CN106955202A - A kind of care bed, nursing system and its control method - Google Patents

A kind of care bed, nursing system and its control method Download PDF

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Publication number
CN106955202A
CN106955202A CN201710311687.4A CN201710311687A CN106955202A CN 106955202 A CN106955202 A CN 106955202A CN 201710311687 A CN201710311687 A CN 201710311687A CN 106955202 A CN106955202 A CN 106955202A
Authority
CN
China
Prior art keywords
driving wheel
support member
roller
bed
patient
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN201710311687.4A
Other languages
Chinese (zh)
Inventor
谷宇
史翔
贡智兵
铃亚丽
施晶晶
谭文才
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Kangni Mechanical and Electrical Co Ltd
Original Assignee
Nanjing Kangni Mechanical and Electrical Co Ltd
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 Nanjing Kangni Mechanical and Electrical Co Ltd filed Critical Nanjing Kangni Mechanical and Electrical Co Ltd
Priority to CN201710311687.4A priority Critical patent/CN106955202A/en
Publication of CN106955202A publication Critical patent/CN106955202A/en
Pending legal-status Critical Current

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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
    • 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
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/08Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
    • 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
    • A61G7/05Parts, details or accessories of beds
    • 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
    • A61G2203/00General characteristics of devices
    • A61G2203/10General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • 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
    • A61G2203/00General characteristics of devices
    • A61G2203/70General characteristics of devices with special adaptations, e.g. for safety or comfort

Abstract

The invention discloses a kind of care bed, including the bed body for carrying patient, also include the guiding mechanism and shift mechanism located at bed body sidepiece, guiding mechanism includes the guide rail that can be moved in bed body upper surface, and shift mechanism includes support member, Flexible displacement part, the first drawing part, the second drawing part, the first driving wheel, the second driving wheel, the 3rd driving wheel, the first roller and the second roller.The invention also discloses a kind of nursing system and control method.The present invention need not move patient and can just be transported to patient in other nursing chairs, automatically can also transport patient and return on care bed, and also patient will not be caused any harm during patient is transported, and conveniently, safely use.

