EP3373878B1 - Robotisches mobiles und modifizierbares bett mit vertikalisierung - Google Patents

Robotisches mobiles und modifizierbares bett mit vertikalisierung Download PDF

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Publication number
EP3373878B1
EP3373878B1 EP15813244.9A EP15813244A EP3373878B1 EP 3373878 B1 EP3373878 B1 EP 3373878B1 EP 15813244 A EP15813244 A EP 15813244A EP 3373878 B1 EP3373878 B1 EP 3373878B1
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EP
European Patent Office
Prior art keywords
segment
femoral
modifiable
frame
pivotally
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EP15813244.9A
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English (en)
French (fr)
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EP3373878A1 (de
Inventor
Petra Haladova
Pavel Halada
Daniel POLAK
Tomas Svoboda
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Robotsystem SRO
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Robotsystem SRO
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Publication of EP3373878A1 publication Critical patent/EP3373878A1/de
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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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/006—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs convertible to stretchers or beds
    • 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids
    • 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
    • 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
    • A61G7/05—Parts, details or accessories of beds
    • A61G7/0507—Side-rails
    • 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
    • A61G7/08—Apparatus for transporting beds
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14—Joysticks

Definitions

  • the invention relates to a transport universal robotic adjustable device with the function of a wide range of adjustable positions, easy maneuverability, and high variability of the control options.
  • the basic bed structure when the basic bed structure detaches its part and extends as a wheelchair, the basic bed structure stays divided in its midst over the entire length. Mattresses or upholstery is divided at the point where the user always lies.
  • the width of current devices - wheelchairs - is generally constant, an option of width modifiability of the loading area cannot be used to extend the width of the loading area for a lying position, and to reduce it operatively for a sitting position, thus ensuring both comfortable bed, and passage through narrower spaces - for example through the door.
  • the device features an option of conversion of modifiable area to a position of bed, as well as to a position of chair, and other intermediate positions between the two extreme positions.
  • the device does not feature an angular verticalization and the related accessories needed for rehabilitation and other processes.
  • chassis construction is not adapted so that the layout maximizes the effective use of space for partial technologies.
  • the lowest position of the loading area is not well designed for the needs of disabled users and manipulation with the patient.
  • the device is not adapted for possible use by people higher than average.
  • WO2015067225 discloses a robotic mobile and modifiable wheelchair including all the technical features of the preamble of claim 1.
  • the Robotic mobiie and modifiable bed with verticalization consisting of a mobile omnidirectional chassis and a modifiable area equipped with a positioning system that enables its controlled adjustment; while the omnidirectional chassis contains a central frame in which sides in the upper part there are linear chassis conductors on which a front extensible frame and a rear extensible frame are suspended; while in each of them there is via silent-blocks a fixed axle arranged consisting of a connecting part in which side endings there are omnidirectional wheels placed firmly; while the front extensible frame and a rear extensible frame are connected pivotally through linear drives; while the end positions of the front extensible frame and a rear extensible frame are limited by extensible frame stops; while control units of chassis drives - rotary actuators of omnidirectional wheels - are arranged in the front extensible frame and the rear extensible frame; while batteries are arranged in the central frame on the sides at the bottom; while circumferential bumper elements are firmly arranged in the sagittal
  • the angular position of verticalization ranges to 75°; while the side rails of the head segment, back segment and calf segment fold downward by 180°; while the side rails of the femoral segment fold upward by 90°.
  • control units of chassis drives - linear actuators are arranged in the front extensible frame and the rear extensible frame.
  • a part of the headrest is a plug fork which then extends to holes of the head segment where screws with suspended ball are mounted enabling positioning of the headrest at shaped recesses of the plug fork.
  • plug holders for controller which can be placed on the folding board on the back of the head segment; while foot segment rests are arranged on the bottom surface of the foot segment.
  • lock handles of two-point clamping belts are firmly anchored on the lateral edges of segments; while there are two pairs of the lock handles with the deployment of two clamping belts at the back segment, and one pair of the lock handles with the deployment of one clamping belt at the femoral segment.
  • control units of linear actuators are in the segments of the central line.
  • our proposed device features a position of verticalization with an angle up to 75° which increases the range of possible movements, and thus rehabilitation and other processes. It offers a combination of functional features providing comfort to users at home, as well as in institutional care (wide range of possible movements; change from a full valid bed to chair able to pass a standard door width /80 cm/; the possibility of lowering the loading area at the height of a standard bed; extension of the loading area through adjustable headrest etc.).
