CN114305913A - Full-automatic bed-chair robot with standing function - Google Patents
Full-automatic bed-chair robot with standing function Download PDFInfo
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- CN114305913A CN114305913A CN202210037100.6A CN202210037100A CN114305913A CN 114305913 A CN114305913 A CN 114305913A CN 202210037100 A CN202210037100 A CN 202210037100A CN 114305913 A CN114305913 A CN 114305913A
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- 230000008859 change Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 118
- 230000007306 turnover Effects 0.000 claims description 58
- 244000309466 calf Species 0.000 claims description 9
- 210000003141 lower extremity Anatomy 0.000 abstract description 5
- 230000036541 health Effects 0.000 abstract description 2
- 210000002414 leg Anatomy 0.000 description 60
- 230000006870 function Effects 0.000 description 31
- 230000000474 nursing effect Effects 0.000 description 6
- 238000003032 molecular docking Methods 0.000 description 5
- 208000004210 Pressure Ulcer Diseases 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 208000027205 Congenital disease Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The invention belongs to the technical field of medical care and health care instruments, and particularly relates to a full-automatic bed-chair robot with a standing function. The full-automatic bed-chair robot comprises a bed body part and a wheelchair part; wherein the wheelchair portion has a bed configuration and a wheelchair configuration; when the wheelchair part is in a bed shape, the wheelchair part can be automatically butted with or separated from the bed body part; when the wheelchair part is separated from the bed body part, the wheelchair can be switched to a wheelchair form, and the driving, parking and posture change can be realized in the wheelchair form. Compared with the existing full-automatic bed-chair robot, the robot in the invention can help a user to stand up and keep a standing posture when separated into a wheelchair form, provides a larger contact range for the user, and can help the patient to exercise lower limb strength by standing.
Description
Technical Field
The invention belongs to the technical field of medical care and health care instruments, and particularly relates to a full-automatic bed-chair robot with a standing function.
Background
For disabled people caused by disasters, accidents or congenital diseases and old people who lose mobility due to physical weakness, the long-term bed-ridden patients can not only cause body diseases such as bedsores, but also are not beneficial to mental health. It is therefore an urgent need for such patients to be able to act freely and even autonomously. Wheelchairs are important auxiliary instruments for assisting in nursing patients with lower limb dysfunction, but nursing work such as transferring patients from a bed to wheelchairs and pushing wheelchairs still brings burden to nursing staff.
Existing electrically powered wheelchairs enable autonomous movement of a patient on the wheelchair, but transfer from bed to wheelchair still requires assistance from a caregiver. The conventional auxiliary displacement instruments or tools such as a displacement machine can assist the displacement of a patient to a certain extent and reduce the burden of nursing staff, but the use frequency is not high. Therefore, the bed-chair robot combining the two perfectly solves the problem, but the user is limited to keeping a sitting posture when using the wheelchair shape, and the contact range of the two hands is small. There is therefore a need for a bed-chair robot that can assist a user in standing up, providing the user with a greater range of contact, while also helping the patient to exercise lower limb strength by exercising standing.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a full-automatic bed-chair robot with a standing function, which can realize full-automatic docking and undocking of a nursing bed and an electric wheelchair, and has functions of two types of nursing equipments at the same time.
In order to achieve the purpose, the invention adopts the following technical scheme:
a full-automatic bed-chair robot with a standing function comprises a bed body part and a wheelchair part; wherein the wheelchair portion has a bed configuration and a wheelchair configuration; when the wheelchair part is in a bed shape, the wheelchair part can be automatically butted with or separated from the bed body part; when the wheelchair part is separated from the bed body part, the wheelchair can be switched to a wheelchair form, and the driving, parking and posture change can be realized in the wheelchair form.
The wheelchair part comprises a moving chassis, a base frame, a wheelchair back bed plate, a wheelchair seat plate, a leg bed plate, a back lifting driving mechanism, a leg driving mechanism and a standing driving mechanism, wherein the base frame is arranged on the moving chassis, the wheelchair back bed plate, the wheelchair seat plate and the leg bed plate are sequentially hinged, and the wheelchair seat plate is placed on the base frame and is hinged with the base frame;
the back lifting driving mechanism is hinged on the wheelchair seat plate, and the output end of the back lifting driving mechanism is hinged with the back frame; the leg driving mechanism is hinged on the base frame, and the output end of the leg driving mechanism is hinged with the leg bed board; the standing driving mechanism is hinged on the base frame, and the output end of the standing driving mechanism is hinged with the wheelchair seat plate.
