is achieved, while under a separated state, actions of lifting a body and putting down calves can be implemented, so that a wheelchair structure is formed.

Description

The recovery bed chair of formula of coming about integration

Technical field

The present invention relates to recovery bed technical field, more particularly to one kind is come about the recovery bed chair of formula integration.

Background technology

When nursing on the bed to the special population of the bodies such as old man and patient inconvenience, needs are easy to assist to be nursed Person sits up and changes prone position.Meanwhile, when between wheelchair and care bed to carrying out transfer tasks by care-giver, All it is very big burden for nursing staff and by care-giver.Existing care bed product focuses on assistance mostly Adjustment is by care-giver's prone position, the function such as sit up, stand up, and have ignored being nursed between wheelchair and care bed Person's transfer tasks function.Minority realizes a product for chair conversion and there is also separation docking operation intelligence degree Relatively low, bed body and Wheelchair structure limit the defect of partial function.

The content of the invention

For the deficiencies in the prior art, present invention offer one kind can undertake assistance and sit up, change prone position, turn The integral bed chair of shifting.

The technical scheme is that:

One kind is come about the formula recovery bed chair of integration, including mechanical part and control section, the Machinery Ministry subpackage Include bed body part and wheelchair part;

The bed body part includes bed body general frame, bed body back frame, bed body song leg structural framing, institute State and stand up framework and lift back of the body link gear equipped with left side in bed body back frame;Fill on the bed body general frame Have left side stand up transmission mechanism, left side stand up electric pushrod, right side stand up transmission mechanism, right side stand up it is electronic Push rod;Equipped with bent leg structure linkage on the bed body song leg structural framing;

The bed body general frame includes upper strata, middle level, lower floor, bed body back frame base and bed body entirety Framework upper strata is hinged, and bed body song leg structural framing top margin is hinged with bed body general frame upper strata;Stand up biography in left side Motivation structure, right side stand up transmission mechanism one end and bed body general frame middle level is hinged, left side stand up transmission mechanism, Stand up the other end top of transmission mechanism and base of frame and bottom are stood up corresponding by roller supporting in right side It is hinged with the corresponding electric pushrod head connector that stands up;Stand up electric pushrod, right side and stand up electronic pushing away in left side The back connector of bar is hinged with bed body general frame lower floor;

The wheelchair part includes all-around mobile chassis, wheelchair general frame, wheelchair back frame, wheelchair Bent leg mechanism framework, wheelchair leg frames, wheelchair sole framework, equipped with the lift back of the body on the wheelchair general frame Electric pushrod, bent leg electric pushrod, leg electric pushrod, sole linkage structure;The wheelchair back frame On equipped with right side stand up framework and wheelchair side lift the back of the body linkage;Equipped with wheel on the wheelchair song leg mechanism framework Chair lateral curvature leg linkage;

The wheelchair general frame includes the upper and lower, all-around mobile chassis and wheelchair general frame lower floor Connected by connector, wheelchair back framework bottom side is hinged with wheelchair general frame upper strata, wheelchair song leg mechanism Framework top margin is hinged with wheelchair general frame upper strata, and wheelchair leg frames top margin cuts with scissors with wheelchair general frame upper strata Connect, wheelchair leg frames base is hinged with wheelchair sole framework top margin;

The control section includes master controller, battery electric quantity monitoring module, sensor acquisition module, wheelchair Side motor Two axle drive module, wheelchair side WiFi module, wheelchair side electric cylinders drive module, bed body side WiFi Module, bed body side electric cylinders drive module, the master controller, battery electric quantity monitoring module, sensor collection Module, wheelchair side motor Two axle drive module, wheelchair side WiFi module, wheelchair side electric cylinders drive module are pacified Wheelchair part is mounted in, bed body side WiFi module, bed body side electric cylinders drive module are arranged on bed body part, The battery electric quantity monitoring module, sensor acquisition module, wheelchair side motor Two axle drive module, wheelchair side WiFi module, wheelchair side electric cylinders drive module and master controller are electrically connected with.

Be connected with a connecting rod between the wheelchair part wheelchair sole framework and wheelchair general frame, the connecting rod with wheel The part-structure of chair leg plate framework, wheelchair leg frames and wheelchair general frame forms parallel four-bar linkage, Ensure sole frame upper surface all the time parallel to wheelchair general frame upper surface, make sole frame structure without the need for single Solely control, simplifies frame for movement and control.