  • our proposed device is simplified in comparison to existing systems, while improving functional properties, when there is for example simplification and consolidation of the entire folding mechanism of the side rails.
  • the figure for annotation shows two axonometric views of the modifiable chair (a,b) and a side view of the angular verticalization (c).
  • a robotic mobile and modifiable bed 1 for controlled adjustment of a positioning system 2 of a modifiable area 3 with the possibility of conversion of the modifiable area 3 to planar surface, modifiable chair 4 and angular verticalization 5, consist of a mobile omnidirectional chassis 6 on which the modifiable area 3 is arranged.
  • the basic subassembly of the mobile omnidirectional chassis 6 is a central frame 7 in which sides in the upper part there are two linear chassis conductors 8.
  • a front extensible frame 9 and a rear extensible frame 9 ' In each pair of the linear chassis conductors 8 there is in the anteroposterior direction suspended a front extensible frame 9 and a rear extensible frame 9 '; while in each of them there is through silent blocks 10 placed a fixed axle 11 consisting of a connecting part 12 in which endings there are through an interlock omnidirectional wheels 14 placed in which their rotary actuators are mounted; while the omnidirectional wheels 14 are equipped with brake discs to which perimeter electromagnetic brakes 13 extend firmly connected with side endings of the connecting part 12.
  • the front extensible frame 9 and the rear extensible frame 9' are pivotally connected by linear actuators 15 of the chassis extension with the central frame 7; while the end positions of the front extensible frame 9 and the rear extensible frame 9' are limited by extensible frame stops 16 of the extensible frame.
  • control units 17 of chassis drives - rotary actuators of the omnidirectional wheels 14 and linear actuators; while a battery charger 19 is placed in the rear extensible frame 9 '. Batteries 19 are placed on sides in the lower part of the central frame 7.
  • Circumferential bumper elements 20 are firmly arranged in the sagittal section at the front extensible frame 9 and the rear extensible frame 9' and on the sides of the central frame 7, when the circumferential bumper elements 20 are firmly attached to the central frame 7 and the sagittal circumferential bumper elements 20 are a part of the front extensible frame 9 and the rear extensible frame 9 '. Below them, there is a longitudinally and axially divided central cover 21 connected to the central frame 7, and two parts of the front cover 22 are attached to the front extensible frame 9 and the rear extensible frame 9 '.
  • the positioning system 2 which is a bottom part of the modifiable area 3, consisting of the following two basic frame subassembly segments and longitudinal lines: head segment 30, back segment 31, femoral segment 29, calf segment 32, and foot segment 33.
  • head segment 30, back segment 31, femoral segment 29, calf segment 32, and foot segment 33 Each of these segments except the foot segment 33 is equipped with two side rails 34 ; while in the longitudinal direction all segments form a retracted central line 35, and all side rails 34 form two longitudinal side lines 36.
  • Both side rails 34 of the femoral segment 29 in the upper position when folding upwards serve also as armrests 37 ; while each side rail 34 of the femoral segment 29 is a pitman of the four-joint mechanism and it is carried spatially by three handles.
  • One pair of the formed handles of mechanism of femoral segment side rails is free and the third handle 39 of the mechanism of femoral segment is operated via a linear side rail actuator 40 .
  • Each linear side rail actuator 40 is on the side of recess pivotally connected to the handle 43 of side rail mechanism placed on the side rail 34 , when the side rail 34 is pivotally arranged in relevant segment on the opposite side; while the four-joint mechanism is also complemented by a rod 44 of side rail mechanism 41 which is pivotally connected with relevant side rail 34 .
  • Faults between segments of the central line are as follows: The simplest controlled fault is between the femoral segment 29 and the calf segment 32 , when there is staggered suspension 41 with the suspension bolts 42 operated through two calf segment drives 45 pivotally mounted on the femoral segment 29 and directly controlling the calf segment 32 where there is again a pivotal arrangement.
  • head segment 30 - back segment 31 and back segment 31 - femoral segment 29 have similar arrangement; while the fault: head segment 30 - back segment 31 is simpler and it is directly controlled trough linear head segment drive 50 pivotally mounted in the back segment 31 , when it controls directly the head segment 30 in which it is placed.
  • the fault is realized by two holders 51 with pulleys firmly mounted in the back segment 31 to which arc guided rods 52 firmly connected with the head segment 30 extend.
