CN210494435U - Bed-chair integrated nursing robot - Google Patents

Abstract

Bed chair integral type nursing robot belongs to nursing robotechnology field, and aim at solves the inconvenient and poor restriction service function's of bed chair components of a whole that can function independently nursing of bed chair components of a whole that can function independently problem that prior art exists of bed chair integration effect. The utility model comprises a fixed bed body and a wheelchair; the bed plate of the fixed bed body comprises bed dividing plates at four corners, a cross-shaped gap is formed in the middle of the bed plate, at least one bed dividing plate is used as an avoiding plate, and the horizontal distance between the two bed dividing plates is increased through the avoiding plate; the horizontal plate state of the wheelchair fills up the cross-shaped gap formed in the middle of the bed plate. The utility model discloses the wheelchair can get into or the roll-off by relatively fixed lathe bed, and the relative lathe bed business turn over direction of wheelchair is perpendicular with wheelchair advancing direction, has effectively expanded the space that the user sleeps and has a rest, has improved the rest quality, to the inconvenient patient of action, has solved the pain that its transfer process between bed and the wheelchair brought, and the bed chair combines to adopt the vacancy to fill the form, combines more closely, and stability is high.

Description

Bed-chair integrated nursing robot

Technical Field

The utility model belongs to the technical field of nursing robot, concretely relates to bed chair integral type nursing robot.

Background

The nursing beds are of various types and are used for providing auxiliary rehabilitation, life, rest and activities within a certain range for the old, the weak and the mobility-impaired people. The appearance of various nursing beds provides great convenience for the life of such people, and in recent years, the optimization and improvement of the system configuration of the multifunctional bed-chair have great achievements, the comfort level is greatly improved, the functions are more abundant, the life self-care ability of the nursed is improved, the self-confidence of the nursed is enhanced, meanwhile, the risk of artificial nursing is reduced, for example, the nursed is transferred, the labor burden of workers is reduced, and the life quality is improved to a great extent.

The nursing bed chair can be divided into a manual type and an electric type from the motion execution mode. The manual nursing bed depends on the self force of nursing staff, and the posture of the bed and the chair can be changed through the actions of pushing, pulling and rocking the handle. The manual nursing bed has a simple structure, can only reduce the burden of nursing staff to a certain degree, and a nursed person hardly completes the action change of the bed chair by himself or herself and almost completely depends on the nursing staff. Along with the popularization of automatic artificial intelligence, the electric nursing bed chair also gradually enters the visual field, the electric nursing bed not only liberates nursing personnel to a greater extent, but also enables a nursed person to automatically complete the posture change of the bed chair to a certain extent, and the dignity of the user is maintained to a greater extent.

Most of the prior art is that bed and chair are split type structure, and few have the integrated structure, but the integrated structure combination effect is poor, and the whole degree of combining is poor, simultaneously, has restricted the function of bed or wheelchair self, and the application effect is poor.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a bed chair integral type nursing robot, the bed chair components of a whole that can function independently nursing inconvenient and bed chair integral type structure that solve the prior art existence combines the poor restriction service function's of effect problem.

In order to achieve the purpose, the bed-chair integrated nursing robot of the utility model comprises a fixed bed body and a wheelchair;

the bed plate of the fixed bed body comprises bed dividing plates at four corners, a cross-shaped gap is formed in the middle of the bed plate, at least one bed dividing plate is used as an avoiding plate, and the horizontal distance between the two bed dividing plates is increased through the avoiding plate;

the wheelchair enables the backrest, the seat plate, the leg plates, the pedal plates and the armrest plates to be integrally changed to a horizontal plate state through the posture adjusting mechanism, and the horizontal plate state of the wheelchair fills up a cross-shaped gap formed in the middle of the bed plate.

The avoidance plate is composed of two sub-bed plates, and the two sub-bed plates as the avoidance plate are oppositely arranged in the direction perpendicular to the direction in which the wheelchair is relatively fixed with the bed body; every dodges the board and dodges the structure for the upset, the upset is dodged the structure and is included:

a fixed bed board fixed on the bed body framework;

one end of the avoidance bed plate is hinged with the fixed bed plate;

and the turnover mechanism drives the avoidance bed plate to be adjusted between the horizontal direction and the vertical direction relative to the fixed bed plate.

The turnover mechanism comprises:

one end of the overturning electric push rod is fixed on the fixed lathe bed;

the swing rod is hinged with one end of the overturning electric push rod;

one end of the connecting rod is hinged with the other end of the swing rod, and the other end of the connecting rod is hinged with the lower surface of the avoidance bed plate.