Description

A kind of care bed, nursing system and its control method
Technical field
The present invention relates to care appliances, more particularly to a kind of care bed, nursing system and its control method.
Background technology
With the development of science and technology, growth in the living standard, people are to family endowment, the comfort level of nursing and the requirement of convenient degree More and more higher.It is to be sling people using suspender to have a kind of care bed in the prior art, but is tended to during slinging Make with patient discontinuity everywhere, easily patient is damaged, be particularly unsuitable for the patient of fracture.In the prior art also There is a kind of care bed to carry apparatus for automatically lifting, wheelchair can be transformed into, but if patient wants to have a bath or go to toilet, it is past It is used for the nursing chair of bathing or toilet seat toward also needing to other people and move patient to other, is brought to nursery work larger Inconvenience.
The content of the invention
Goal of the invention:Patient will not be damaged it is an object of the invention to provide one kind, not need other people to move i.e. Patient can be transferred to the care bed in other nursing chairs, using the nursing system and control method of the care bed.
Technical scheme:Care bed of the present invention, including for carrying the bed body of patient, also including located at bed body sidepiece Guiding mechanism and shift mechanism, guiding mechanism include can bed body upper surface move guide rail, shift mechanism include support Part, Flexible displacement part, the first drawing part, the second drawing part, the first driving wheel, the second driving wheel, the 3rd driving wheel, First roller and the second roller, support member one end connect the first driving wheel by the first drawing part, and the support member other end passes through Second drawing part connects the second driving wheel, and the second drawing part bypasses the 3rd driving wheel on guide rail;If supporting part Part is needed to stretch out, then the first driving wheel is rotated, and releases the first drawing part, and the second driving wheel is rotated, and withdraws the second drawing part; If support member needs to retract, the first driving wheel is rotated, and withdraws the first drawing part, and the second driving wheel is rotated, and releases the Two drawing parts;Shifting part is wrapped in the other end of support member so that above and below shifting part supported member has been separated into Two layers, the end on shifting part upper strata is on the first roller, and the end winding of shifting part lower floor is on the second roller.
Further, the guide rail has two, is respectively arranged on bed body two, and the support member can be between two guide rails It is mobile.So support member sideslip during movement is prevented from by two guide rails.
Further, the care bed also include the head of a bed, the guiding mechanism also include the first sprocket wheel, the second sprocket wheel, Chain and chained block;The guide rail is connected, during chain movement in the head of a bed between the first sprocket wheel and the second sprocket wheel by chain Guide rail is driven to move by chained block.
Further, also including the head of a bed, the guide rail is in the head of a bed, and guide rail can be with the motion of support member It is flexible.
Further, first driving wheel, the second driving wheel and the 3rd driving wheel are wire reel, the first drawing part Steel wire rope is with the second drawing part.
Using the nursing system of care bed of the present invention, also including nursing chair, the nursing chair can be folded or put It is flat, and height of nursing chair when being laid flat flush with the height of care bed.
The method of the described nursing system of control, when needing between support member and shifting part insertion patient and bed body When, the first driving wheel of control, the second driving wheel and the second roller are rotated so that support member is stretched out, and shifting part lower floor is supported Part is overhanged and to support member upper direction, and the movement velocity of shifting part lower floor is the two of support member movement velocity Times.Because the movement velocity of shifting part is twice of support member movement velocity so that shifting part upper strata is relative to bed body Static, shifting part lower floor is constantly moved to above support member, and shifting part and support member constantly insert patient and bed body Between gap.It support member is easier gap between insertion patient and bed body, can effectively prevent again to suffering from Person damages.
The method of the described nursing system of control, when needing synchronously to stretch out support member and shifting part, control the One driving wheel, the second driving wheel, the first roller and the second roller are rotated so that under support member, shifting part upper strata and shifting part Layer stretches out at equal speeds.If so carrying patient in support member and shifting part, then support member and displacement Part just carries patient and moved outward.
The method of the described nursing system of control, when needing to take out support member and shifting part between patient and bed body When going out, the first driving wheel of control, the second driving wheel and the second roller are rotated so that support member is retracted, and shifting part lower floor is taken out Return and drive shifting part upper strata to be transported to support member moved beneath, and the movement velocity of shifting part lower floor for support member Twice of dynamic speed.The now rotation side in the rotation direction and insertion process of the first driving wheel, the second driving wheel and the second roller To on the contrary, and because the movement velocity of shifting part is twice of support member movement velocity so that shifting part upper strata phase Static for bed body, shifting part upper strata is constantly moved to below support member, and shifting part and support member constantly detach trouble Gap between person and bed body.Extracted out during gap of the support member easily between patient and bed body can so be made, and energy It is enough effectively to prevent from damaging patient.