  • back segment 31 - femoral segment 29 is made as a fault between the head segment 30 and the back segment 31 except that it is carried out by bottom arc guided rods 52' which are rigidly connected to the back segment 31 and extend into the holder 51' with lower pulleys; while it is operated through the two linear back segment drives 53 arranged pivotally in the back segment 31, and the counterpart is controlled via the four-joint mechanism, in which a handle 54 of back segment mechanism is arranged pivotally in the back segment 31 ; and through a mechanism rod 55 of the back segment, the second handle of the four-joint mechanism is controlled, which is the femoral segment 29 ; while the last virtual axis of the four-joint mechanism is formed by the middle of the bottom arc guided rod 52' .
  • a headrest 56 Through a plug fork 57 which is its part.
  • the plug fork 57 then extends into the openings in the head segment 30 in which screws 58 with suspended balls are stored allowing the positioning of headrest 56 on shaped recesses of the plug fork 57.
  • both side rails 34 of the femoral segment 29 in armrests 37 there are arranged plug holders 59 for a controller 60 which can by placed also on a folding board 61 mounted on the rear part of the head segment 30 .
  • Lock handles 62 of two-point clamping belts 63 area firmly anchored on the side edges of segments. There are two pairs of lock handles 62 with the possibility of deployment of two clamping belts 63 at the back segment 31 , and there is one pair of lock handles 62 with the possibility of deployment of one clamping belt 63 at the femoral segment 29 .
  • the surface of all parts of the positioning system 2 of the modifiable area 3 is coated with upholstery 64 ; while the surface of upholstery 64 on the outer edge is gradient downward to the central area of the modifiable area 3; moreover, the thickness of upholstery 64 is gradient toward the middle of the modifiable area 3 also to the middle sections of the segments from the end areas of the head segment 30 , the foot segment 33 and the side rails 34 .
  • foot segment 33 On the bottom of the foot segment 33 , there are foot segment rests 65 for use in modification of the modifiable chair 4 , or the angular verticalization 5 with the possibility of achieving an inclination of 75°.
  • Control units 66 of the linear actuators are arranged in segments of the central line 35 .
  • the principle of the robotic mobile and modifiable bed 1 is constituted by its possible transformations from the plane modifiable area 3 to the omnidirectional and height-adjustable modifiable chair 4 , or to the angular verticalization 5 using positioning system 2 , all with its omnidirectional mobility.
  • Omnidirectional movement of the robotic mobile and modifiable bed 1 is made possible by the omnidirectional chassis 6 , which base is a central frame 7 in which upper part there are in the front-rear direction linear chassis conductors 8 on which extensible frames are suspended - front extensible frame 9 and rear extensible frame 9' , while on each of them there is through silentblocks arranged a fixed axle 11 which base is a connecting part 12 in which side endings there are omnidirectional wheels 14 arranged through a shaped connection.
  • the omnidirectional wheels 14 are equipped with brake discs into which perimeter there extend electromagnetic brakes 13 firmly connected with the side ending of the connecting part 12 .
  • the electromagnetic brakes 13 enable safety brake at each stop of the mobile omnidirectional chassis 6 as a parking brake, or an emergency brake in case of failure of supply batteries 19 .
  • control units 17 of chassis drives - rotary actuators of omnidirectional wheels 14 and linear actuators.
  • User-convenient battery charger 18 is arranged in the bottom, central surface of the rear extensible frame 9' , and supply batteries of the electrical system of chassis are placed on the side surfaces of the central frame 7.
  • circumferential bumper elements 20 when the circumferential bumper elements 20 are firmly mounted on the central frame 7 and front-rear circumferential bumper elements 20 are part of the extensible frames - front extensible frame 9 and rear extensible frame 9' .
  • Safety and aesthetic covering formed by longitudinally and axially divided central cover 21 attached to the central frame 7 , and two parts of the front cover 22 mounted on the front extensible frame 9 and the rear extensible frame 9' .
  • the covering is dimensionally designed so that it is functional even at maximum extension of the front extensible frame 9 and the rear extensible frame 9' .
  • the modifiable area 3 in horizontal position designed for lying needs to be height controlled, its conversion to a modifiable chair 4 designed for sitting needs to be height and anterior-posterior controlled, and the same is applied for the angular verticalization 5 ; when for this purpose, there are in the longitudinal axis of the central frame 7 of the mobile omnidirectional chassis 7 the extensible telescopic columns 27 which are firmly mounted in the swinging basket 23 with eccentric axis and in the swinging basket 24 with eccentric axis and side pins; while only the swinging basket 24 with eccentric axis and side pins is driven by the linear basket drives 25 , when the swinging basket 23 with eccentric axis and in the swinging basket 24 with eccentric axis and side pins are firmly arranged in the swinging bearings 26 of the central frame.