The avoidance plate is a bed dividing plate, the avoidance plate is a translation lifting avoidance structure, and the translation lifting avoidance structure comprises a lifting bed plate arranged in the direction perpendicular to the inlet and outlet direction of the relatively fixed bed body of the wheelchair, a translation bed plate arranged on the bed body framework of the fixed bed body through a guide rail pair and a translation lifting mechanism driving the lifting bed plate to move up and down to drive the translation bed plate to move in the direction perpendicular to the inlet and outlet direction of the relatively fixed bed body of the wheelchair.

The translational lifting mechanism comprises a lifting mechanism for driving the lifting bed board to move up and down, a stop block fixed on the lower end surface of the lifting bed board in the lifting direction, and a translational mechanism for driving the translational bed board to move translationally along the direction perpendicular to the wheelchair and opposite to the in-and-out direction of the fixed bed body;

the lifting mechanism comprises a lifting push rod and a lifting guide pillar which are arranged along the lifting motion direction of the lifting bed board, one end of the lifting push rod is fixed on a fixed framework of the fixed bed body, the other end of the lifting push rod is fixedly connected with the lower end face of the lifting bed board, one end of the lifting guide pillar is fixedly connected with the lifting bed board, and the other end of the lifting guide pillar is connected with the bed body framework through a guide sleeve;

the translation mechanism includes:

the mounting plate is fixed on the bed body framework of the fixed bed body;

the first fixed pulley, the second fixed pulley and the third fixed pulley are arranged on one vertical surface of the mounting plate, the first fixed pulley and the third fixed pulley are arranged on the upper portion of the vertical surface of the mounting plate, and the first movable pulley, the second movable pulley and the second fixed pulley are arranged on the lower portion of the vertical surface; one end of a section of steel wire rope is fixed on the upper part of the mounting plate, and the other end of the steel wire rope sequentially rounds a first movable pulley, a second fixed pulley and a third fixed pulley and is fixedly connected with a translation traction hook fixed on the translation bed plate; the other section of steel wire rope winds two ends of the first fixed pulley and is fixedly connected with the first movable pulley and the second movable pulley respectively, the translational bed plate descends to drive the stop block to descend, and the stop block descends to push the first movable pulley to descend;

and the reset tension spring is arranged along the motion direction of the translation bed board, one end of the reset tension spring is fixed at the end part of the translation bed board close to one end of the lifting bed board, and the other end of the reset tension spring is fixed on the bed body firmware of the fixed bed body.

The fixed lathe bed includes:

a bed body framework;

four bed dividing plates arranged at four corners of the upper end of the bed body framework, wherein at least one bed dividing plate is used as an avoiding plate;

the main guide mechanism is arranged on the bed framework oppositely, and the main guide mechanism is matched with the wheelchair to ensure that the wheelchair can realize relatively fixed bed in and out; the guide mechanism comprises two guide rods arranged on the bed framework, the guide rods are arranged along the direction that the wheelchair enters and exits the fixed bed, and the two guide rods are arranged oppositely;

and the height-adjustable caster is arranged at the lower end of the bed body framework.

The wheelchair comprises:

the chair comprises a chair body, a backrest and a pedal, wherein the chair body comprises a supporting seat, a seat plate arranged on the upper end surface of the supporting seat, a backrest in rotating fit with the seat plate, two armrest plates in rotating fit with the seat plate and positioned on two sides, leg plates in rotating fit with the seat plate and pedals in rotating fit with the leg plates;

the walking mechanism is arranged on the lower surface of the chair body;

the auxiliary guide mechanisms are matched with the main guide mechanism on the fixed bed body, each auxiliary guide mechanism is a pulley block fixed on the front side surface and the rear side surface of the travelling mechanism, and the pulley blocks of the auxiliary guide mechanisms are in sliding contact with the main guide mechanism of the fixed bed body;

and the battery pack, the controller and the posture adjusting mechanism are arranged in the supporting seat, and the posture adjusting mechanism adjusts the chair body to be switched between the sitting posture and the lying posture and independently adjusts the angles of the backrest and the leg plates.