Bed body general frame has prominent support section to wheelchair back frame and wheelchair under bed body state after docking Leg frames are supported, it is to avoid wheelchair lift back of the body electric pushrod and wheelchair leg electric pushrod are in are pushed away all the time Power state, it is ensured that electric pushrod service life increases security simultaneously.

After docking under bed body state, bed body back frame is connected by link gear with wheelchair back frame, Wheelchair lift back of the body electric pushrod driving wheel seat back portion framework can be by link gear while driving bed body when being moved Back frame synchronizes motion;Bed body song leg structural framing is by link gear and wheelchair song leg mechanism framework It is connected, wheelchair song leg electric pushrod drives wheelchair song leg mechanism framework to pass through link gear when being moved Bed body song leg structural framing is driven to synchronize motion simultaneously, being so designed that can simplify structure with control.

The all-around mobile chassis is provided with two driving wheels and two universal wheels, and two driving wheels are comprehensive Mobile chassis are distributed in diagonal, and driving wheel is provided with motor and motor of coming about, and motor is used for wheelchair Daily walking function, motor of coming about be used for bed chair to connection function, the all-around mobile chassis is additionally provided with to be filled Battery.

The all-around mobile chassis is provided with supplied laser navigation apparatus, and the bed body general frame lower floor correspondence is complete square Position mobile chassis are provided with trapezoidal recess area, and the all-around mobile chassis outside is provided with anti-collision adhesive tape, the ladder Shape depressed area is provided with interface and touches limit switch, for completing the docking of bed body part and wheelchair part.

It is right that the trapezoidal recess area of all-around mobile chassis side and the bed body part is correspondingly provided with charging Narrow bars, when can automatic charging after docking.

Beneficial effects of the present invention are:Achievable bed chair docking and separation, automatic charging during docking, during separation The decentralization of lift body and shank is capable of achieving so as to become Wheelchair structure, with the formation of pedal when shank is transferred, together When two side handrail liftings improve user comfort level, wheelchair part carry autonomous driving control system, intelligence Energy mobile chassis, improve the flexibility of wheelchair operation, while facilitating implementation a docking for chair integration;Using Modularized design, is easily installed and debugging.

Description of the drawings

Fig. 1 bed chair integrated robot overall schematics.

Fig. 2 bed body partial schematic diagrams.

Fig. 3 wheelchair partial schematic diagrams.

Fig. 4 wheelchair form schematic side views.

Fig. 5 bed chair overall-in-one control schemas part constitutes.

In figure, 1, bed body part;2nd, wheelchair part;3rd, bed body general frame;4th, bed body back frame; 5th, framework is stood up in left side;6th, bed body song leg structural framing;7th, bent leg structure linkage;8th, lift back of the body connection Motivation structure;9th, electric pushrod is stood up on right side;10th, transmission mechanism is stood up on right side;11st, driver is stood up in left side Structure;12nd, electric pushrod is stood up in left side;13rd, all-around mobile chassis;14th, wheelchair general frame;15、 Wheelchair back frame;16th, lift back of the body electric pushrod;17th, framework is stood up on right side;18th, wheelchair song leg mechanism frame Frame;19th, bent leg electric pushrod;20th, leg electric pushrod;21st, wheelchair leg frames;22nd, chair leg is taken turns Plate framework;23rd, wheelchair side lift back of the body linkage;24th, wheelchair lateral curvature leg linkage;31st, master controller; 32nd, sensor acquisition module;33rd, battery electric quantity monitoring module;34th, wheelchair side motor Two axle drive module; 35th, wheelchair side electric cylinders drive module;36th, wheelchair side Wi Fi modules;37th, bed body side Wi Fi modules;38、 Bed body side electric cylinders drive module.

Specific embodiment

The specific embodiment of the present invention is described further below in conjunction with the accompanying drawings:

As Figure 1-5, one kind is come about the formula recovery bed chair of integration, including mechanical part and control section, The mechanical part includes bed body part and wheelchair part;

The bed body part 1 includes bed body general frame 3, bed body back frame 4, bed body song leg structural framing 6, stand up framework 5 and lift back of the body link gear 8 equipped with left side in the bed body back frame 4;The bed body is whole Equipped with left side transmission mechanism 11, left side being stood up on body framework 3 and standing up electric pushrod 12, right side stand up driver Structure 10, right side stands up electric pushrod 9;Equipped with bent leg structure linkage dress on the bed body song leg structural framing 6 Put 7;