  • Functional arrangement in form of modifiable chair 4 and angular verticalization 5 results from conversion of the modifiable area 3 , i.e. transition variability of the modifiable area 3 to the modifiable chair 4 or angular verticalization 5 and vice versa is possible via transverse and longitudinal division using the positioning system 2.
  • the modifiable area 3 is transversely divided into individual segments, which are: head segment 30 , back segment 3 1, femoral segment 29 , calf segment 32 and foot segment 33 , while each segment except the foot segment 33 is equipped with side rails 34 .
  • the modifiable area 3 is longitudinally divided into central line 35 consisting of all segments, and two opposite longitudinal side lines 36 consisting of side rails 34 ; while the longitudinal side line is shorter than the central line 35 because the foot segment is not equipped with side rails 34 .
  • Neighboring mutually consecutive segments - head segment 30, back segment 3 1, femoral segment 29 , calf segment 32 , foot segment 33 - and side rails 34 towards them are pivotally connected via staggered suspensions 41 and suspension bolts 42, allowing modification of shapes of the positioning system 2 of the robotic mobile and modifiable bed 1 .
  • All side rails 34 folds downward by about 180°, except the side rails 34 of the femoral segment 29 which fold upwards.
  • the linear side rail actuator 40 acts on the handle 43 of side rail mechanism pivotally arranged in the relevant segment, and further through a rod 44 of side rail mechanism fulfilling the function of the rocker of mechanism, acting on the side rail 34 pivotally arranged in the relevant segment which fulfills the function of the handle of the mechanism.
  • Movement of this side rail 34 is done through the four-joint mechanism creating approximate virtual axis on the surfaces of upholstery 64 of the said parts.
  • the four-joint mechanism is driven by linear side rail actuator 40 acting on the handle 39 of mechanism of femoral segment side rails, further following element is the mechanism of side rail 34 of the femoral segment 29 in function of a rocker of this mechanism, and said side rail 34 is carried by formed handles 38 of mechanism of femoral segment side rails; while staggered suspensions 41 with suspension bolts 42 are not used.
  • the simplest arrangement is the pivotal linkage by 90° downwards between the calf segment 32 and the femoral segment 29 , where there is only a pivotal linkage through the suspension bolts 42 and staggered suspensions 41 between the said segments, and the movement is done through a pair of calf segment drives 45 , pivotally suspended on both said segments.
  • Another subsequent linkage is the pivotal movement of the foot segment 33 toward the calf segment by 90° upwards.
  • the movement here is done through a calf segment drive 46 that is pivotally arranged in the calf segment 32 .
  • the four-joint mechanism is used there to increase the lift, into which two double handles 48 of foot segment mechanism there extend a foot segment drive 46, and this movement is transmitted via a pair of rods of foot segment mechanism, fulfilling the function of a rocker of the four-joint mechanism, on the foot segment 33 arranged pivotally in the calf segment extensions 49 .
  • the last lateral movement linkage is a pivotal movement of the back segment 31 by 90° upwards toward the femoral segment 29 , which is done through two bottom arc guided rods 52' with the middle in the interface intersection of surfaces of the back segment 31 and the femoral segment 29 .
  • Each bottom arc guided rod 52' is firmly connected with the back segment 31 and extends to the holder 51' with bottom pulleys which is a part of the femoral segment 29 .
  • the movement is done through two linear back segment drives 53 , pivotally arranged in the back segment 31 onto the femoral segment 29 .
  • the four-joint mechanism to increase the lift, when the linear back segment drives 53 act on the handle 54 of back segment mechanism pivotally attached in the back segment 31 , furthermore, the movement is transmitted through two rods 55 of back segment mechanism in function of a rocker of the four-joint mechanism, when the rods 55 of back segment mechanism act on the femoral segment thereby pushing the back segment 31 , and there is a fault in the last virtual joint of the four-joint mechanism which is the middle of the bottom arc guided rod 52' .
  • a headrest 56 it is possible to adjustably attach a headrest 56 to the upper edge of the head segment 30 , when a plug fork 57 of the head rest 56 can be mounted into the holes in the upper part of the head segment 30 ; while positioning of the headrest 56 can be done through two screws 58 with suspended ball firmly mounted in the head segment 30 .
  • All movements of the positioning system 2 of the robotic mobile and modifiable bed 1 and its mobile omnidirectional chassis 6 are controlled via the controller 60 that the sequence of some operations may be programmed to facilitate the control procedure and is carried out electronically. Therefore, the servo amplifiers of linear actuators are outside omnidirectional mobile chassis 6 and also in the central line 35.