The posture adjusting mechanism comprises a backrest angle adjusting mechanism, a leg plate angle adjusting mechanism, a pedal linkage adjusting mechanism and a handrail turnover mechanism;

the backrest angle adjusting mechanism is a backrest adjusting push rod, one end of the backrest adjusting push rod is hinged with the supporting seat, and the other end of the backrest adjusting push rod is hinged with the backrest;

the leg plate angle adjusting mechanism is a leg plate adjusting push rod, one end of the leg plate adjusting push rod is hinged with the supporting seat, and the other end of the leg plate adjusting push rod is hinged with the leg plate;

the pedal linkage adjusting mechanism comprises a pedal linkage rod, one end of the pedal linkage rod is hinged with the supporting seat, the other end of the pedal linkage rod is hinged with the pedal, and the pedal, the leg plate, the supporting seat and the pedal linkage rod form a parallel four-bar mechanism;

the handrail turnover mechanism comprises a handrail adjusting push rod, an arc-shaped connecting rod and a hinge, the handrail plate is connected with the seat plate through the hinge, the handrail adjusting push rod is fixed on the supporting seat, one end of the arc-shaped connecting rod is hinged with the handrail plate, and the other end of the arc-shaped connecting rod is hinged with the output end of the handrail adjusting push rod.

The utility model has the advantages that: the utility model discloses a bed chair integral type nursing robot is including fixed lathe bed and wheelchair, the wheelchair can relatively fixed lathe bed get into or the roll-off, the relative lathe bed business turn over direction of wheelchair is perpendicular with wheelchair advancing direction, the transform of wheelchair gesture is realized through the gesture adjustment mechanism of wheelchair after wheelchair and the combination of lathe bed, the vacancy position of fixed lathe bed is filled to the horizontal plate structure after the transform, function through the combination of bed chair, the space of user sleep and rest has effectively been expanded, the rest quality has been improved, to the inconvenient patient of action, the pain that its transfer process between bed and the wheelchair brought has been solved, the bed chair combines to adopt the vacancy to fill the form, it is inseparabler to combine, stability is high.

Drawings

FIG. 1 is a diagram of a bed-chair butt joint state when the bed-chair integrated nursing robot of the present invention adopts a turning avoiding structure;

FIG. 2 is a bed-chair combination state diagram of the bed-chair integrated nursing robot of the present invention adopting a turning avoiding machine structure;

FIG. 3 is a schematic structural view of a fixed bed body of the bed-chair integrated nursing robot of the present invention adopting a turning avoiding structure;

fig. 4 is a schematic view of a turning and avoiding structure of the bed-chair integrated nursing robot of the utility model;

fig. 5 is a schematic view of the bed-chair integrated nursing robot of the present invention in an avoiding state with the fixed bed body adopting a turning avoiding structure;

FIG. 6 is a diagram of a bed-chair docking state when the bed-chair integrated nursing robot of the present invention adopts a translational lifting avoiding structure;

FIG. 7 is a bed-chair combination state diagram of the bed-chair integrated nursing robot of the present invention adopting a translation lifting avoiding structure;

fig. 8 is a schematic structural view of a fixed bed body when the bed-chair integrated nursing robot of the present invention adopts a translational lifting avoiding structure;

fig. 9 is a schematic view of a translation lifting mechanism in the bed-chair integrated nursing robot of the present invention;

fig. 10 is an enlarged schematic view of the translation lifting mechanism in the bed-chair integrated nursing robot of the present invention;

fig. 11 is a schematic view of a fixed bed body avoiding state when the bed-chair integrated nursing robot of the present invention adopts a translational lifting avoiding structure;

fig. 12 is a schematic structural view of a wheelchair in a bed-chair integrated nursing robot of the present invention;

FIG. 13 is a schematic view of a wheelchair posture adjustment mechanism of the bed-chair integrated nursing robot of the present invention;

FIG. 14 is a schematic view of a turning mechanism of a armrest of a wheelchair in a bed-chair integrated nursing robot according to the present invention;

wherein: 1. a fixed bed body, 101, a bed body framework, 102, a bed separating plate, 103, a main guide mechanism, 104, a height-adjustable caster, 105, a fixed bed plate, 106, an avoidance bed plate, 107, a turnover electric push rod, 108, a swing rod, 109, a connecting rod, 110, a lifting bed plate, 111, a translation bed plate, 112, a guide rail pair, 113, a lifting push rod, 114, a lifting guide post, 115, a stopper, 116, a mounting plate, 117, a first movable pulley, 118, a second movable pulley, 119, a first fixed pulley, 120, a second fixed pulley, 121, a third fixed pulley, 122, a translation traction hook, 123, a reset tension spring, 2, a wheelchair, 201, a supporting seat, 202, a seat plate, 203, a backrest, 204, a leg plate, 205, a pedal plate, 206, a handrail plate, 207, a walking mechanism, 208, a backrest adjusting push rod, 209, a leg plate adjusting push rod, 210, a pedal linkage rod, 211, a hinge, 212, a handrail adjusting push rod, 213. Arc connecting rod 214, guiding mechanism.