The method of the described nursing system of control, when needing synchronously to retract support member and shifting part, control the One driving wheel, the second driving wheel, the first roller and the second roller are rotated so that under support member, shifting part upper strata and shifting part Layer is retracted at equal speeds.If so carrying patient in support member and shifting part, then support member and displacement Part just carries patient and moved inside.
Beneficial effect:The invention discloses a kind of care bed, nursing system and its control method, it is not necessary to moves patient just Patient can be transported in other nursing chairs, patient can also be transported automatically and returned on care bed, and transport patient's During patient will not also be caused any harm, conveniently, safely use.
Brief description of the drawings
Fig. 1 be the specific embodiment of the invention in care bed side view;
Fig. 2 is the shift mechanism and the structural representation of guide rail in the specific embodiment of the invention;
The side view of care bed when Fig. 3 carries patient body completely for the supporting plate in the specific embodiment of the invention;
Fig. 4 is the shift mechanism and the structural representation of guiding mechanism in the specific embodiment of the invention;
Fig. 5 is transported to the stereogram of nursing system when in nursing chair for the patient in the embodiment of the present invention 1;
The stereogram of nursing system when Fig. 6 completely disengages from patient for the supporting plate in the embodiment of the present invention 1.
Embodiment
With reference to the accompanying drawings and detailed description, technical scheme is further introduced.
Present embodiment discloses a kind of care bed, as shown in Fig. 1, Fig. 5 and Fig. 6, including for carrying patient's Bed body 3, also including the guiding mechanism and shift mechanism 1 located at the sidepiece of bed body 3.
The both sides of bed body 3 are provided with the head of a bed 31, and guiding mechanism includes the first sprocket wheel 22 inside the shift mechanism 1, is located at The sprocket wheel 23 of guide rail 21 and second inside the head of a bed 31, as shown in figure 4, passing through chain 24 between the first sprocket wheel 22 and the second sprocket wheel 23 Connection, chain 24 connects guide rail 21 by chained block 25.
As shown in figure 1, shift mechanism 1 includes the supporting plate 11 inside shift mechanism 1, displacement cloth 12, the first steel wire Reel 13, the second wire reel 14, the first roller 16, the second roller 17, the first steel wire rope 18 and the second steel wire rope 19, also including located at The 3rd wire reel 15 on guide rail 21, as shown in Figure 2.The one end of supporting plate 11 connects the first steel wire coil by the first steel wire rope 18 Cylinder 13, the other end of supporting plate 11 connects the second wire reel 14 by the second steel wire rope 19, and the second steel wire rope 19 bypasses the Three wire reels 15.The one end of cloth 12 is shifted on the first roller 16, the other end of cloth 12 is shifted on the second roller 17, and Displacement cloth 12 is also wrapped in the other end of supporting plate 11.
Control module and multiple motor, the first sprocket wheel 22, the first wire reel 13, are additionally provided with inside shift mechanism 1 Two wire reels 14, the first roller 16 and the second roller 17 are driven by different motor respectively, and motor is by control module control.
Present embodiment also discloses the nursing system using this care bed, as shown in Figure 5 and Figure 6, also includes Nursing chair 5, nursing chair 5 can be folded or is laid flat, and height and the height of care bed bed body 3 of the nursing chair 5 when being laid flat are neat It is flat.
Nursing system has six mode of operations, is respectively:Guide rail 21 is stretched out, guide rail 21 is retracted, insert, it is outer move, extract out and It is interior to move.Wherein, step necessary to before the stretching pattern of guide rail 21 is displacement, the retraction pattern of guide rail 21 is that institute is necessary after shifting The step of.This six mode of operations are introduced separately below:
If necessary to which guide rail 21 is stretched out, then control system is operated in the stretching pattern of guide rail 21, and the first sprocket wheel 22 is rotated, band Dynamic second sprocket wheel 23 and chain 24 are rotated, so as to drive chained block 25 to be moved to the direction of nursing chair 5 so that guide rail 21 is also to shield Manage the direction motion of chair 5.
If necessary to which guide rail 21 is retracted, then control system is operated in the retraction pattern of guide rail 21, and the first sprocket wheel 22 is rotated, band Dynamic second sprocket wheel 23 and chain 24 are rotated, so as to drive chained block 25 to be moved to the direction of care bed so that guide rail 21 is also to shield Manage the direction motion of bed.Under this pattern, the first sprocket wheel 22 under the rotation direction and the stretching pattern of guide rail 21 of the first sprocket wheel 22 Rotation direction is opposite.
If necessary to which supporting plate 11 and displacement cloth 12 are inserted between patient and bed body 3, then control system is operated in insertion Pattern, the first wire reel 13, the second wire reel 14 and the second roller 17 are rotated so that supporting plate 11 is stretched out, under displacement cloth 12 Layer is overhanged by supporting plate 11 and to the upper direction of supporting plate 11, and is shifted the movement velocity of the lower floor of cloth 12 and moved for supporting plate 11 Twice of speed, so that displacement cloth 12 and supporting plate 11 are inserted between patient and bed body 3.
If necessary to which by supporting plate 11 and the synchronous stretching of displacement cloth 12, then control system work is in outer mode shifter, the first steel Silk reel 13, the second wire reel 14, the first roller 16 and the second roller 17 are rotated so that supporting plate 11, the displacement upper strata of cloth 12 and shifting The lower floors of Wei Bu 12 stretch out at equal speeds.
