CN112545790A - Combined bed-chair integrated equipment and control method thereof - Google Patents
Combined bed-chair integrated equipment and control method thereof Download PDFInfo
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- CN112545790A CN112545790A CN202011308247.1A CN202011308247A CN112545790A CN 112545790 A CN112545790 A CN 112545790A CN 202011308247 A CN202011308247 A CN 202011308247A CN 112545790 A CN112545790 A CN 112545790A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/015—Beds 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/16—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto converting a lying surface into a chair
- A61G7/165—Chair detachable from bed
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- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention discloses a combined bed-chair integrated device, which comprises a wheelchair module and a gurney module, wherein the wheelchair module comprises an electrically adjustable backrest, a seat board, a leg guard board and a handrail; the wheelchair module can be switched between a lying state and a conventional state of the wheelchair as required; the gurney module comprises a gurney main body frame and a side inlet for butting the wheelchair module; the movable supporting legs which can be opened and closed are arranged at the side inlets of the gurney modules, and the movable supporting legs are opened outwards when the bed-chair is in butt joint; the wheelchair module automatically moves from the guidable area to the fit adjustment area under the control system and laterally moves into the docking position through the side entrance until the bed-chair combination docking is realized. The invention adopts a combined butt joint mode of the side inlets, improves the space utilization rate and simultaneously improves the use convenience.
Description
Technical Field
The invention relates to medical equipment and application, in particular to combined bed-chair integrated equipment and an automatic butt joint method thereof.
Background
The current medical bed in the market is integral more, has caused the limitation of user in the space, when needs shift the patient of doctorsing and nurses the bed, integral medical bed has not only increased medical personnel's working strength, still causes patient's secondary injury easily. The integrated intelligent rehabilitation nursing bed integrates multiple technologies such as an intelligent wheelchair and a nursing bed, relieves the shortage of medical resources and the shortage of nursing staff brought by bedridden patients, and has important social significance for improving the rehabilitation effect and lightening the society. The existing integrated medical bed has complicated docking operation of the wheelchair part and the bed body part, and can realize better docking effect only by depending on the professional operation of medical personnel.
At present, for automatic docking of a medical bed, side docking and tail docking modes are mostly adopted, for example, a multifunctional bed-chair integrated robot disclosed in CN105816282A and an automatic docking method of a bed-chair of a wheelchair bed system disclosed in CN104382710B are disclosed, a wheelchair designed in the side docking mode is positioned on one side of a bed body, so that a patient is inconvenient to turn over and easily falls off, and for example, a tail design mode is disclosed in CN109498306A, a split type bed with a docking mechanism and an automatic docking method are disclosed, although the wheelchair can be ensured to be positioned at the central position of the bed body, docking is mostly controlled by mechanism linkage or introduction of vision, meanwhile, entering of a tail part greatly increases the space required by docking of integrated equipment, the utilization rate of the space is reduced, the docking performance of a vision system is improved, and meanwhile, higher requirements on the surrounding environment are met, so that the mechanism is more complicated and the cost is higher.
Meanwhile, the structure and the docking mode are mainly improved in the field, so that the possibility that other medical care equipment is embedded into the existing equipment is ignored, and the limit of the equipment in the redevelopment of medical care products is caused.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide combined bed-chair integrated equipment and a control method thereof, which overcome the defects existing in the automatic butt joint of the traditional medical bed, improve the space utilization rate and the precision of combined butt joint of the integrated equipment during butt joint, and realize the efficient automatic butt joint effect of the medical bed.
The technical scheme is as follows: the invention discloses a combined bed-chair integrated device, which comprises a wheelchair module and a gurney module, wherein the wheelchair module comprises an electrically adjustable backrest, a seat board, a leg guard board and an armrest; the wheelchair module can be switched between a lying state and a wheelchair state; the gurney module comprises a gurney main body frame and a side inlet for butting the wheelchair module; the movable supporting legs which can be opened and closed are arranged at the side inlets of the gurney modules, and the movable supporting legs are opened outwards when the bed-chair is in butt joint; the wheelchair module automatically moves from the guidable area to the fit adjustment area under the control system and laterally moves into the docking position through the side entrance until the bed-chair combination docking is realized.