The wheelchair seat plate comprises a standing frame, a wheelchair hip bed plate and a wheelchair leg lifting bed plate, wherein the wheelchair hip bed plate and the wheelchair leg lifting bed plate are placed on the standing frame; the wheelchair hip bed board is fixed on one side of the standing frame, which is close to the wheelchair back bed board, and the wheelchair leg lifting bed board is hinged with the wheelchair hip bed board; the output end of the standing driving mechanism is hinged with the standing frame.
The leg bed plate comprises a shank bed plate and a pedal bed plate which are hinged with each other, and the shank bed plate is hinged with the standing frame;
the top detachably of pedal bed board is equipped with the shank and supports, the bottom of pedal bed board is equipped with the walking wheel.
Armrests are hinged to two sides of the bed board on the back of the wheelchair, control boxes are arranged on the armrests, and the back lifting driving mechanism, the leg driving mechanism and the standing driving mechanism are all electrically connected with the control boxes;
the base frame is provided with a wheelchair part controller, and the control box is electrically connected with the wheelchair part controller.
The wheelchair back bed plate comprises a back frame and a wheelchair turning bed plate hinged on the back frame; the back frame is hinged with the output end of the back lifting driving mechanism.
The bed body part comprises a bed body frame, a back bed board, a hip bed board, a leg lifting bed board, a leg bed board, a left turning driving mechanism, a right turning driving mechanism, a leg lifting driving mechanism and a bed body part controller, wherein the back bed board, the hip bed board, the leg lifting bed board and the leg bed board are sequentially placed on the bed body frame, the hip bed board and the leg bed board are fixedly connected with the bed body frame, and two ends of the hip bed board are respectively hinged with the back bed board and the leg lifting bed board;
the left turn-over driving mechanism and the right turn-over driving mechanism are arranged at the bottom of the front end of the bed body frame and are respectively connected with the back bed plate and the wheelchair back bed plate; the leg lifting driving mechanism is arranged at the bottom of the bed body frame and is connected with the leg lifting bed plate;
the bed body part controller is arranged on the bed body frame and is electrically connected with the left turning-over driving mechanism, the right turning-over driving mechanism and the leg lifting driving mechanism.
The back bed board comprises a back frame and a turning bed board hinged on the back frame; the turnover bed plate is connected with the left turnover driving mechanism.
Two ends of the right side of the bed body frame are provided with wheelchair part auxiliary supporting frames;
the left turning driving mechanism comprises a left turning driving electric cylinder, a left turning push rod and rollers, wherein one end of the left turning push rod is hinged with the inner side of the front end of the bed body frame, the other end of the left turning push rod is provided with the rollers, and the rollers are movably connected with the turning bed plate; the tail part of the left turning driving electric cylinder is hinged to the outer side of the front end of the bed body frame, and the output end of the left turning driving electric cylinder is hinged to the left turning push rod;
the right turnover driving mechanism is arranged on the auxiliary support frame of the wheelchair part positioned at the front end, and the right turnover driving mechanism and the left turnover driving mechanism are identical in structure and are symmetrically arranged.
The invention has the advantages and beneficial effects that: according to the full-automatic bed-chair robot with the standing function, a bedridden patient can be assisted to turn over in a bed form, and the bedsore problem is solved; the automatic separating and docking device has the functions of automatic separation and docking, and solves the problem of transfer of a bedridden patient between a bed and a wheelchair; besides the function of a common wheelchair, the wheelchair also provides a standing function for the patient, assists the patient to have a larger contact range and exercises the strength of the lower limbs.