During if necessary to which supporting plate 11 and displacement cloth 12 being extracted out between patient and bed body 3, then control system is operated in Extraction pattern, the first wire reel 13, the second wire reel 14 and the second roller 17 are rotated so that supporting plate 11 is retracted, and shift cloth 12 lower floors are drawn back into and drive the displacement upper strata of cloth 12 to the moved beneath of supporting plate 11, and shift the movement velocity of the lower floor of cloth 12 and be Twice of the movement velocity of supporting plate 11, so that displacement cloth 12 and supporting plate 11 are extracted out between patient and bed body 3.
If necessary to which by supporting plate 11 and the synchronous retraction of displacement cloth 12, then control system is operated in interior mode shifter, the first steel Silk reel 13, the second wire reel 14, the first roller 16 and the second roller 17 are rotated so that supporting plate 11, the displacement upper strata of cloth 12 and shifting The lower floors of Wei Bu 12 retract at equal speeds.
Below with two embodiments, specifically introduce and how system is controlled under different scenes.
Embodiment 1:
Need the patient on care bed being transported in nursing chair 5.Control system is operated in the stretching pattern of guide rail 21 first, Guide rail 21 reach the outside of end and nursing chair 5 it is concordant when stop, so can provide enough guiding strokes for supporting plate 11.So Control system switches to intercalation model afterwards, and the first wire reel 13, the second wire reel 14 and the second roller 17 are rotated so that support Plate 11 stretches out out of shift mechanism 1, and the displacement lower floor of cloth 12 is overhanged by supporting plate 11 and to the upper direction of supporting plate 11, and shifts The movement velocity of the lower floor of cloth 12 is twice of the movement velocity of supporting plate 11, so that displacement cloth 12 and supporting plate 11 are gradually inserted To between patient and bed body 3.When supporting plate 11 carries patient body completely, as shown in figure 3, control system switches to outer shifting Pattern, the first wire reel 13, the second wire reel 14, the first roller 16 and the second roller 17 are rotated so that supporting plate 11, displacement cloth 12 upper stratas and displacement cloth 12 lower floor stretch out at equal speeds.When patient is transported in nursing chair 5, as shown in figure 5, control system System switches to extraction pattern, and the first wire reel 13, the second wire reel 14 and the second roller 17 are rotated backward so that supporting plate 11 retract, and displacement cloth 12 lower floor is drawn back into and drives the displacement upper strata of cloth 12 to the moved beneath of supporting plate 11, and shifts under cloth 12 The movement velocity of layer is twice of the movement velocity of supporting plate 11 so that displacement cloth 12 and supporting plate 11 from patient and bed body 3 it Between extract out.When supporting plate 11 completely disengages from patient, as shown in fig. 6, control system switches to interior mode shifter, the first wire reel 13rd, the second wire reel 14, the first roller 16 and the second roller 17 are rotated so that supporting plate 11, the displacement upper strata of cloth 12 and displacement cloth 12 Lower floor retracts at equal speeds.When supporting plate 11 and displacement cloth 12 are fully retracted to 1 inside of shift mechanism, control system is cut The retraction pattern of guide rail 21 is shifted to, guide rail 21 stops after being retracted on care bed..
Embodiment 2:
Need patient being transported on care bed from nursing chair 5.Control system is operated in the stretching pattern of guide rail 21 first, Guide rail 21 reach the outside of end and nursing chair 5 it is concordant when stop, so can provide enough guiding strokes for supporting plate 11.So Control system switches to outer mode shifter, 17 turns of the first wire reel 13, the second wire reel 14, the first roller 16 and the second roller afterwards It is dynamic so that supporting plate 11, the displacement upper strata of cloth 12 and displacement cloth 12 lower floor stretch out at equal speeds.When supporting plate 11 and displacement cloth 12 ends are moved to when soon touching patient, and control system switches to intercalation model, the first wire reel 13, the second steel wire coil The roller 17 of cylinder 14 and second is rotated so that supporting plate 11 is stretched out, and the displacement lower floor of cloth 12 is overhanged by supporting plate 11 and in supporting plate 11 Fang Yundong, and it is to shift the movement velocity of the lower floor of cloth 12 twice of the movement velocity of supporting plate 11, so that displacement cloth 12 and branch Fagging 11 is inserted between patient and nursing chair 5.When supporting plate 11 and displacement cloth 12 carry patient body completely, control system System switches to interior mode shifter, and the first wire reel 13, the second wire reel 14, the first roller 16 and the second roller 17 are rotated so that branch Fagging 11, the displacement upper strata of cloth 12 and displacement cloth 12 lower floor retract at equal speeds.When supporting plate 11 and displacement cloth 12 carry trouble When person is moved on care bed, control system switches to extraction pattern, the first wire reel 13, the second wire reel 14 and the second roller 17 are rotated so that supporting plate 11 is retracted, and displacement cloth 12 lower floor is drawn back into and drives the displacement upper strata of cloth 12 to be transported to the lower section of supporting plate 11 It is dynamic, and shift that the movement velocity of the lower floor of cloth 12 is the movement velocity of supporting plate 11 twice, so that displacement cloth 12 and supporting plate 11 extract out between patient and bed body 3.When supporting plate 11 and displacement cloth 12 are fully retracted to 1 inside of shift mechanism, control system System switches to the retraction pattern of guide rail 21, and guide rail 21 stops after being retracted on care bed.