The armrest is provided with a rocking handle and a touch screen, the rocking handle controls the wheelchair module to move, and the touch screen comprises a button for controlling the butt joint of the bed and the chair and displays the butt joint state; the wheelchair module in the guidable area is controlled by the infrared distance measuring sensors to adjust the direction in situ until the side edges are parallel to the side edges of the wheelchair module at intervals, and the wheelchair module is limited to stop at the position of the fit opening by the grating sensor, namely, the gap of the wheelchair module is aligned with the wheelchair module, so that the wheelchair module cannot collide when entering the wheelchair module through the side entrance; and a laser ranging sensor is arranged in the entrance of the wheel bed module and used for controlling the advancing speed of the wheel bed module until the wheel bed module is in butt joint.
The wheelchair module adopts a four-wheel omnidirectional chassis structure, and realizes omnidirectional movement and in-situ rotation.
The wheelchair module is equipped with U type photoelectric switch, angle sensor and inductance type proximity switch, and U type photoelectric switch is used for adjusting the height that the bedplate goes up and down, and angle sensor is used for adjusting the angle between back and the bedplate, and inductance type proximity switch is used for adjusting the angle between bedplate and the leg guard board.
The two sides of the head of the wheel bed module are provided with a guardrail which can synchronously and automatically lift, and the guardrail drives a connecting rod mechanism to control the lifting of the guardrail by a servo motor.
The wheelchair module is provided with an infrared photoelectric switch for identifying obstacles on a butt joint path of the bed and the chair; the touch screen comprises an emergency stop button for controlling the wheelchair module to stop emergently.
The gurney module and the wheelchair module are both provided with a gyroscope and a magnetometer and used for detecting the relative deflection angle when the bed and the chair are in butt joint combination.
The wheelchair module is provided with a voice broadcasting system and used for avoiding an obstacle alarm and reminding a patient to make bed-chair butt joint preparation.
A scissor-type lifting mechanism arranged on the wheelchair module is driven by an electric push rod and is used for adjusting the lifting height of the seat; the physical limit switch controls the stroke of the electric push rod to be smaller than that of the lifting mechanism.
The invention also discloses a control method for the combined bed-chair integrated equipment, which comprises the following steps:
and 2, adjusting the lifting height of the seat plate by a U-shaped photoelectric switch of the wheelchair module, adjusting the angle between the backrest and the seat plate by an angle sensor, and adjusting the angle between the seat plate and the leg guard plate by an inductive proximity switch so as to meet the butt joint condition of the bed and the chair.
And 3, transmitting data fed back by the infrared distance measuring sensor in real time to a main control board, and resolving the data by using an iteration method to obtain the relative distance and the pose of the wheelchair module relative to the gurney module, so that the wheelchair module in the guidable area is controlled to adjust the azimuth in situ until the side edge is parallel to the side edge interval of the gurney module
step 5, the movable supporting legs are opened outwards when the bed and the chair are in butt joint, the wheelchair module starts to transversely translate into the bed body, the advancing speed is adjusted in real time through the laser ranging sensor, and the butt joint is confirmed to be in place through the photoelectric switch; simultaneously turning off the gyroscope and the magnetometer to reduce integral errors caused by long-time work;
and 6, adjusting the wheelchair module to be in a lying state, and synchronously lifting the guardrails of the gurney module to complete butt joint.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: combination formula bed chair integration equipment adopts the combination butt joint mode of side entry, avoids the patient to fall, has reduced the required space of butt joint, has improved space utilization, and simultaneously, automatic butt joint easy operation, positioning accuracy are high and need not medical personnel's operation, save medical care resources, and the practicality is strong.
Drawings
FIG. 1 is a schematic flow chart of a docking method of the present invention;
FIG. 2 is a schematic view of the apparatus of the present invention in an integrated form;
FIG. 3 is a schematic diagram of the device docking guidable area and the matching adjustment area;
FIG. 4a is a model layout of the wheelchair chassis of the apparatus of the present invention;
FIG. 4b is a kinematic analysis of the wheelchair chassis of the apparatus of the present invention;
FIG. 5 is a schematic view of the wheelchair module of the present invention;
FIG. 6 is a rear elevational view of the wheelchair module of the present invention;
FIG. 7 is an enlarged view of a portion of the shock absorbing structure of the wheelchair module of the present invention;
FIG. 8 is a schematic structural view of an apparatus gurney module according to the present invention;
fig. 9 is a diagram of the device docking process with the portal of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1: the butt joint process is as follows:
1. firstly, the patient controls the wheelchair module 2 to travel to the docking guide area as shown in fig. 3 through the rocking handle, adjusts the orientation of the wheelchair module 2, and then switches to the automatic docking mode through the touch screen 211 of the wheelchair module 2 to send a docking instruction.