Drawings
FIG. 1 is a schematic structural diagram of a full-automatic bed-chair robot with a standing function according to the present invention;
FIG. 2 is a schematic view of a fully automatic bed-chair robot with standing function according to the present invention;
FIG. 3 is a schematic structural diagram of a bed part in the present invention;
FIG. 4 is a schematic structural view of a left turn-over driving mechanism of the present invention;
FIG. 5 is a schematic view of the wheelchair portion of the present invention;
FIG. 6 is a schematic view of the wheelchair portion of the present invention in a standing position;
wherein: 1 is a bed body part, 11 is a bed body frame, 12 is a back bed plate, 121 is a back frame, 122 is a turning bed plate, 13 is a hip bed plate, 14 is a leg raising bed plate, 15 is a leg bed plate, 16 is a left turning drive mechanism, 161 is a left turning drive electric cylinder, 162 is a left turning push rod, 163 is a roller, 17 is a right turning drive mechanism, 18 is a leg raising drive mechanism, 19 is a bed body part controller, 2 is a wheelchair part, 201 is a moving chassis, 202 is a base frame, 203 is a standing frame, 204 is a wheelchair back bed plate, 2041 is a wheelchair back frame, 2042 is a wheelchair turning bed plate, 205 is a wheelchair hip bed plate, 206 is a wheelchair leg raising bed plate, 207 is a calf bed plate, 208 is a pedal bed plate, 209 is a leg support, 210 is a handrail, 211 is a control box, 212 is a wheelchair part controller, 213 is a back raising drive mechanism, 214 is a leg drive mechanism, and 215 is a standing drive mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the invention provides a full-automatic bed-chair robot with standing function, comprising a bed body part 1 and a wheelchair part 2; wherein the wheelchair portion 2 has a bed configuration and a wheelchair configuration; when the wheelchair part 2 is in a bed shape, the wheelchair can be automatically butted with or separated from the bed body part 1; when the wheelchair part 2 is separated from the bed body part 1, the wheelchair can be switched to a wheelchair form, and the driving, parking and posture change can be realized in the wheelchair form.
As shown in fig. 3, in the embodiment of the present invention, the bed body part 1 includes a bed body frame 11, a back bed plate 12, a hip bed plate 13, a leg raising bed plate 14, a leg bed plate 15, a left turn-over driving mechanism 16, a right turn-over driving mechanism 17, a leg raising driving mechanism 18 and a bed body part controller 19, wherein the back bed plate 12, the hip bed plate 13, the leg raising bed plate 14 and the leg bed plate 15 are sequentially placed on the bed body frame 11, wherein the hip bed plate 13 and the leg bed plate 15 are fixedly connected with the bed body frame 11, and two ends of the hip bed plate 13 are respectively hinged with the back bed plate 12 and the leg raising bed plate 14; the left turn-over driving mechanism 16 and the right turn-over driving mechanism 17 are arranged at the bottom of the front end of the bed body frame 11, and the left turn-over driving mechanism 16 and the right turn-over driving mechanism 17 are respectively connected with the back bed plate 12 and the wheelchair back bed plate 204; the leg lifting driving mechanism 18 is arranged at the bottom of the bed body frame 11 and is connected with the leg lifting bed plate 14; the bed body part controller 19 is arranged on the bed body frame 11 and is electrically connected with the left turn-over driving mechanism 16, the right turn-over driving mechanism 17 and the leg lifting driving mechanism 18. Wherein the leg-lifting driving mechanism 18 adopts a linear driving electric cylinder.
In the embodiment of the present invention, the back bed board 12 includes a back frame 121 and a turn-over bed board 122 hinged on the back frame 121; the turn-over bed plate 122 is connected with the left turn-over driving mechanism 16, and the left turn-over driving mechanism 16 drives the turn-over bed plate 122 to turn over towards the right side.
Furthermore, walking wheels are arranged at the bottom of the bed body frame 11, and wheelchair part auxiliary supporting frames are arranged at two ends of the right side of the bed body frame 11; so that the wheelchair portion 2 plays an auxiliary supporting role when in the bed configuration and in butt joint with the bed portion 1. The bed frame 11 may be mounted on the ground by means of medical casters, feet, or supports.
As shown in fig. 4, in the embodiment of the present invention, the left turn-over driving mechanism 16 includes a left turn-over driving electric cylinder 161, a left turn-over push rod 162 and a roller 163, wherein one end of the left turn-over push rod 162 is hinged to the inner side of the front end of the bed frame 11, the other end is provided with the roller 163, and the roller 163 is movably connected to the inner surface of the turn-over bed plate 122; the tail part of the left turning driving electric cylinder 161 is hinged on the outer side of the front end of the bed body frame 11, and the output end of the left turning driving electric cylinder 161 is hinged with a left turning push rod 162; when the left turn-over driving electric cylinder 161 drives the turn-over bed plate 122 to turn right or fall left, the roller 163 rolls along the inner surface of the turn-over bed plate 122.