The bed body general frame 3 includes upper strata, middle level, lower floor, the base of bed body back frame 4 and bed body The upper strata of general frame 3 is hinged, and the top margin of bed body song leg structural framing 6 is hinged with the upper strata of bed body general frame 3; Left side stands up that transmission mechanism 11, right side stands up the one end of transmission mechanism 10 and the middle level of bed body general frame 3 is hinged, Stand up transmission mechanism 11, right side and stand up the other end top of transmission mechanism 10 by roller supporting right in left side Answer stand up base of frame and bottom is hinged with the corresponding electric pushrod head connector that stands up;Stand up electricity in left side Dynamic push rod 12, right side stands up the back connector of electric pushrod 9 and the lower floor of bed body general frame 3 is hinged;

The wheelchair part 2 includes all-around mobile chassis 13, wheelchair general frame 14, wheelchair back frame 15th, wheelchair song leg mechanism framework 18, wheelchair leg frames 21, wheelchair sole framework 22, the wheelchair entirety Equipped with lift back of the body electric pushrod 16, bent leg electric pushrod 19, leg electric pushrod 20, sole connection on framework 14 Dynamic structure;Framework 17 and wheelchair side lift back of the body linkage are stood up in the wheelchair back frame 15 equipped with right side 23;Wheelchair lateral curvature leg linkage 24 is housed on the wheelchair song leg mechanism framework 18;

The wheelchair general frame 14 includes the upper and lower, all-around mobile chassis 13 and wheelchair entirety frame The lower floor of frame 14 is connected by connector, and the base of wheelchair back frame 15 is hinged with the upper strata of wheelchair general frame 14, The top margin of wheelchair song leg mechanism framework 18 is hinged with the upper strata of wheelchair general frame 14, the top margin of wheelchair leg frames 21 It is hinged with the upper strata of wheelchair general frame 14, the base of wheelchair leg frames 21 is cut with scissors with the top margin of wheelchair sole framework 22 Connect;

The control section include master controller 31, battery electric quantity monitoring module 33, sensor acquisition module 32, Wheelchair side motor Two axle drive module 34, wheelchair side WiFi module 36, wheelchair side electric cylinders drive module 35, Bed body side WiFi module 37, bed body side electric cylinders drive module 38, the master controller 31, battery electric quantity prison Control module 33, sensor acquisition module 32, wheelchair side motor Two axle drive module 34, wheelchair side Wi Fi moulds Block 36, wheelchair side electric cylinders drive module 35 are installed in wheelchair part 2, bed body side WiFi module 37, Bed body side electric cylinders drive module 38 installed in bed body part, adopt by the battery electric quantity monitoring module 33, sensor Collection module 32, wheelchair side motor Two axle drive module 34, wheelchair side WiFi module 36, wheelchair side electric cylinders are driven Dynamic model block 35 is electrically connected with master controller 31.

A connecting rod is connected between the wheelchair sole framework 22 of the wheelchair part 2 and wheelchair general frame 14, should Connecting rod is formed with the part-structure of wheelchair sole framework 22, wheelchair leg frames 21 and wheelchair general frame 14 Parallel four-bar linkage, it is ensured that sole frame upper surface parallel to the upper surface of wheelchair general frame 14, makes all the time Sole frame structure simplifies frame for movement and control without the need for individually controlling.

Bed body general frame 3 has prominent support section to the He of wheelchair back frame 15 under bed body state after docking Wheelchair leg frames 21 are supported, it is to avoid wheelchair lift back of the body electric pushrod 16 and wheelchair leg electric pushrod 20 All the time in by thrust rating, it is ensured that electric pushrod service life increases security simultaneously.

After docking under bed body state, bed body back frame 4 is connected by link gear with wheelchair back frame 15 Connect, the wheelchair lift back of the body driving wheel seat back portion framework 15 of electric pushrod 16 can be same by link gear when being moved When drive bed body back frame 4 to synchronize motion;Bed body song leg structural framing 6 is by link gear and wheel Chair song leg mechanism framework 18 is connected, and wheelchair song leg electric pushrod 19 drives wheelchair song leg mechanism framework 18 to enter Can simultaneously drive bed body song leg structural framing 6 to synchronize motion by link gear during row motion, so set Meter can simplify structure with control.

The all-around mobile chassis 13 is provided with two driving wheels and two universal wheels, and two driving wheels are in full side Position mobile chassis are distributed in diagonal, and driving wheel is provided with motor and motor of coming about, and motor is used to take turns The daily walking function of chair, motor of coming about is used for bed chair to connection function, and the all-around mobile chassis is additionally provided with Rechargeable battery.