2. After the wheelchair module 2 sends a docking instruction, a sensor required by docking on the gurney module 1 is awakened; through cooperating with the sensor of the wheel bed module 1, adjust the relative distance, the position and the posture of the wheel chair module 2 and the angle of the backrest and the leg guard plate.
3. After the pose is adjusted, the wheelchair module 2 runs towards the fitting area, and the accurate positioning of the wheelchair module 2 in the fitting area relative to the side entrance position is ensured through the grating sensor 319; meanwhile, an alarm system embedded in the wheelchair module 2 can remind a patient of coming into the wheelchair module 1 through a buzzer; an emergency stop button is arranged on the touch screen, so that collision caused by obstacles on a path entering a fit area is avoided. For example, the wheelchair module 2 is provided with a small-distance infrared photoelectric switch, and when an obstacle is detected in the advancing direction, the wheelchair module stops rapidly and gives an early warning through a voice reminding function embedded in the control system, and when the obstacle leaves, the wheelchair module continues to advance along the path from the stopping point.
4. After the adjustment process of the fitting area is completed, the gurney module 1 opens the movable supporting leg, and the control system sends out a command for entering the next process.
5. After the wheelchair module 2 receives the instruction, the wheelchair module moves transversely to enter the interior of the gurney module 1, the laser ranging sensor 313 controls the speed of the wheelchair module 2 to be reduced continuously, and finally the proximity sensor 314 is triggered to ensure that the wheelchair module is in place in a butt joint mode.
6. The wheelchair module 2 is adjusted to be in a flat lying state and completely matched with the gurney module 1, the movable support legs 310 are reset, the guard rails 312 are lifted, and the butt joint is finished. As shown in fig. 2, it is a schematic view of the integration of the bed and chair after docking.
In the butt joint process, the specific working principle of each sensor, the wheelchair module 2 and the gurney module 1 is as follows:
the wheelchair module 2 comprises an electrically adjustable backrest, a seat board, a leg guard board and a handrail; the wheelchair module 2 can be switched between a lying state and a wheelchair state.
Be equipped with rocking handle 210 and touch-sensitive screen 211 on the handrail, rocking handle 210 control wheelchair module 2 removes, and touch-sensitive screen 211 includes the button of control bed chair butt joint and shows the butt joint state. The wheelchair module 2 is provided with an infrared photoelectric switch for identifying obstacles on the butt joint path of the bed and the chair; the touch screen 211 includes an emergency stop button for controlling the wheelchair module 2 to make an emergency stop. The wheelchair module 2 is provided with a voice broadcasting system for avoiding an obstacle alarm and reminding a patient to make bed-chair butt joint preparation.
The gurney module 1 comprises a gurney main body frame and a side inlet for butting the wheelchair module 2; the entrance of the side of the wheel bed module 1 is provided with a movable supporting leg 310 which can be opened and closed, and the movable supporting leg 310 is opened outwards when the bed and the chair are butted. The movable leg 310 is driven by a servo motor and a controller, and the angle range of the rotation of the leg is limited by a limit trigger sensor. The two sides of the head of the gurney module 1 are provided with a guardrail 312 which can synchronously and automatically lift, and the guardrail 312 is driven by a servo motor 315 to control the lifting of a link mechanism 316.
The side edge of the head of the wheel bed module 1 is provided with a pair of infrared distance measuring sensors 317, the infrared distance measuring sensors 317 control the wheel bed module 2 in the guidable area to adjust the direction in situ until the side edge is parallel to the side edge of the wheel bed module 1 at intervals, and the infrared distance measuring sensors 317 control the wheel bed module 2 to be always parallel at intervals through the grating type sensors 319; a laser ranging sensor 313 is arranged in an inlet of the gurney module 1, and the laser ranging sensor 313 controls the advancing speed of the wheelchair module 2 in the fitting adjusting area until the wheelchair module is in butt joint.
The wheelchair module 2 and the gurney module 1 are provided with a gyroscope and a magnetometer which are matched for use to detect the relative deflection angle between the beds, wherein the gyroscope on the gurney module 1 provides reference angle data.
The wheelchair module 2 adopts a four-wheel omnidirectional chassis structure to realize omnidirectional movement and in-situ rotation; four omnidirectional wheels of the chassis are distributed at four top corners of the chassis according to a rectangle, the four omnidirectional wheels are symmetrical in pairs relative to the x axis and the y axis, and the motion of running in any direction, rotation in place and the like can be realized through kinematics analysis and verification.