Further, the right turn-over driving mechanism 17 is arranged on the auxiliary support frame of the wheelchair part at the front end, and the right turn-over driving mechanism 17 and the left turn-over driving mechanism 16 are the same in structure and are symmetrically arranged.
As shown in fig. 5-6, in the embodiment of the present invention, the wheelchair portion 2 includes a moving chassis 201, a base frame 202, a wheelchair back bed plate 204, a wheelchair seat plate, a leg bed plate, a back lifting driving mechanism 213, a leg driving mechanism 214, and a standing driving mechanism 215, wherein the base frame 202 is disposed on the moving chassis 201, the wheelchair back bed plate 204, the wheelchair seat plate, and the leg bed plate are sequentially hinged, and the wheelchair seat plate is placed on the base frame 202 and hinged to the base frame 202; the back lifting driving mechanism 213 is hinged on the wheelchair seat plate, and the output end is hinged with the back frame 2041; the leg driving mechanism 214 is hinged on the base frame 202, and the output end is hinged with the leg bed board; the standing drive mechanism 215 is hinged to the base frame 202 and the output end is hinged to the wheelchair seat plate.
In the embodiment of the invention, the wheelchair seat plate comprises a standing frame 203, and a wheelchair hip bed plate 205 and a wheelchair leg lifting bed plate 206 which are arranged on the standing frame 203, wherein the lower end of the standing frame 203 is hinged with a base frame 202, and the upper end is hinged with a wheelchair back bed plate 204; the wheelchair hip bed board 205 is fixed on one side of the standing frame 203 close to the wheelchair back bed board 204, and the wheelchair leg lifting bed board 206 is hinged with the wheelchair hip bed board 205; the output end of the standing driving mechanism 215 is hinged with the standing frame 203, and the standing driving mechanism 215 drives the standing frame 203 to turn upwards to form a standing state, as shown in fig. 6. Further, both sides of the standing frame 203 are supported by air braces.
In the embodiment of the invention, the leg bed board comprises a calf bed board 207 and a pedal bed board 208 which are hinged with each other, and the calf bed board 207 is hinged with the standing frame 203; a leg support 209 is detachably arranged above the pedal bed plate 208, and the bottom of the pedal bed plate 208 is provided with a walking wheel.
In the wheelchair part 2, in the wheelchair form, a limiting mechanism is arranged between the hinge joint of the shank bed plate 207 and the pedal bed plate 208, so that the included angle between the shank bed plate 207 and the pedal bed plate 208 rotates within the range of 0-180 degrees; in the process that the leg driving mechanism 214 drives the shank bed plate 207 to move, when the pedal bed plate 208 does not contact the ground, the shank bed plate 207 and the pedal bed plate 208 are kept at 180 degrees (horizontal) all the time under the combined action of gravity and a limiting mechanism; when the caster at the bottom of the pedal bed plate 208 contacts the ground, the included angle between the caster and the calf bed plate 207 begins to decrease, and when the calf bed plate 207 is lowered to the lowest, the bed surface of the pedal bed plate 208 is just basically parallel to the ground.
Furthermore, handrails 210 are hinged to two sides of the wheelchair back bed plate 204, a control box 211 is arranged on the handrails 210, and a back lifting driving mechanism 213, a leg driving mechanism 214 and a standing driving mechanism 215 are electrically connected with the control box 211; the base frame 202 is provided with a wheelchair portion controller 212, and the control box 211 is electrically connected with the wheelchair portion controller 212.
As shown in fig. 5, in the embodiment of the present invention, the wheelchair back bed plate 204 includes a back frame 2041 and a wheelchair turn bed plate 2042 hinged to the back frame 2041; the back frame 2041 is hinged with the output end of the back lifting driving mechanism 213, and the back lifting driving mechanism 213 drives the wheelchair back bed plate 204 to lift upwards. The wheelchair turnover bed plate 2042 is connected with the right turnover driving mechanism 17 and is turned over to the left side by the driving of the right turnover driving mechanism 17. In this embodiment, the back-up driving mechanism 213, the leg driving mechanism 214, and the standing driving mechanism 215 are all linear driving electric cylinders.