The all-around mobile chassis 13 is provided with supplied laser navigation apparatus, and the bed body general frame lower floor correspondence is complete Orientation mobile chassis 13 are provided with trapezoidal recess area, and the outside of the all-around mobile chassis 13 is provided with anti-collision adhesive tape, The trapezoidal recess area is provided with interface and touches limit switch, for completing the right of bed body part and wheelchair part Connect.

The trapezoidal recess area of the side of all-around mobile chassis 13 and the bed body part 2 is correspondingly provided with to be filled Electric butt strap, when can automatic charging after docking.

Merely illustrating the principles of the invention described in above-described embodiment and specification and most preferred embodiment, not Depart from spirit and scope of the invention on the premise of, the present invention also have various changes and modifications, these change and Improvement is both fallen within scope of the claimed invention.

Claims (10)

1. one kind is come about the formula recovery bed chair of integration, including mechanical part and control section, the Machinery Ministry Dividing includes bed body part and wheelchair part, it is characterised in that:
The bed body part includes bed body general frame, bed body back frame, bed body song leg structural framing, institute State and stand up framework and lift back of the body link gear equipped with left side in bed body back frame;Fill on the bed body general frame Have left side stand up transmission mechanism, left side stand up electric pushrod, right side stand up transmission mechanism, right side stand up it is electronic Push rod;Equipped with bent leg structure linkage on the bed body song leg structural framing;
The wheelchair part includes all-around mobile chassis, wheelchair general frame, wheelchair back frame, wheelchair Bent leg mechanism framework, wheelchair leg frames, wheelchair sole framework, equipped with the lift back of the body on the wheelchair general frame Electric pushrod, bent leg electric pushrod, leg electric pushrod, sole linkage structure;The wheelchair back frame On equipped with right side stand up framework and wheelchair side lift the back of the body linkage;Equipped with wheel on the wheelchair song leg mechanism framework Chair lateral curvature leg linkage.
2. the new formula recovery bed chair of integration of coming about according to claim 1, it is characterised in that:It is described Bed body general frame includes upper strata, middle level, lower floor, bed body back frame base and bed body general frame upper strata It is hinged, bed body song leg structural framing top margin is hinged with bed body general frame upper strata;Left side stand up transmission mechanism, Right side is stood up transmission mechanism one end and is hinged with bed body general frame middle level, and transmission mechanism, right side-overturn are stood up in left side The other end top of body transmission mechanism by roller supporting it is corresponding stand up base of frame and bottom with it is corresponding The electric pushrod head connector that stands up be hinged;Stand up the back of the body that electric pushrod, right side stand up electric pushrod in left side Portion's connector is hinged with bed body general frame lower floor.
3. the new formula recovery bed chair of integration of coming about according to claim 1, it is characterised in that:It is described Wheelchair general frame includes the upper and lower, and all-around mobile chassis is with wheelchair general frame lower floor by being connected Part connects, and wheelchair back framework bottom side is hinged with wheelchair general frame upper strata, wheelchair song leg mechanism framework top margin It is hinged with wheelchair general frame upper strata, wheelchair leg frames top margin is hinged with wheelchair general frame upper strata, wheelchair Leg frames base is hinged with wheelchair sole framework top margin.
4. the new formula recovery bed chair of integration of coming about according to claim 1, it is characterised in that:It is described Control section includes that master controller, battery electric quantity monitoring module, sensor acquisition module, wheelchair side motor are double Axle drive module, wheelchair side WiFi module, wheelchair side electric cylinders drive module, bed body side WiFi module, bed Side electric cylinders drive module, the master controller, battery electric quantity monitoring module, sensor acquisition module, wheel Chair side motor Two axle drive module, wheelchair side WiFi module, wheelchair side electric cylinders drive module are installed in wheelchair Part, bed body side WiFi module, bed body side electric cylinders drive module are arranged on bed body part, the battery Electricity monitoring module, sensor acquisition module, wheelchair side motor Two axle drive module, wheelchair side WiFi module, Wheelchair side electric cylinders drive module is electrically connected with master controller.
5. the new formula recovery bed chair of integration of coming about according to claim 1, it is characterised in that:It is described A connecting rod is connected between wheelchair part wheelchair sole framework and wheelchair general frame, the connecting rod and wheelchair sole frame The part-structure of frame, wheelchair leg frames and wheelchair general frame forms parallel four-bar linkage.
6. the new formula recovery bed chair of integration of coming about according to claim 1, it is characterised in that:Docking Afterwards bed body general frame has prominent support section to wheelchair back frame and wheelchair leg frames under bed body state It is supported.
7. the new formula recovery bed chair of integration of coming about according to claim 1, it is characterised in that:Docking Afterwards under bed body state, bed body back frame is connected by link gear with wheelchair back frame, bed body song leg Structural framing is connected by link gear with wheelchair song leg mechanism framework.
8. the new formula recovery bed chair of integration of coming about according to claim 1, it is characterised in that:It is described All-around mobile chassis is provided with two driving wheels and two universal wheels, and two driving wheels are on all-around mobile chassis In diagonal distribution, driving wheel is provided with motor and motor of coming about, and the all-around mobile chassis is additionally provided with Rechargeable battery.
9. the new formula recovery bed chair of integration of coming about according to claim 1, it is characterised in that:It is described All-around mobile chassis is provided with supplied laser navigation apparatus, the bed body general frame lower floor correspondence all-around mobile bottom Disk is provided with trapezoidal recess area, and the all-around mobile chassis outside is provided with anti-collision adhesive tape, the trapezoidal recess area It is provided with interface and touches limit switch.
10. the new formula recovery bed chair of integration of coming about according to claim 1, it is characterised in that:Institute The trapezoidal recess area for stating all-around mobile chassis side and the bed body part is correspondingly provided with charging butt strap.
CN201510683695.2A 2015-10-20 2015-10-20 Steering engine type integrated rehabilitation bed/chair CN106580589A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510683695.2A CN106580589A (en) 2015-10-20 2015-10-20 Steering engine type integrated rehabilitation bed/chair

