KR20220070688A - Bed robot with pressure ulcer prevention - Google Patents

Abstract

The present invention relates to a bed robot having a bedsore-prevention function so as to be used by critically ill patients who cannot change physical positions on their own, such as not only for the general patients, but also the elderly, the weak, the paralyzed, the unconscious, and the post-surgery-status patients, and the bed robot enables a user to selectively adjust the height of a bed, adjust a tilt on the head or leg side, adjust a standing angle of the back or legs, adjust a two-stage folding on the shin and thigh sides, and adjust the left-right tilt of the bed robot, and also to modify the bed for using as a wheelchair and guarantee the safety from the risk of falls, and which particularly provides a periodic position change based on the patient's condition, thereby providing convenience of use that can also help prevent the bedsores. That is, the bed robot of the present invention includes: a transfer cart equipped with wheels having a brake function on the lower side; a pair of height adjusting means symmetrically installed at the front and rear of the transfer cart; a lifting board installed on an upper side of the pair of height adjusting means; a tilting means installed on the lifting board; a bed top plate installed on the tilting means; and a mattress placed on the bed top plate.

Description

Bed robot with pressure ulcer prevention

The present invention relates to a bed robot having a pressure ulcer prevention function that can be used not only by general patients, but also by elderly patients, debilitated patients, paralyzed patients, unconsciousness, and critically ill patients who cannot change their positions by themselves, such as post-surgery states, more specifically is used to selectively adjust the height of the bed, adjust the inclination of the head or legs, adjust the standing angle of the back or legs, fold the shin and thigh in two stages, and adjust the left and right inclination of the bed. A bed with a pressure ulcer prevention function that can be transformed into a bed and used to ensure safety from the risk of falls It is intended to provide robots.

In the case of critically ill patients who cannot change their position on their own, such as elderly patients, debilitated patients, paralyzed patients, unconsciousness, or post-surgery conditions, if they do not change the patient’s position at least every 1 to 2 hours with the help of a caregiver or guardian, Since pressure sores occur, it is necessary to change the position at regular intervals and keep the skin area clean and dry.

For this purpose, medical beds of various configurations are provided.

As a representative example, a medical bed of Republic of Korea Patent Publication (B1)10-0947374 (2010.03.15.) has been proposed, and the configuration is that a pair of fixing rods are formed on both sides of the inner central wall and each corner of the bottom surface is formed. A bed frame having a leg having a moving roller installed in the portion, a plurality of loess bed units are installed, and a separation prevention unit formed on both sides to prevent separation of the loess bed unit; a support plate installed on the loess bed unit to support the loess bed unit; A head part installed on the support plate, a body part extending below the head part to guide the elevation of the loess bed unit, and extending below the body part, seated on the upper side of the elastic spring, and inside the elevation member a unit for elevating and lowering installed in a state of maintaining a constant height from the floor surface and comprising a seating portion that applies pressure to the space; an elevating member installed on the upper end of the fixing table of the bed frame and having an elastic spring disposed therein, an inlet through which hydraulic and pneumatic pressure is injected and discharged is formed at the upper side, and vertically moves the elevating unit in up and down directions; a drip tray which is located in the inner space of the bed frame, the wheels are installed on each corner of the bottom, and the bottom has a constant inclined surface; It is installed on the bed frame and is configured to include an angle adjusting means for angular motion of the bed frame.

As another example, a medical bed of Republic of Korea Patent Publication No. (B1)10-1493467 (2015.02.16.) has been proposed, and the configuration includes a lower frame; an upper frame detachably installed on the lower frame; a patient support frame that is rotatably installed on the upper frame to support the upper or lower body of the patient, and rotates while moving to one side or the other side of the upper frame; a patient seat coupled to the patient support frame so that the patient can lie down; and an upper frame lifting unit connecting the lower frame and the upper frame to elevate the upper frame from the lower frame, wherein the upper frame lifting unit includes: a first driving member installed in the lower frame; a first rotating part rotatably installed on the lower frame so as to be connected to the first driving member; a second rotating part rotatably installed on the lower frame to interlock with the first rotating part; and a link part connecting the second rotating part and the upper frame, and being folded through rotation of the second rotating part to elevate the upper frame.

Most of the conventional medical beds described above have a configuration capable of implementing a function capable of erecting the patient's upper body, lifting the legs, or adjusting the height of the bed. There was a demand for a multifunctional medical bed that can be changed and provided for use, and can also be used for wheelchairs if necessary.

KR 100947374 B1 2010.03.15. KR 101493467 B1 2015.02.16.

Accordingly, the present inventors have researched and developed the present invention to provide a bed robot having a pressure ulcer prevention function that eliminates all the problems of the conventional medical bed.

That is, in the present invention, the bed top plate of the bed robot having a pressure ulcer prevention function is divided into a back support plate, a buttock support plate and a leg support plate, and the leg support plate is divided into a thigh support plate and a calf support plate. The height of the bed top can be adjusted using the installed height adjusting means, and the bed top can be tilted in the longitudinal direction or the width direction using the height adjusting means and the tilting means installed on the elevator platform, and the above-mentioned A bed robot with a pressure ulcer prevention function that provides convenience to contribute to the prevention of bedsores by allowing the tilting operation to be periodically controlled by the control device according to the sensing value of the pressure sensor installed on the mattress placed on the bed top. The present invention has been completed with the technical problem of the invention being provided.