As shown in fig. 5, in the wheelchair portion 2, the armrests 210 are in the unfolded state, and the user operates the wheelchair through the control box 211 mounted on the armrests 210. The mobile chassis 201 is a base part of the wheelchair, provides overall support and traveling functions for the wheelchair, and can adopt any structural form meeting requirements such as an omnidirectional wheel train, a double-rudder wheel train and a differential wheel train.
As shown in fig. 6, when the wheelchair portion 2 uses the standing function in the wheelchair configuration, first, the leg driving mechanism 214 drives the calf plate 207 downward until the caster of the pedal plate 208 contacts the ground and the surface is parallel to the ground; after the pedal bed plate 208 is confirmed to be at the lowest position, the standing driving mechanism 215 drives the standing frame 203 to rotate upwards relative to the base frame 202, and meanwhile, the back lifting driving mechanism 213 drives the wheelchair back bed plate 204 to rotate downwards relative to the standing frame 203, so that the patient is pushed to stand.
Further, when the wheelchair portion 2 is in the wheelchair configuration using the standing function, the leg support 209 is supported below the patient's knee, serving as an auxiliary standing and fall prevention function; meanwhile, a safety belt can be arranged on the wheelchair hip bed board 205 and used for fixing the waist of a patient, and a binding belt can be arranged on the wheelchair back bed board 204 and used for fixing the shoulder of the patient, so that the functions of assisting standing and preventing falling are achieved.
The invention provides a full-automatic bed-chair robot with a standing function, which is in a bed shape after a bed body part 1 and a wheelchair part 2 are combined: in the bed configuration, the arm rest 210 needs to be stowed and the leg support 209 needs to be removed. In the bed shape, the back bed plate 12 is fixedly connected with the back bed plate 204 of the wheelchair and can be driven by the back lifting driving mechanism 213 to synchronously rotate to realize the back lifting function; the leg lifting bed plate 14 is fixedly connected with the leg lifting bed plate 206 of the wheelchair and can be driven by the leg lifting driving mechanism 18 to synchronously rotate to realize the leg lifting function; when the back bed plate 12 and the wheelchair back bed plate 204 are completely laid flat, the left turn-over driving mechanism 16 can drive the turn-over bed plate 122 to realize the function of turning over right; when the back bed plate 12 and the wheelchair back bed plate 204 are completely laid flat, the right turn-over driving mechanism 17 can drive the wheelchair turn-over bed plate 2042 to realize the function of turning over leftwards.
The invention provides a full-automatic bed-chair robot with a standing function, which comprises the following components in part by weight:
the wheelchair portion 2 can control the wheelchair to perform traveling, parking, and posture changing functions through the control box 211 in the wheelchair configuration. Specifically, the control box 211 can control the moving chassis 201 to realize moving function, and according to the difference of the wheel train carried by the moving chassis 201, the functions of advancing, retreating, turning, in-situ rotation, transverse translation, translation in any direction, in-situ parking and the like can be realized, and the moving speed can be adjusted; the control box 211 can control the back lifting driving mechanism 213 to adjust the rotation angle of the back bed board 204 relative to the hip bed board 205, control the leg driving mechanism 214 to adjust the rotation angle of the calf bed board 207 relative to the hip bed board 205, and control the standing driving mechanism 215 to adjust the rotation angle of the standing frame 203 relative to the base frame 202, so as to realize the functions of back lifting angle adjustment, leg lifting angle adjustment, standing angle adjustment and the like.
When the wheelchair portion 2 is in the wheelchair form, it can be automatically docked to the bed form by the control box 211 when it is within a designated area near the bed portion 1. Specifically, the control box 211 is operated, the wheelchair portion 2 automatically searches for the bed portion 1 and plans a route, the back-lifting driving mechanism 213, the leg driving mechanism 214 and the standing driving mechanism 215 work together to enable each bed board to be parallel to the ground, and the moving chassis 201 drives the wheelchair portion 2 to move and finally butt with the bed portion 1 to form a bed shape. Correspondingly, when the bed part 1 and the wheelchair part 2 are in the bed configuration, they can be automatically separated by the control box 211. Specifically, when the control box 211 is operated and the bed configuration is in the separable state, the movable chassis 201 drives the wheelchair portion 2 to horizontally separate from the bed portion 1, and after a distance, the back-lifting driving mechanism 213, the leg driving mechanism 214, and the standing driving mechanism 215 cooperate to change the wheelchair portion 2 into the wheelchair configuration.