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510683695.2A CN106580589A (en) 2015-10-20 2015-10-20 Steering engine type integrated rehabilitation bed/chair

Publications (1)

Publication Number Publication Date
CN106580589A true CN106580589A (en) 2017-04-26

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Country Status (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107320252A (en) * 2017-08-17 2017-11-07 福尔智能科技南通有限公司 A kind of rehabilitation type multifunctional bed chair

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CN102481223A (en) * 2010-06-08 2012-05-30 松下电器产业株式会社 Bed, method for uniting bed, and method for separating bed
WO2012124271A1 (en) * 2011-03-16 2012-09-20 パナソニック株式会社 Bed and detachment method therefor
CN102648881B (en) * 2012-05-09 2013-05-15 北京航空航天大学 Bed-chair integrated robot with detachable side surface
CN103747708A (en) * 2011-09-22 2014-04-23 松下电器产业株式会社 Bed combination method, bed separation method and bed
CN104127289A (en) * 2014-08-19 2014-11-05 上海申磬产业有限公司 Split type robot nursing bed having rehabilitation training function
CN104287909A (en) * 2014-10-14 2015-01-21 宋扬 Synchronous movement control system and method for wheelchair and nursing bed body of robot nursing bed
CN105816282A (en) * 2015-01-06 2016-08-03 沈阳新松机器人自动化股份有限公司 Multifunctional bed-chair integrated robot
CN106580587A (en) * 2015-10-19 2017-04-26 沈阳新松机器人自动化股份有限公司 Automatic-separating-and-docking integrated robot

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102481223A (en) * 2010-06-08 2012-05-30 松下电器产业株式会社 Bed, method for uniting bed, and method for separating bed
WO2012124271A1 (en) * 2011-03-16 2012-09-20 パナソニック株式会社 Bed and detachment method therefor
CN103747708A (en) * 2011-09-22 2014-04-23 松下电器产业株式会社 Bed combination method, bed separation method and bed
CN102648881B (en) * 2012-05-09 2013-05-15 北京航空航天大学 Bed-chair integrated robot with detachable side surface
CN104127289A (en) * 2014-08-19 2014-11-05 上海申磬产业有限公司 Split type robot nursing bed having rehabilitation training function
CN104287909A (en) * 2014-10-14 2015-01-21 宋扬 Synchronous movement control system and method for wheelchair and nursing bed body of robot nursing bed
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CN106580587A (en) * 2015-10-19 2017-04-26 沈阳新松机器人自动化股份有限公司 Automatic-separating-and-docking integrated robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107320252A (en) * 2017-08-17 2017-11-07 福尔智能科技南通有限公司 A kind of rehabilitation type multifunctional bed chair

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Application publication date: 20170426