Detailed Description

The following describes embodiments of the present invention with reference to the accompanying drawings.

Example one

Referring to fig. 1-5, the bed-chair integrated nursing robot of the present invention comprises a fixed bed 1 and a wheelchair 2;

the bed plate of the fixed bed body 1 comprises bed dividing plates 102 at four corners, a cross-shaped gap is formed in the middle of the bed plate, at least one bed dividing plate 102 is used as an avoiding plate, and the horizontal distance between the two bed dividing plates 102 is increased through the avoiding plate;

the wheelchair 2 integrally changes the backrest 203, the seat plate 202, the leg plate 204, the pedal 205 and the armrest plate 206 to a horizontal plate state through the posture adjusting mechanism, and the horizontal plate state of the wheelchair 2 fills up the cross-shaped gap formed in the middle of the bed plate.

The avoidance plate is composed of two sub-bed plates 102, and the two sub-bed plates 102 as the avoidance plate are oppositely arranged in the direction perpendicular to the inlet and outlet directions of the wheelchair 2 relative to the fixed bed body 1; every dodges the board and dodges the structure for the upset, the upset is dodged the structure and is included:

a fixed bed plate 105 fixed on the bed frame;

an avoidance bed plate 106 with one end hinged with the fixed bed plate 105;

and the turnover mechanism drives the avoidance bed plate 106 to realize adjustment between the horizontal direction and the vertical direction relative to the fixed bed plate 105.

The turnover mechanism comprises:

an overturning electric push rod 107 with one end fixed on the fixed bed body 1;

a swing rod 108 with one end hinged with the other end of the turning electric push rod 107;

and one end of the connecting rod 109 is hinged with the other end of the swing rod 108, and the other end of the connecting rod 109 is hinged with the lower surface of the avoidance bed plate 106.

The avoidance structure is a turnover avoidance structure and comprises an electric push rod, a swing rod 108, a connecting rod 109 and an avoidance bed plate 106, the swing rod 108 is driven to swing through the stretching of the electric push rod, and the rotation of the avoidance bed plate 106 is controlled through the connecting rod 109, so that the horizontal state and the vertical state of the avoidance bed plate 106 are changed. Meanwhile, the rigidity of avoiding the horizontal state of the bed plate 106 is effectively improved by using the dead point of the connecting rod 109 mechanism.

The fixed bed 1 includes:

a bed body framework;

four bed dividing plates 102 arranged at four corners of the upper end of the bed body framework, wherein at least one bed dividing plate 102 is used as an avoiding plate;

the main guide mechanism 103 is arranged on the bed framework relatively, and the main guide mechanism 103 is matched with the wheelchair 2 to enable the wheelchair 2 to realize the in-and-out relative to the fixed bed 1; the guide mechanism comprises two guide rods arranged on the bed framework, the guide rods are arranged along the direction that the wheelchair 2 enters and exits the fixed bed 1, and the two guide rods are arranged oppositely;

and height-adjustable casters 104 arranged at the lower end of the bed frame.

The bed body framework is formed by welding steel pipes, and the height-adjustable trundles 104 are arranged at the bottoms of the bed body framework, so that the bed body framework is convenient to transport and adapts to the change of installation grounds of different users. The bed dividing plate 102 is arranged above the bed body framework and can form a complete bed surface with the 2 surface of the wheelchair. Considering that the wheelchair 2 needs to enter and exit the bed frame area when the bed and the chair are in butt joint, the fixed bed dividing plate 102 on one side is designed into a structure capable of avoiding interference, and smooth entering and exiting of the wheelchair 2 are guaranteed.

Referring to figures 12-14, the wheelchair 2 comprises:

the chair comprises a chair body, wherein the chair body comprises a supporting seat 201, a seat plate 202 arranged on the upper end surface of the supporting seat 201, a backrest 203 rotationally matched with the seat plate 202, two armrest plates 206 rotationally matched with the seat plate 202 and positioned at two sides, a leg plate 204 rotationally matched with the seat plate 202 and a pedal 205 rotationally matched with the leg plate 204;

a traveling mechanism 207 provided on a lower surface of the chair body;

two groups of auxiliary guide mechanisms 214 which are arranged on the travelling mechanism 207 and are positioned at the front end and the rear end of the travelling direction of the chair body, the two groups of auxiliary guide mechanisms 214 are matched with the main guide mechanism 103 on the fixed bed body 1, each group of auxiliary guide mechanisms 214 is a pulley block fixed on the front side surface and the rear side surface of the travelling mechanism 207, and in the process of combining the bed and the chair, the pulley blocks of the auxiliary guide mechanisms 214 are in sliding contact with the main guide mechanism 103 of the fixed bed body 1; the accuracy of bed-chair combination is ensured through rolling guide.