According to the full-automatic bed-chair robot with the standing function, a bedridden patient can be assisted to turn over in a bed form, and the bedsore problem is solved; the automatic separating and docking device has the functions of automatic separation and docking, and solves the problem of transfer of a bedridden patient between a bed and a wheelchair; besides the function of a common wheelchair, the wheelchair also provides a standing function for the patient, assists the patient to have a larger contact range and exercises the strength of the lower limbs.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A full-automatic bed-chair robot with a standing function is characterized by comprising a bed body part (1) and a wheelchair part (2); wherein the wheelchair portion (2) has a bed configuration and a wheelchair configuration; when the wheelchair part (2) is in a bed shape, the wheelchair can be automatically butted with or separated from the bed body part (1); when the wheelchair part (2) is separated from the bed body part (1), the wheelchair can be switched to a wheelchair form, and the driving, parking and posture change can be realized in the wheelchair form.
2. The fully automatic bed-chair robot with standing function according to claim 1, characterized in that the wheelchair portion (2) comprises a moving chassis (201), a base frame (202), a wheelchair back bed plate (204), a wheelchair seat plate, a leg bed plate, a back lifting drive mechanism (213), a leg drive mechanism (214) and a standing drive mechanism (215), wherein the base frame (202) is arranged on the moving chassis (201), the wheelchair back bed plate (204), the wheelchair seat plate and the leg bed plate are hinged in sequence, the wheelchair seat plate is placed on the base frame (202) and is hinged with the base frame (202);
the back lifting driving mechanism (213) is hinged on the wheelchair seat plate, and the output end of the back lifting driving mechanism is hinged with the back frame (2041); the leg driving mechanism (214) is hinged on the base frame (202), and the output end of the leg driving mechanism is hinged with the leg bed board; the standing driving mechanism (215) is hinged on the base frame (202), and the output end is hinged with the wheelchair seat plate.
3. The fully automatic bed-chair robot with standing function according to claim 2, characterized in that the wheelchair seat board comprises a standing frame (203) and a wheelchair hip board (205) and a wheelchair leg-raising board (206) placed on the standing frame (203), wherein the standing frame (203) is hinged with the base frame (202) at the lower end and hinged with the wheelchair back board (204) at the upper end; the wheelchair hip bed plate (205) is fixed on one side of the standing frame (203) close to the wheelchair back bed plate (204), and the wheelchair leg lifting bed plate (206) is hinged with the wheelchair hip bed plate (205); the output end of the standing driving mechanism (215) is hinged with the standing frame (203).
4. Fully automatic bed-chair robot with standing function according to claim 3, characterized by the fact that said leg bed plate comprises a calf bed plate (207) and a foot bed plate (208) hinged to each other, the calf bed plate (207) being hinged to the standing frame (203).
5. The fully automatic bed-chair robot with standing function as claimed in claim 4, characterized in that a leg support (209) is detachably provided above the pedal bed plate (208), and a walking wheel is provided at the bottom of the pedal bed plate (208).
6. The fully automatic bed-chair robot with standing function as claimed in claim 2, wherein handrails (210) are hinged to two sides of the wheelchair back bed plate (204), a control box (211) is arranged on the handrails (210), and the back-lifting driving mechanism (213), the leg driving mechanism (214) and the standing driving mechanism (215) are all electrically connected with the control box (211);
the base frame (202) is provided with a wheelchair part controller (212), and the control box (211) is electrically connected with the wheelchair part controller (212).
7. The fully automatic bed-chair robot with standing function according to claim 2, characterized in that the wheelchair back bed plate (204) comprises a back frame (2041) and a wheelchair turn-over bed plate (2042) hinged on the back frame (2041); the back frame (2041) is hinged to the output of the back lifting drive (213).