  • the controller can be placed on the folding board 64 which is arranged on the head segment 30 whereby it is possible to control the positioning system 2 of the robotic mobile and modifiable bed 1 by operating-right-handed and left-handed person.
  • the control units of drives 66 are arranged in segments of the central line 35 , thereby minimizing the length of wiring from the linear drives of the positioning system 2 of the modifiable area 3 to the respective control units 66 of linear drives.
  • the robotic mobile and modifiable bed with verticalization is a universal robotic positioning system with a wide range of possible positions of the modifiable area which features a wide range of positions within the transition between three positions i.e. sitting position when the robotic mobile and modifiable bed has the shape of chair, horizontal position and position of the angular verticalization.
  • the device is height-adjustable with the possibility of omnidirectional motion, using both manual and remote control including the option of using the automated motions.
  • Universality of the unit also lies in the variability of different environments - it is designed both for a classical indoor environment and medical facilities and for outdoor environment.
  • the suggested transport universal robotic positioning system can be used for example for elderly people, immobile persons or patients in therapeutic processes. Therefore, it is usable in health care.

Claims (10)

  1. Robotische, mobile und modifizierbare Liege (1) aus einem mobilen Allrichtungs-Fahrgestell (6) und einer modifizierbaren Fläche (3), die mit einem Positioniersystem (2), das einen gesteuerten Umbau erlaubt, und mit folgenden Merkmalen ausgestattet ist:
    - das Allrichtungs-Fahrgestell (6) umfasst einen mittleren Rahmen (7), an dessen Seiten sich im oberen Teil lineare Führungen (8) des Fahrgestells befinden, an denen ein vorderer ausziehbarer Rahmen (9) und ein hinterer ausziehbarer Rahmen (9') eingehängt sind,
    - an jedem von ihnen ist mittels Dämpfungselementen eine starre Achse (11) gelagert, die aus einem Verbindungsteil (12) besteht, an dessen seitlichen Enden starr Mecanum-Räder (14) gelagert sind,
    - der vordere ausziehbare Rahmen (9) und der hintere ausziehbare Rahmen (9') sind pendelnd mit linearen Führungen verbunden,
    - die Endpositionen des vorderen ausziehbaren Rahmens (9) und des hinteren
    ausziehbaren Rahmens (9') sind durch Anschläge (16) des ausziehbaren Rahmens begrenzt,
    - im vorderen ausziehbaren Rahmen (9) und im hinteren ausziehbaren Rahmen (9') sind Steuereinheiten (17) der Fahrgestell-Antriebe in Form von Drehantrieben für die Mecanum-Räder (14) angebracht,
    - im mittleren Rahmen (7) sind an dessen Seiten im unteren Bereich Batterien (19) platziert,
    - im ventral-dorsalen Teil am vorderen ausziehbaren Rahmen (9) und hinteren
    ausziehbaren Rahmen (9') sowie an den Seiten des ausziehbaren Rahmens (7) sind Umfangs-Anschlagselemente (20) starr befestigt,
    - die seitlichen Umfangs-Anschlagselemente (20) sind starr am mittleren Rahmen (7) befestigt, und die ventral-dorsalen Umfangs-Anschlagselemente (20) sind Teil des vorderen ausziehbaren Rahmens (9) und des hinteren ausziehbaren Rahmens (9'),
    - am mittleren Rahmen (7) sind eine längs- und axialgeteilte mittlere Abdeckung (21) und am vorderen ausziehbaren Rahmen (9) und am hinteren ausziehbaren Rahmen (9') die beiden Teile einer Stirnabdeckung (22) befestigt,
    - der untere Teil der modifizierbaren Fläche (3) bildet das Positionierungssystem (2), das sich aus Untergruppensegmenten und Längslinien zusammensetzt, die aus Kopfsegment (30), hinterem Segment (31), Oberschenkelsegment (29), Wadensegment (32) und Fußsegment (33) bestehen,
    - an jedem dieser Segmente (30, 31, 29, 32) sind Seitenteile (34) angebracht, wobei all diese Segmente in Längsrichtung eine gebrochene Mittellinie (35) und alle Seitenteile (34) zwei Seitenlinien in Längsrichtung (36) bilden, wobei Positionsveränderungen zwischen den einzelnen Segmenten der Mittellinie (35) und hierdurch auch der entsprechenden Seitenlinien (34) in Querrichtung mithilfe von Knicken erreicht werden,