Claims (10)

1. a kind of care bed, including for carrying the bed body of patient, it is characterised in that:Also include the Guiding machine located at bed body sidepiece Structure and shift mechanism, guiding mechanism include the guide rail that can be moved in bed body upper surface, and shift mechanism includes support member, flexibility Shifting part, the first drawing part, the second drawing part, the first driving wheel, the second driving wheel, the 3rd driving wheel, the first roller and Second roller, support member one end connects the first driving wheel by the first drawing part, and the support member other end passes through the second drawing Part connects the second driving wheel, and the second drawing part bypasses the 3rd driving wheel on guide rail;If support member needs to stretch Go out, then the first driving wheel is rotated, release the first drawing part, the second driving wheel is rotated, and withdraws the second drawing part;If support Part is needed to retract, then the first driving wheel is rotated, and withdraws the first drawing part, and the second driving wheel is rotated, and releases the second pulling portion Part;Shifting part is wrapped in the other end of support member so that shifting part supported member has been separated into two layers up and down, displacement The end on part upper strata is on the first roller, and the end winding of shifting part lower floor is on the second roller.
2. care bed according to claim 1, it is characterised in that:The guide rail has two, is respectively arranged on bed body two, institute Stating support member can move between two guide rails.
3. care bed according to claim 1, it is characterised in that:The care bed also includes the head of a bed, the guide support Mechanism also includes the first sprocket wheel, the second sprocket wheel, chain and chained block;The guide rail is in the head of a bed, the first sprocket wheel and the second chain It is connected between wheel by chain, drives guide rail to move by chained block during chain movement.
4. care bed according to claim 1, it is characterised in that:Also include the head of a bed, the guide rail is located in the head of a bed, and Guide rail can stretch with the motion of support member.
5. care bed according to claim 1, it is characterised in that:First driving wheel, the second driving wheel and the 3rd drive Driving wheel is wire reel, and the first drawing part and the second drawing part are steel wire rope.
6. using the nursing system of care bed as claimed in claim 1, it is characterised in that:Also include nursing chair, the nursing chair It can fold or be laid flat, and height of nursing chair when being laid flat is flushed with the height of care bed.
7. the method for control nursing system as claimed in claim 6, it is characterised in that:When needing support member and displaced portions When part is inserted between patient and bed body, the first driving wheel of control, the second driving wheel and the second roller are rotated so that support member is stretched Go out, shifting part lower floor supported member is overhanged and to support member upper direction, and the movement velocity of shifting part lower floor For twice of support member movement velocity.
8. the method for control nursing system as claimed in claim 6, it is characterised in that:When needing support member and displaced portions When part synchronously stretches out, the first driving wheel of control, the second driving wheel, the first roller and the second roller are rotated so that support member, displaced portions Part upper strata and shifting part lower floor stretch out at equal speeds.
9. the method for control nursing system as claimed in claim 6, it is characterised in that:When needing support member and displaced portions When part is extracted out between patient and bed body, the first driving wheel of control, the second driving wheel and the second roller are rotated so that support member contracts Return, shifting part lower floor is drawn back into and drives shifting part upper strata to support member moved beneath, and shifting part lower floor Movement velocity is twice of support member movement velocity.
10. the method for control nursing system as claimed in claim 6, it is characterised in that:When needing support member and displacement When part is synchronously retracted, the first driving wheel of control, the second driving wheel, the first roller and the second roller are rotated so that support member, displacement Part upper strata and shifting part lower floor retract at equal speeds.
CN201710311687.4A 2017-05-05 2017-05-05 A kind of care bed, nursing system and its control method Pending CN106955202A (en)

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CN108013987A (en) * 2018-01-17 2018-05-11 烟台大学 A kind of medical treatment assisted care machine
CN108175604A (en) * 2018-01-11 2018-06-19 浙江佑仁智能机器人有限公司 A kind of turn bed transport
WO2022016627A1 (en) * 2020-06-23 2022-01-27 姜晓明 Domestic nursing robot and control method

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CN105193569A (en) * 2015-11-06 2015-12-30 遂宁市长丰机械科技有限公司 Arm type automatic transfer chair
CN105342771A (en) * 2015-11-17 2016-02-24 南京康尼机电股份有限公司 Intelligent seat
CN105496688A (en) * 2016-01-19 2016-04-20 江苏瑞普医疗器械科技有限公司 Mobile slide pad
CN207590902U (en) * 2017-05-05 2018-07-10 南京康尼机电股份有限公司 A kind of care bed and nursing system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108175604A (en) * 2018-01-11 2018-06-19 浙江佑仁智能机器人有限公司 A kind of turn bed transport
CN108175604B (en) * 2018-01-11 2024-03-19 浙江佑仁智能机器人有限公司 Turning-over transfer bed
CN108013987A (en) * 2018-01-17 2018-05-11 烟台大学 A kind of medical treatment assisted care machine
CN108013987B (en) * 2018-01-17 2023-10-03 烟台大学 Medical auxiliary nursing machine
WO2022016627A1 (en) * 2020-06-23 2022-01-27 姜晓明 Domestic nursing robot and control method

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Application publication date: 20170718