8. The fully automatic bed-chair robot with standing function according to claim 2, characterized in that the bed body part (1) comprises a bed body frame (11), a back bed board (12), a hip bed board (13), a leg lifting bed board (14), a leg bed board (15), a left-turning driving mechanism (16), a right-turning driving mechanism (17), a leg lifting driving mechanism (18) and a bed body part controller (19), wherein the back bed board (12), the hip bed board (13), the leg lifting bed board (14) and the leg bed board (15) are sequentially placed on the bed body frame (11), wherein the hip bed board (13) and the leg bed board (15) are fixedly connected with the bed body frame (11), and two ends of the hip bed board (13) are respectively hinged with the back bed board (12) and the leg lifting bed board (14);
the left turn-over driving mechanism (16) and the right turn-over driving mechanism (17) are arranged at the bottom of the front end of the bed body frame (11), and the left turn-over driving mechanism (16) and the right turn-over driving mechanism (17) are respectively connected with the back bed plate (12) and the wheelchair back bed plate (204); the leg lifting driving mechanism (18) is arranged at the bottom of the bed body frame (11) and is connected with the leg lifting bed plate (14);
the bed body part controller (19) is arranged on the bed body frame (11) and is electrically connected with the left turn-over driving mechanism (16), the right turn-over driving mechanism (17) and the leg lifting driving mechanism (18).
9. The fully automatic bed-chair robot with standing function according to claim 8, characterized in that said back bed plate (12) comprises a back frame (121) and a turn-over bed plate (122) hinged on the back frame (121); the turn-over bed plate (122) is connected with the left turn-over driving mechanism (16).
10. The fully automatic bed-chair robot with standing function as claimed in claim 9, wherein the right two ends of the bed body frame (11) are provided with wheelchair part auxiliary supporting frames;
the left turning driving mechanism (16) comprises a left turning driving electric cylinder (161), a left turning push rod (162) and rollers (163), wherein one end of the left turning push rod (162) is hinged with the inner side of the front end of the bed body frame (11), the other end of the left turning push rod is provided with the rollers (163), and the rollers (163) are movably connected with the turning bed plate (122); the tail part of the left turn-over driving electric cylinder (161) is hinged on the outer side of the front end of the bed body frame (11), and the output end of the left turn-over driving electric cylinder (161) is hinged with a left turn-over push rod (162);
the right turnover driving mechanism (17) is arranged on the auxiliary support frame of the wheelchair part positioned at the front end, and the right turnover driving mechanism (17) and the left turnover driving mechanism (16) are identical in structure and are symmetrically arranged.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210037100.6A CN114305913A (en) | 2022-01-13 | 2022-01-13 | Full-automatic bed-chair robot with standing function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210037100.6A CN114305913A (en) | 2022-01-13 | 2022-01-13 | Full-automatic bed-chair robot with standing function |
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| CN114305913A true CN114305913A (en) | 2022-04-12 |
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| CN202210037100.6A Pending CN114305913A (en) | 2022-01-13 | 2022-01-13 | Full-automatic bed-chair robot with standing function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115006136A (en) * | 2022-07-19 | 2022-09-06 | 陕西理工大学 | Separated turning-over bed |
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| CN209154294U (en) * | 2018-11-02 | 2019-07-26 | 常州工程职业技术学院 | A kind of wheelchair combined multi-functional nursing bed |
| CN213218341U (en) * | 2020-04-15 | 2021-05-18 | 上海威之群机电制品有限公司 | Novel electric standing wheelchair |
| CN213697597U (en) * | 2020-09-10 | 2021-07-16 | 广西大学 | Novel intelligent bed-chair integrated robot |
| CN113317938A (en) * | 2021-05-31 | 2021-08-31 | 西安交通大学 | Bed chair device for helping solitary old people to complete living activities |
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| 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 |
| 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 |
| CN209154294U (en) * | 2018-11-02 | 2019-07-26 | 常州工程职业技术学院 | A kind of wheelchair combined multi-functional nursing bed |
| CN213218341U (en) * | 2020-04-15 | 2021-05-18 | 上海威之群机电制品有限公司 | Novel electric standing wheelchair |
| CN213697597U (en) * | 2020-09-10 | 2021-07-16 | 广西大学 | Novel intelligent bed-chair integrated robot |
| CN113317938A (en) * | 2021-05-31 | 2021-08-31 | 西安交通大学 | Bed chair device for helping solitary old people to complete living activities |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115006136A (en) * | 2022-07-19 | 2022-09-06 | 陕西理工大学 | Separated turning-over bed |
| CN115006136B (en) * | 2022-07-19 | 2024-03-05 | 陕西理工大学 | Separated turning-over bed |
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Application publication date: 20220412 |