    - die Oberfläche (64) der modifizierbaren Fläche (3) ist gepolstert, wobei die Fläche der Polsterung (64) von den Außenrändern zur Mitte der modifizierbaren Fläche (3) leicht geneigt ist,
    dadurch gekennzeichnet,
    dass die modifizierbare Fläche (3) dank der konstruktiven Anordnung des Positionierungssystems (2) und des Allrichtungs-Fahrgestells (6) in die Position einer winkelmäßigen Vertikalisierung (5) positionierbar ist,
    dass der vordere ausziehbare Rahmen (9) und der hintere ausziehbare Rahmen (9') Teile des Fahrgestells (6) sind, die pendelnd mit den Antrieben (15) des Ausschubs des Fahrgestells mit dem Mittelrahmen (7) verbunden sind, wobei im hinteren ausziehbaren Rahmen (9') die Batterie gelagert ist,
    dass in der Längsachse des mittleren Rahmens (7) des Allrichtungs-Fahrgestells (6) Pendelkörbe gelagert sind, und zwar ein Pendelkorb (23) mit exzentrischer Achse und ein Pendelkorb (24) mit exzentrischer Achse und Seitenzapfen, an denen beidseitig Korbantriebe (25) befestigt sind, wobei der Pendelkorb (23) mit exzentrischer Achse und der Pendelkorb (24) mit exzentrischer Achse und Seitenzapfen pendelnd an den gegenüberliegenden Seiten in Pendellagern (26) des mittleren Rahmens befestigt sind, wobei an den Böden des Pendelkorbs (23) mit exzentrischer Achse und des Pendelkorbs (24) mit exzentrischer Achse und Seitenzapfen Füße von ausfahrbaren Teleskopsäulen (27) starr angebracht sind, die pendelnd am Oberschenkelsegment (29) befestigt sind, wobei das Oberschenkelsegment (29) und die beiden ausfahrbaren Teleskopsäulen (27) zusammen mit dem Pendelkorb (23) mit exzentrischer Achse und dem Pendelkorb (24) mit exzentrischer Achse und Seitenzapfen einen Viergelenk-Mechanismus bilden, der mittels den an seinen Seiten gelagerten Korbantrieben (25) und durch Hubveränderung der Teleskopsäulen (27) gesteuert wird,
    dass in den Mecanum-Rädern (14), die Teil der starren Achse (11) des Allrichtungs-Fahrgestells (6) sind, deren Drehantriebe gelagert sind, wobei die Mecanum-Räder (14) mit Bremsscheiben ausgestattet sind, in deren Umfang elektromagnetische Bremsen (13) eingreifen, die starr mit den seitlichen Abschlüssen des Verbindungsteils (12) verbunden sind,
    dass die an sich anknüpfenden Segmente und Seitenteile (34) gegenüber den Segmenten, die Teil des aus den Untergruppensegmenten und Längslinien bestehenden Positionierungssystems (2) sind, schwenkbar mittels versetzter Scharniere (41) und Scharnierbolzen (42) verbunden sind,
    dass eine Seitenplanke (34) des Kopfsegments (30), des Rückensegments (31) und des Wadensegments (32) nach unten klappbar sind, wobei die Scharnierbolzen (42) pendelnd mittels versetzter Scharniere (41) fest mit den Segmenten (35) der Mittellinie verbunden sind,
    dass die pendelnd verbundenen Scharnierbolzen (42) von den Antrieben (40) der Seitenteile gesteuert werden, die pendelnd in den Segmenten (35) der Mittellinie gelagert sind und zur Erweiterung des Hubumfangs vom Viergelenk-Mechanismus ergänzt werden,
    dass jeder Antrieb (40) des Seitenteils an der Angriffsseite pendelnd mit einer Kurbel (43) des Mechanismus des Seitenteils im entsprechenden Segment gelagert ist, wobei das Seitenteil (34) an der gegenüberliegenden Seite pendelnd im entsprechenden Segment gelagert ist und wobei dieser Viergelenk-Mechanismus gleichzeitig von einer Zugstange (44) des Mechanismus des Seitenteils ergänzt wird, die schwenkbar mit der entsprechenden Seitenplanke (34) verbunden ist,
    dass das Seitenteil (34) des Oberschenkelsegments (29) nach oben klappbar ist, wodurch es gleichzeitig auch die Handlehne (37) bildet,
    dass jedes der Seitenteile (34) des Oberschenkelsegments (29) einen Achsschenkel des Viergelenk-Mechanismus bildet und räumlich von drei Kurbeln getragen wird, wobei ein Paar der Formkurbeln (38) des Mechanismus des Seitenteils des Oberschenkelsegments frei ist und die dritte Kurbel (39) des Mechanismus des Seitenteils des Oberschenkelsegments vom Antrieb (40) der Seitenteile gesteuert wird,