And the battery pack, the controller and the posture adjusting mechanism are arranged in the supporting seat 201, and the posture adjusting mechanism adjusts the switching of the chair body between the sitting posture and the lying posture and the independent adjustment of the angles of the backrest 203 and the leg plate 204.

The posture adjusting mechanism comprises a backrest 203 angle adjusting mechanism, a leg plate 204 angle adjusting mechanism, a pedal 205 linkage adjusting mechanism and an armrest overturning mechanism;

the angle adjusting mechanism of the backrest 203 is independently controlled by an electric push rod, so that the angle adjustment in the range of 0-75 degrees of the backrest 203 plate is realized; the backrest adjusting device comprises a backrest adjusting push rod 208, wherein one end of the backrest adjusting push rod 208 is hinged with the supporting seat 201, and the other end of the backrest adjusting push rod 208 is hinged with the backrest 203;

the angle adjusting mechanism of the leg plate 204 is controlled by an electric push rod to realize angle adjustment in the range of 2040-70 degrees of the leg plate; the device comprises a leg plate adjusting push rod 209, wherein one end of the leg plate adjusting push rod 209 is hinged with the supporting seat 201, and the other end of the leg plate adjusting push rod 209 is hinged with the leg plate 204;

the linkage adjusting mechanism of the pedal 205 realizes linkage adjustment of the pedal 205 and the leg plate 204 through a parallel four-bar mechanism, and the pedal 205 is kept parallel to the ground; the pedal linkage rod 210 is provided, one end of the pedal linkage rod 210 is hinged with the supporting seat 201, the other end of the pedal linkage rod 210 is hinged with the pedal 205, and the pedal 205, the leg plate 204, the supporting seat 201 and the pedal linkage rod 210 form a parallel four-bar mechanism;

the handrail turnover mechanism comprises a handrail adjusting push rod 212, an arc-shaped connecting rod 213 and a hinge 211, the handrail plate 206 is connected with the seat plate 202 through the hinge 211, the handrail adjusting push rod 212 is fixed on the supporting seat 201, one end of the arc-shaped connecting rod 213 is hinged with the handrail plate 206, and the other end of the arc-shaped connecting rod is hinged with the output end of the handrail adjusting push rod 212. The 90-degree turnover of the armrest plate 206 is controlled by the armrest adjusting push rod 212 to adapt to the switching of the bed and chair states. In order to avoid interference, the electric push rod is connected with the handrail through an arc-shaped connecting rod 213, so that the mechanism interference is effectively avoided.

The walking mechanism 207 is independently controlled by a control system, the walking direction of the walking mechanism can be controlled by a language or a rocker, the rocker control and the voice input control are a control module, namely a handle is controlled by a hand, and the orientation of the handle is an input signal of the walking direction; and voice input, wherein the voice input module inputs instructions, and the central control system judges and controls the wheelchair to move forward, move backward, turn or stop according to the input instructions.

The wheelchair 2 further comprises an obstacle avoidance mechanism, the obstacle avoidance mechanism is a radar sensor arranged on four side faces of the walking mechanism 207, when an obstacle is encountered, a signal is fed back to the central control system, and the walking mechanism is controlled by the central control system to avoid the obstacle.

The walking mechanism 207 of the wheelchair 2 of the embodiment is independently controlled by a control system, the walking direction of the wheelchair can be controlled by a language or a rocker, and the free walking and automatic obstacle avoidance functions are realized by matching with a sensor; the supporting seat 201 is a middle part connecting the seat and the walking mechanism 207, and a battery pack, a controller and a seat posture adjusting mechanism are arranged in the supporting seat; the chair posture adjusting mechanism can control the chair to realize the switching of sitting posture and lying posture, and simultaneously can realize the independent adjustment of the angle of the backrest 203 and the angle of the leg plate 204, thereby providing rich body position selection for the use of users.

Example two

Referring to fig. 6 to fig. 11, the present embodiment is different from the first embodiment in that:

the avoidance plate is a bed dividing plate 102, the avoidance plate is a translational lifting avoidance structure, and the translational lifting avoidance structure comprises a lifting bed plate 110 arranged in the direction of the vertical wheelchair 2 relatively fixing the bed body 1, a translational bed plate 111 arranged on the bed body framework of the fixed bed body 1 through a guide rail pair 112, and a translational lifting mechanism driving the lifting bed plate 110 to move up and down to drive the translational bed plate 111 to move in the direction of the vertical wheelchair 2 relatively fixing the bed body 1.