Fig. 7 is a partially enlarged view of a damping structure in a chassis of the wheelchair module 2, and the improved independent suspension mechanism with good damping effect can improve the running stability of the wheelchair module 2. The head of the shock absorber 5 is connected with a small sliding block at the bottom of the upper connecting plate 7 through the shock absorber connecting piece 4, so that the wheel has certain degree of freedom in the motor axial direction, and the connecting rod mechanism is prevented from being locked; the tail part of the shock absorber is connected with the coupler 6. The external acting force is transmitted to the coupler 6 through the wheels, the coupler 6 is connected with the tail of the shock absorber and finally transmitted to the shock absorber 5, and the shock absorption effect is achieved; meanwhile, the designed reinforcing rib structure 3 ensures that the omnidirectional chassis is parallel to the ground.
The wheelchair module 2 is provided with a U-shaped photoelectric switch 212, an angle sensor 213 and an inductive proximity switch 215, wherein the U-shaped photoelectric switch 212 is used for adjusting the lifting height of the seat plate, the angle sensor 213 is used for adjusting the angle between the backrest and the seat plate, and the inductive proximity switch 215 is used for adjusting the angle between the seat plate and the leg guard plate.
A scissor type lifting mechanism 216 arranged on the wheelchair module 2 is driven by an electric push rod 217 and is used for adjusting the lifting height of the seat; the physical limit switch controls the stroke of the electric push rod 217 to be smaller than that of the lifting mechanism.
In the butt joint process, the control method of the combined bed-chair integrated equipment comprises the following steps:
and 2, adjusting the lifting height of the seat plate by using a U-shaped photoelectric switch 212 of the wheelchair module 2, adjusting the angle between the backrest and the seat plate by using an angle sensor 213, and adjusting the angle between the seat plate and the leg guard plate by using an inductive proximity switch 215 so as to meet the butt joint condition of the bed and the chair.
step 5, the movable supporting legs 310 are opened outwards when the bed and the chair are in butt joint, the wheelchair module 2 starts to transversely translate into the bed body, the advancing speed is adjusted in real time through the laser ranging sensor 313, and the butt joint is confirmed to be in place through the photoelectric switch 314; simultaneously turning off the gyroscope and the magnetometer to reduce integral errors caused by long-time work;
and 6, adjusting the wheelchair module 2 to be in a lying state, and synchronously lifting the guardrails 312 of the gurney module 1 to finish butt joint.
Claims (10)
1. The combined bed-chair integrated equipment is characterized by comprising a wheelchair module (2) and a wheelchair module (1), wherein the wheelchair module (2) comprises an electrically adjustable backrest, a seat plate, a leg guard plate and a handrail; the wheelchair module (2) can be switched between a lying state and a wheelchair state; the gurney module (1) comprises a gurney main body frame and a side inlet for butting the wheelchair module (2); the side entrance of the wheel bed module (1) is provided with a movable supporting leg (310) which can be opened and closed, and the movable supporting leg (310) is opened outwards when the bed and the chair are butted; the wheelchair module (2) automatically moves from the guidable area to the fit adjustment area under the control system, and moves into the butt joint position through the translation of the side entrance until the bed and chair combination butt joint is realized.
2. The combined bed and chair integrated equipment as claimed in claim 1, wherein the armrest is provided with a rocking handle (210) and a touch screen (211), the rocking handle (210) controls the movement of the wheelchair module (2), and the touch screen (211) comprises a button for controlling the butt joint of the bed and chair and displays the butt joint state; the wheelchair comprises a wheelchair module (1) and is characterized in that a pair of infrared distance measuring sensors (317) are arranged on the side edge of the head of the wheelchair module (1), the infrared distance measuring sensors (317) control the wheelchair module (2) in a guidable area to adjust the position in situ until the side edge is parallel to the side edge of the wheelchair module (1) at intervals, and the wheelchair module (2) is limited to stop at the position of a fit opening through a grating sensor (319), namely, a gap of the wheelchair module (1) is aligned with the wheelchair module (2), so that the wheelchair module (2) cannot collide when entering the wheelchair module (1) through a side entrance; a laser ranging sensor (313) is arranged in an inlet of the wheel bed module (1) and used for controlling the advancing speed of the wheel bed module (2) until the wheel bed module is butted in place.
3. The combined bed-chair integrated device as claimed in claim 1, wherein the wheelchair module (2) adopts a four-wheel omnidirectional chassis structure to realize omnidirectional movement and in-situ rotation.
4. The combined bed and chair integrated device as claimed in claim 1, wherein the wheelchair module (2) is provided with a U-shaped photoelectric switch (212), an angle sensor (213) and an inductive proximity switch (215), the U-shaped photoelectric switch (212) is used for adjusting the height of the lifting of the seat plate, the angle sensor (213) is used for adjusting the angle between the backrest and the seat plate, and the inductive proximity switch (215) is used for adjusting the angle between the seat plate and the leg guard.