    dass die Positionsveränderungen zwischen den einzelnen Segmenten der Mittellinie (35) und dadurch auch der entsprechenden Seitenteile (34) in Querrichtung mithilfe von Knicken erfolgen, wobei der Knick zwischen dem Oberschenkelsegment (29) und dem Wadensegment (32) mittels eines versetzten Scharniers (41) mit Scharnierzapfen (42) erfolgt, das von Antrieben (45) des Wadensegments gesteuert wird, die schwenkbar im Oberschenkelsegment (29) und Wadensegment (32) gelagert sind,
    dass den Knick zwischen dem Wadensegment (32) und dem Fußsegment (33) ein versetztes Scharnier (41) mit Scharnierzapfen (42) bildet, das vom Antrieb (46) des Fußsegments gesteuert wird, das schwenkbar am Wadensegment (32) angebracht ist und auf eine Doppelkurbel (48) des Mechanismus des Fußsegments wirkt, wobei die Zugstange (47) des Mechanismus des Fußsegments als Kipphebel wirkt und das Fußsegment (33) die Kurbel dieses Mechanismus bildet, die sich um die Drehachse dreht, die vom Aufsatz (49) des in den Bereich des Fußsegments (33) ragenden Wadensegments gebildet wird, wobei das Fußsegment (33) pendelnd in den Aufsätzen (49) des Wadensegments gelagert ist,
    dass der Knick zwischen Kopfsegment (30) und Rückensegment (31) mittels bogenförmig geführter Stangen (52) erfolgt, die starr mit dem Kopfsegment (30) verbunden sind und in einen Halter (51) mit Rollen eingreifen, der Teil des Rückensegments (31) ist, wobei die Bewegung mittels des pendelnd im Kopfsegment (30) und Rückensegment (31) gelagerten Antriebs (50) des Kopfsegments erfolgt,
    dass der Knick zwischen Rückensegment (31) und Oberschenkelsegment (29) durch untere bogenförmig geführte Stangen (52') erfolgt, die starr mit dem Rückensegment (31) verbunden sind und in einen Halter (51') mit unteren Rollen eingreifen, der Teil des Oberschenkelsegments (29) ist, wobei die Bewegung mittels der pendelnd im Rückensegment (31) gelagerten Antriebe (53) des Rückensegments erfolgt und wobei das Gegenstück mittels des Viergelenk-Mechanismus gesteuert wird, in dem die Kurbel (54) des Mechanismus des Rückenelements pendelnd im Rückenelement (31) gelagert ist und über eine Zugstange (55) des Mechanismus des Rückenelements eine zweite Kurbel des Viergelenk-Mechanismus das Oberschenkelsegment (29) gesteuert wird wobei die Mitte der unteren bogenförmig geführten Stange (52') eine letzte virtuelle Achse bildet, und
    dass sich im oberen Teil des Kopfsegments (30) Öffnungen zur Anbringung einer beweglichen Kopfstütze (56) befinden.
  2. Robotische, mobile und modifizierbare Liege (1) nach Anspruch 1,
    dadurch gekennzeichnet,
    dass die Position der winkelmäßigen Vertikalisierung (5) bis zu 75° möglich ist, wobei die Seitenteile (34) des Kopfsegments (30), des Rückensegments (31) und des Oberschenkelsegments (29) um 180° nach unten klappbar sind und wobei die
    Seitenteile (34) des Oberschenkelsegments (29) um 90° nach oben klappbar sind.
  3. Robotische, mobile und modifizierbare Liege (1) nach Anspruch 1,
    dadurch gekennzeichnet,
    dass der vordere ausziehbare Rahmen (9) und der hintere ausziehbare Rahmen (9') mit Steuereinheiten (17) der Fahrgestellantriebe (Linearantriebe) ausgestattet sind.
  4. Robotische, mobile und modifizierbare Liege (1) nach Anspruch 1,
    dadurch gekennzeichnet,
    dass die ausfahrbaren Teleskopsäulen (27) im Oberschenkelsegment (29) mittels Zapfen (28) mit Platten gelagert sind, die starr mit den Köpfen der Teleskopsäulen (27) verbunden sind, wobei diese Zapfen (28) mit ihren Platten schwenkbar im Oberschenkelsegment (29) gelagert sind.
  5. Robotische, mobile und modifizierbare Liege (1) nach Anspruch 1,
    dadurch gekennzeichnet,
    dass ein Teil der Kopfstütze (56) eine einsteckbare Gabel (57) ist, die so in die Öffnungen im Kopfsegment (30) eingreift, in denen sich Schrauben (58) mit Federkugel befinden, dass eine Positionierung der Kopfstütze (56) in den Aussparungen der ausziehbaren Gabel (57) ermöglicht wird.