The translational lifting mechanism comprises a lifting mechanism for driving the lifting bed board 110 to move up and down, a stop block 115 fixed on the lower end surface of the lifting bed board 110 in the lifting direction, and a translational mechanism for driving the translational bed board 111 to move in a translational manner along the direction perpendicular to the wheelchair 2 and opposite to the fixed bed body 1 in the inlet and outlet direction;

the lifting mechanism comprises a lifting push rod 113 and a lifting guide pillar 114 which are arranged along the lifting motion direction of the lifting bed board 110, one end of the lifting push rod 113 is fixed on a fixed framework of the fixed bed body 1, the other end of the lifting push rod 113 is fixedly connected with the lower end face of the lifting bed board 110, one end of the lifting guide pillar 114 is fixedly connected with the lifting bed board 110, and the other end of the lifting guide pillar is connected with the bed body framework 101 through a guide sleeve;

the translation mechanism includes:

the mounting plate 116 is fixed on the bed body framework of the fixed bed body 1;

a first movable pulley 117, a first fixed pulley 119, a second movable pulley 118, a second fixed pulley 120 and a third fixed pulley 121 which are arranged on a vertical surface of the mounting plate 116, wherein the first fixed pulley 119 and the third fixed pulley 121 are arranged on an upper portion of the vertical surface of the mounting plate 116, and the first movable pulley 117, the second movable pulley 118 and the second fixed pulley 120 are arranged on a lower portion of the vertical surface; one end of a steel wire rope is fixed on the upper part of the mounting plate 116, and the other end of the steel wire rope sequentially rounds a first movable pulley 117, a second movable pulley 118, a second fixed pulley 120 and a third fixed pulley 121 and is fixedly connected with a translation traction hook 122 fixed on the translation bed plate 111; the other section of steel wire rope winds two ends of the first fixed pulley 119 and is fixedly connected with the first movable pulley 117 and the second movable pulley 118 respectively, the translational bed plate 111 moves downwards to drive the stop block 115 to move downwards, and the stop block 115 moves downwards to push the first movable pulley 117 to move downwards;

and the reset tension spring 123 is arranged along the motion direction of the translation bed board 111, one end of the reset tension spring 123 is fixed at the end part of the translation bed board 111 close to one end of the lifting bed board 110, and the other end of the reset tension spring is fixed on the bed body firmware of the fixed bed body 1.

The translation lifting mechanism consists of a lifting push rod 113, a lifting guide post 114, a translation amplifying mechanism, a guide rail pair 112 and a reset tension spring 123. The lifting push rod 113 contracts to drive the lifting bed board 110 to complete the descending action along the lifting guide post 114, in the descending process, the translation amplifying mechanism is triggered through the stop block 115 fixed at the bottom of the lifting bed board 110, and the translation bed board 111 is pulled to complete the translation avoiding action along the guide rail pair 112 through the steel wire rope in the translation amplifying mechanism.

The lifting bed plate 110 drives the stopper 115 to descend, when the stopper 115 moves to the first movable pulley 117, the stopper 115 pushes the first movable pulley 117 component to move downwards, the first movable pulley 117 bypasses the first fixed pulley 119 through the linkage steel wire rope to be connected with the second movable pulley 118, and therefore the descending of the first movable pulley 117 drives the ascending of the second movable pulley 118. One end of a steel wire rope is fixed on the frame, and the other end of the steel wire rope rounds the first movable pulley 117, the second movable pulley 118, the second fixed pulley 120 and the third fixed pulley 121 and is connected with a translation traction hook 122 of the translation bed plate 111. The translation amplifying mechanism formed by the pulley block can amplify the input displacement of 50mm into the horizontal displacement of 200 mm.

The stopper 115: when the first movable pulley 117 is moved to be contacted, the first movable pulley 117 is pushed to move downwards, and the translation amplification mechanism starts to work;

first movable sheave 117: and a steel wire rope is arranged between the second movable pulley 118 to be connected, so that the lifting linkage of the two movable pulleys is maintained, and the first-stage 2 is realized: 1, amplifying the stroke;

second movable sheave 118: and have wire rope to be connected between the first movable pulley 117, keep the lift linkage of two movable pulleys, realize second level 2: 1, amplifying the stroke; a steel wire rope is connected between the two movable pulleys to realize linkage. Meanwhile, the steel wire ropes are wound on the two linked movable pulleys, and the wound steel wire ropes are transmitted by the two linked movable pulleys, so that stroke amplification is realized;

first fixed sheave 119: the lifting linkage of the first movable pulley 117 and the second movable pulley 118 is realized by bypassing the linkage steel wire rope;

second fixed sheave 120: the traction steel wire rope is bypassed, and the traction direction of the steel wire rope is changed;

third fixed sheave 121: the steel wire rope bypasses the traction steel wire rope, and the traction direction of the steel wire rope is changed.