5. The integrated equipment of the combined bed and chair as claimed in claim 1, wherein the two sides of the head of the gurney module (1) are provided with guard rails (312) which can be lifted synchronously and automatically, and the lifting of the guard rails (312) is controlled by a link mechanism (316) driven by a servo motor (315).
6. The combined bed and chair integrated equipment as claimed in claim 2, wherein the wheelchair module (2) is provided with an infrared photoelectric switch for identifying obstacles on the docking path of the bed and chair; the touch screen (211) comprises an emergency stop button for controlling the wheelchair module (2) to stop emergently.
7. Combined bed and chair integration apparatus according to any of claims 1-6, characterized in that the gurney module (1) and the wheelchair module (2) are each provided with a gyroscope and magnetometer for detecting the relative angle of deflection of the bed and chair when in docking assembly.
8. A combined bed and chair integrated device as claimed in claim 1 or 6, wherein the wheelchair module (2) is provided with a voice broadcast system for obstacle avoidance warning and reminding the patient to prepare for bed and chair docking.
9. The combined bed and chair integration equipment as claimed in claim 1, wherein the wheelchair module (2) is provided with a scissor lift mechanism (216) driven by an electric push rod (217) for adjusting the lifting height of the seat plate and a physical limit switch for controlling the stroke of the electric push rod (217) to be smaller than that of the lift mechanism.
10. A control method for a combined bed and chair integration apparatus as claimed in claim 1, comprising the steps of:
step 1, a control system receives data of a rocking handle (210) to control a wheelchair module (2) to move to a guidable area, and performs PID cooperative control on a chassis of the wheelchair module (2);
step 2, a U-shaped photoelectric switch (212) of the wheelchair module (2) adjusts the lifting height of the seat plate, an angle sensor (213) adjusts the angle between the backrest and the seat plate, and an inductive proximity switch (215) is used for adjusting the angle between the seat plate and the leg guard plate so as to meet the butt joint condition of the bed and the chair;
step 3, transmitting data fed back by the infrared distance measuring sensor (317) in real time to a main control board, and resolving the data by using an iteration method to obtain the relative distance and the pose of the wheelchair module (2) relative to the gurney module (1), so that the wheelchair module (2) in a guidable area can be controlled to adjust the position in situ until the side edge is parallel to the side edge interval of the gurney module (1);
step 4, enabling the wheelchair module (2) to approach to a side inlet of the gurney module (1), and acquiring the relative distance between beds and chairs through the grating sensor (319) when the wheelchair module reaches a fitting adjustment area, so that the wheelchair module (2) is fitted with the side inlet of the gurney module (1) in a high-precision manner; in the period, the chassis coordination algorithm and the motor control algorithm are used for ensuring that the chassis coordination algorithm and the motor control algorithm are always parallel at intervals;
step 5, the movable supporting legs (310) are opened outwards when the bed and the chair are in butt joint, the wheelchair module (2) starts to transversely translate into the bed body, the advancing speed is adjusted in real time through the laser ranging sensor (313), and the butt joint is confirmed to be in place through the photoelectric switch (314); simultaneously turning off the gyroscope and the magnetometer to reduce integral errors caused by long-time work;
and 6, adjusting the wheelchair module (2) to a lying state, and synchronously lifting the guard rails (312) of the gurney module (1) to complete butt joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011308247.1A CN112545790A (en) | 2020-11-20 | 2020-11-20 | Combined bed-chair integrated equipment and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011308247.1A CN112545790A (en) | 2020-11-20 | 2020-11-20 | Combined bed-chair integrated equipment and control method thereof |
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| CN112545790A true CN112545790A (en) | 2021-03-26 |
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| CN202011308247.1A Pending CN112545790A (en) | 2020-11-20 | 2020-11-20 | Combined bed-chair integrated equipment and control method thereof |
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| CN113222935A (en) * | 2021-05-13 | 2021-08-06 | 江苏科技大学 | Method for detecting looseness and pretightening force loss of steel bridge bolt |
| CN113616446A (en) * | 2021-09-16 | 2021-11-09 | 尚丽丽 | Nursing bed for obstetrics and gynecology department |
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| CN113616446A (en) * | 2021-09-16 | 2021-11-09 | 尚丽丽 | Nursing bed for obstetrics and gynecology department |
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Application publication date: 20210326 |