  6. Robotische, mobile und modifizierbare Liege (1) nach Anspruch 1,
    dadurch gekennzeichnet,
    dass sich an beiden Seitenteilen (34) des Oberschenkelsegments (29) in den Handstützen (37) Steckhalter (59) für die Bedienung (60) befinden, die zudem an einer ausklappbaren Platte (61) an der Hinterseite des Kopfsegments (30) angebracht werden, wobei an der unteren Fläche des Fußsegments (33) Fußstützen (65) angebracht sind.
  7. Robotische, mobile und modifizierbare Liege (1) nach Anspruch 1,
    dadurch gekennzeichnet,
    dass sich an den Seitenrändern der Segmente fest verankerte Schloss-Verankerungen (62) für Zwei-Punkt-Sicherheitsgurte (63) befinden, wobei sich am Rückensegment (31) zwei dieser Verankerungspaare (62) zur Anbringung zweier Sicherheitsgurte (63) und am Oberschenkelsegment (29) ein Verankerungspaar (62) zur Anbringung eines Sicherheitsgurts (63) befinden.
  8. Robotische, mobile und modifizierbare Liege (1) nach Anspruch 1,
    dadurch gekennzeichnet,
    dass sich die Dicke der Polsterung bis zu den mittleren Teilen der Segmente von den Endbereichen des Kopfsegments (30), des Fußsegments (33) und der Seitenteile (34) zur Mitte der modifizierbaren Fläche (3) hin vergrößert.
  9. Robotische, mobile und modifizierbare Liege (1) nach Anspruch 1,
    dadurch gekennzeichnet,
    dass die Antriebe des Mechanismus des Positioniersystems (2) der Liegefläche (3), die Antriebe zum Ausrücken des Fahrgestells (15) und die Korbantriebe (25) linear sind.
  10. Robotische, mobile und modifizierbare Liege (1) nach Anspruch 1,
    dadurch gekennzeichnet,
    dass in den Segmenten der Mittellinie die Steuereinheiten der Linearantriebe (66, 35) integriert sind.
EP15813244.9A 2015-11-10 2015-11-13 Robotisches mobiles und modifizierbares bett mit vertikalisierung Not-in-force EP3373878B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CZ2015-801A CZ306563B6 (cs) 2015-11-10 2015-11-10 Robotické mobilní a modifikovatelné lůžko s vertikalizací
PCT/CZ2015/000137 WO2017080534A1 (en) 2015-11-10 2015-11-13 Robotic mobile and modifiable bed with verticalization

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EP3373878A1 EP3373878A1 (de) 2018-09-19
EP3373878B1 true EP3373878B1 (de) 2019-05-22

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KR (1) KR20180094887A (de)
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EP3643284B1 (de) * 2017-07-22 2022-05-04 Jiangsu Hengai Medical Equipment Co., Ltd Pflegebett
DE102018118570A1 (de) * 2018-07-31 2020-02-06 Meyra Gmbh Elektrorollstuhl mit Aufrichtfunktion

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JP3957597B2 (ja) * 2002-09-04 2007-08-15 三洋電機株式会社 可動ベッド
US8336140B2 (en) * 2005-04-04 2012-12-25 Raye's, Inc. Automated multi-functional support apparatus
EP2886549A1 (de) 2005-07-04 2015-06-24 Zannan Scitech Co., Ltd. Rutheniumkomplexligand, Rutheniumkomplex erwendung des Komplexes als Katalysator in Olefinmetathesereaktionen
WO2011155177A1 (ja) 2010-06-08 2011-12-15 パナソニック株式会社 ベッド、及びベッドの合体方法と分離方法
CN102481219B (zh) 2010-06-21 2014-08-13 松下电器产业株式会社 床以及轮椅
JP5326047B2 (ja) 2010-06-21 2013-10-30 パナソニック株式会社 ベッド
EP2722028A1 (de) * 2012-10-19 2014-04-23 Bruno Rolland Self-propelled wheelchair for a disabled person
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RO131089A2 (ro) * 2014-11-24 2016-05-30 Ciprian Pădurariu Fotoliu rulant cu sistem de verticalizare

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CZ2015801A3 (cs) 2017-03-08
EP3373878A1 (de) 2018-09-19
KR20180094887A (ko) 2018-08-24
CZ306563B6 (cs) 2017-03-08
WO2017080534A1 (en) 2017-05-18

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