Claims (10)

1. A bed-chair integrated nursing robot comprises a fixed bed body (1) and a wheelchair (2);

it is characterized in that the preparation method is characterized in that,

the bed plate of the fixed bed body (1) comprises bed dividing plates (102) at four corners, a cross-shaped gap is formed in the middle of the bed plate, at least one bed dividing plate (102) is used as an avoiding plate, and the horizontal distance between the two bed dividing plates (102) is increased through the avoiding plate;

the wheelchair (2) enables the backrest (203), the seat plate (202), the leg plate (204), the pedal plate (205) and the armrest plate (206) to be integrally changed to a horizontal plate state through the posture adjusting mechanism, and the horizontal plate state of the wheelchair (2) fills up a cross-shaped gap formed in the middle of the bed plate.

2. The bed-chair integrated nursing robot according to claim 1, characterized in that the avoiding plate is two bed-dividing plates (102), and the two bed-dividing plates (102) as avoiding plates are oppositely arranged in the direction of the vertical wheelchair (2) relative to the fixed bed (1) to go in and out; every dodges the board and dodges the structure for the upset, the upset is dodged the structure and is included:

a fixed bed plate (105) fixed on the bed body framework (101);

an avoidance bed plate (106) with one end hinged with the fixed bed plate (105);

and the turnover mechanism drives the avoidance bed board (106) to be adjusted between the horizontal direction and the vertical direction relative to the fixed bed board (105).

3. The bed and chair integrated nursing robot of claim 2, wherein said turnover mechanism comprises:

one end of the turnover electric push rod (107) is fixed on the fixed bed body (1);

a swing rod (108) with one end hinged with the other end of the turnover electric push rod (107);

one end of the connecting rod (109) is hinged with the other end of the swing rod (108), and the other end of the connecting rod (109) is hinged with the lower surface of the avoidance bed plate (106).

4. The bed-chair integrated nursing robot according to claim 1, wherein the avoiding plate is a bed dividing plate (102), and the avoiding plate is a translational lifting avoiding structure, and the translational lifting avoiding structure comprises a lifting bed plate (110) arranged in the direction perpendicular to the in-and-out direction of the wheelchair (2) relative to the fixed bed (1), a translational bed plate (111) arranged on the bed frame (101) of the fixed bed (1) through a guide rail pair (112), and a translational lifting mechanism driving the lifting bed plate (110) to move up and down to drive the translational bed plate (111) to move in translation along the direction perpendicular to the in-and-out direction of the wheelchair (2) relative to the fixed bed (1).

5. The robot as claimed in claim 4, wherein the translational elevating mechanism comprises an elevating mechanism for driving the elevating bed plate (110) to move up and down, a stopper (115) fixed on the lower end surface of the elevating bed plate (110) in the elevating direction, and a translational mechanism for driving the translational bed plate (111) to move in a translational manner along the direction perpendicular to the direction of the wheelchair (2) moving in and out relative to the fixed bed (1).

6. The robot for nursing care integrated with bed and chair as claimed in claim 5, wherein said lifting mechanism comprises a lifting push rod (113) and a lifting guide pillar (114) arranged along the lifting movement direction of the lifting bed plate (110), said lifting push rod (113) has one end fixed on the fixed frame of the fixed bed (1) and the other end fixedly connected with the lower end face of said lifting bed plate (110), said lifting guide pillar (114) has one end fixedly connected with said lifting bed plate (110) and the other end connected with said bed frame (101) through a guide sleeve.

7. The bed and chair integrated nursing robot according to claim 5 or 6, characterized in that said translation mechanism comprises:

the mounting plate (116) is fixed on the bed body framework (101) of the fixed bed body (1);

the first movable pulley (117), the first fixed pulley (119), the second movable pulley (118), the second fixed pulley (120) and the third fixed pulley (121) are arranged on one vertical surface of the mounting plate (116), the first fixed pulley (119) and the third fixed pulley (121) are arranged on the upper portion of the vertical surface of the mounting plate (116), and the first movable pulley (117), the second movable pulley (118) and the second fixed pulley (120) are arranged on the lower portion of the vertical surface; one end of a steel wire rope is fixed on the upper part of the mounting plate (116), and the other end of the steel wire rope sequentially rounds a first movable pulley (117), a second movable pulley (118), a second fixed pulley (120) and a third fixed pulley (121) and is fixedly connected with a translation traction hook (122) fixed on the translation bed plate (111); the other section of steel wire rope winds two ends of the first fixed pulley (119) and is fixedly connected with the first movable pulley (117) and the second movable pulley (118) respectively, the translational bed plate (111) moves downwards to drive the stop block (115) to move downwards, and the stop block (115) moves downwards to push the first movable pulley (117) to move downwards;

and the reset tension spring (123) is arranged along the motion direction of the translation bed board (111), one end of the reset tension spring (123) is fixed at the end part of one end, close to the lifting bed board (110), of the translation bed board (111), and the other end of the reset tension spring is fixed on the bed body firmware of the fixed bed body (1).

8. The bed-chair integrated nursing robot according to claim 1, characterized in that said fixed bed (1) comprises:

a bed frame (101);

four bed dividing plates (102) arranged at four corners of the upper end of the bed body framework (101), wherein at least one bed dividing plate (102) is used as an avoidance plate;

the main guide mechanism (103) is oppositely arranged on the bed framework (101), and the main guide mechanism (103) is matched with the wheelchair (2) to ensure that the wheelchair (2) can relatively fix the bed (1) to enter and exit; the guide mechanism comprises two guide rods arranged on the bed framework (101), the guide rods are arranged along the direction that the wheelchair (2) enters and exits the fixed bed (1), and the two guide rods are arranged oppositely;

and height-adjustable casters (104) arranged at the lower end of the bed framework (101).

9. The bed-chair integrated nursing robot according to claim 1, characterized in that said wheelchair (2) comprises:

the chair comprises a chair body, wherein the chair body comprises a supporting seat (201), a seat plate (202) arranged on the upper end surface of the supporting seat (201), a backrest (203) in rotating fit with the seat plate (202), two armrest plates (206) in rotating fit with the seat plate (202) and positioned on two sides, a leg plate (204) in rotating fit with the seat plate (202) and a pedal plate (205) in rotating fit with the leg plate (204);

a traveling mechanism (207) arranged on the lower surface of the chair body;

two groups of auxiliary guide mechanisms (214) which are arranged on the travelling mechanism (207) and are positioned at the front end and the rear end of the travelling direction of the chair body, the two groups of auxiliary guide mechanisms (214) are matched with the main guide mechanism (103) on the fixed bed body (1), each group of auxiliary guide mechanisms (214) are pulley blocks fixed on the front side surface and the rear side surface of the travelling mechanism (207), and the pulley blocks of the auxiliary guide mechanisms (214) are in sliding contact with the main guide mechanism (103) of the fixed bed body (1);

and the battery pack, the controller and the posture adjusting mechanism are arranged in the supporting seat (201), and the posture adjusting mechanism adjusts the chair body to be switched between a sitting posture and a lying posture and independently adjusts the angles of the backrest (203) and the leg plate (204).

10. The bed-chair integrated nursing robot as claimed in claim 9, wherein the posture adjusting mechanism comprises a backrest (203) angle adjusting mechanism, a leg plate (204) angle adjusting mechanism, a foot pedal (205) linkage adjusting mechanism and an armrest tilting mechanism;

the angle adjusting mechanism of the backrest (203) is a backrest adjusting push rod (208), one end of the backrest adjusting push rod (208) is hinged with the supporting seat (201), and the other end of the backrest adjusting push rod (208) is hinged with the backrest (203);

the angle adjusting mechanism of the leg plate (204) is a leg plate adjusting push rod (209), one end of the leg plate adjusting push rod (209) is hinged with the supporting seat (201), and the other end of the leg plate adjusting push rod is hinged with the leg plate (204);

the linkage adjusting mechanism of the pedal (205) comprises a pedal linkage rod (210), one end of the pedal linkage rod (210) is hinged with the supporting seat (201), the other end of the pedal linkage rod is hinged with the pedal (205), and the pedal (205), the leg plate (204), the supporting seat (201) and the pedal linkage rod (210) form a parallel four-bar mechanism;

handrail tilting mechanism includes handrail adjustment push rod (212), arc connecting rod (213) and fold paper (211), handrail board (206) through fold paper (211) with seat (202) are connected, handrail adjustment push rod (212) are fixed on supporting seat (201), arc connecting rod (213) one end with handrail board (206) are articulated, the other end with handrail adjustment push rod (212) output is articulated.

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