In the present invention as a means to solve the problem, first, a transport cart equipped with wheels having a brake function on the lower side; a pair of height adjusting means symmetrically installed on the front and rear of the transfer cart; a lifting platform installed on the upper side of the pair of height adjustment means; a tilting means installed on the elevator platform; a bed top plate installed on the tilting means; It is characterized in that it comprises a mattress placed on the bed top plate.

Second, the pair of height adjusting means installed symmetrically on the front and rear side includes: a first shaft supported by a first support bracket provided on the transfer cart; a rotation bracket eccentrically coupled to the center of the first shaft; a first actuator coupled to the transfer cart and the rotation bracket so that both ends are rotated to rotate the first shaft; a lower link having a lower end coupled to the first shaft and rotating by the operation of the first actuator; a crossed roller bearing coupled to the upper end of the lower link; a second shaft installed on the first support bracket so as to be located above the center of the first shaft and opposite to the lower link; an auxiliary link having a lower end coupled to the second shaft and rotating with a third shaft having an upper end eccentrically coupled to an inner ring of the crossed roller bearing; It is characterized in that it is provided in a configuration including an upper link whose upper end is coupled to be rotated by a bearing to the second support bracket provided on the lift plate and the third shaft is eccentrically coupled to the inner ring of the crossed roller bearing coupled to the lower end.

Third, the tilting means includes: a third support bracket installed on the upper side of the elevator platform; a fourth shaft installed on the third support bracket in the longitudinal direction of the bed; a fourth support bracket installed on the bottom surface of the bed top plate in a state coupled to the fourth shaft; It is characterized in that it includes a second actuator installed on the bottom surface of the lifting platform to rotate the fourth shaft.

Fourth, it is characterized in that a plurality of load cells for detecting the weight of a patient lying on the bed are installed on all four sides of the lifting platform, so that the position of the patient can be grasped by the detection value of the load cell.

Fifth, the bed top plate includes: a butt support plate connected to the elevator platform by tilting means to rotate in the width direction; a third actuator for erecting or laying down the back support plate and the buttock support plate and the buttock support plate and the back support plate connected to the hinge so that both ends are fixed to rotate; It is characterized in that it is configured to include a leg support plate connected by a hinge to the buttock support plate opposite to the backrest support plate, and a fourth actuator fixed to rotate both ends to the buttock support plate and the leg support plate to set up or lay down the leg support plate.

Sixth, the leg support plate includes: a thigh support plate connected to the buttock support plate and a hinge; It is divided into a thigh support plate and a calf support plate connected by a hinge; the thigh support plate is erected or laid down by a fourth actuator; Both ends of the thigh support plate and the calf support plate are fixed to rotate so as to include a fifth actuator for erecting or laying down the calf support plate; It is characterized in that when the fifth actuator is withdrawn, the calf support plate is unfolded in a horizontal state, and when the fifth actuator is drawn in, the calf support plate is folded.

Seventh, a fall prevention piece is partitioned on the left and right sides of the buttock support plate and the back support plate and the thigh support plate constituting the bed top plate; The fall prevention piece is connected to the buttock support plate, the back support plate, and the thigh support plate by a hinge, and is also connected to the neighboring fall prevention piece by a hinge; Two 6th actuators are symmetrically installed on the backrest support plate, and the fall prevention piece is rotated upwards when the 6th actuator is withdrawn by coupling it with the buttock support plate and a connection bracket, and when the 6th actuator is retracted, the fall prevention piece is downward. It is characterized in that it is rotated and laid down.

Eighth, the first and second actuators and the sixth actuator are operated by the pressure value provided by the pressure sensor by installing a pressure sensor at regular intervals on the mattress placed on the bed top, and electrically connecting to the controller. It is characterized in that it is possible to periodically provide a position change.

When using the bed robot having a pressure ulcer prevention function provided by the present invention, the following effects are obtained.

- In the state that the bed top plate is divided into a back support plate, a hip support plate, and a leg support plate, and the leg support plate is divided into a thigh support plate and a calf support plate, the height adjustment means installed on the front and rear of the elevator board are operated individually or simultaneously, and also the elevator board By operating the tilting means installed on the bed, the bed top can be raised or lowered, the inclination of the head or legs can be adjusted, and the inclination can be adjusted in the width direction.

-The backrest plate and calf support plate can be operated individually or in combination to stand up the backrest plate, or the thigh and calf support plates can be used to stand up in various ways.

-The bed robot can be folded like a chair and used as a substitute for a wheelchair.

-The bed top can be tilted in the width direction, so it is possible to reduce the incidence of bedsores, etc. by turning the patient with difficulty in mobility.

- Since the legrest plate can be bent in two stages, the leg can be lifted and supported at a predetermined angle when the leg is broken.

- By synthesizing the detection value of the pressure sensor installed on the mattress and the detection value of the load cell, the controller automatically controls the height adjustment means, the tilting means, and the fall prevention piece. effect can be maximized.

1 is an external perspective view showing a preferred embodiment of a bed robot having a pressure ulcer prevention function provided by the present invention;
Figure 2 is a front view of a bed robot having a pressure ulcer prevention function provided by the present invention;
3 is a side view of a bed robot having a pressure ulcer prevention function provided by the present invention;
4 is a plan view of a bed robot having a pressure ulcer prevention function provided by the present invention;
5 is a perspective view taken from the height adjustment means in the present invention
Figure 6 is a front view of Figure 5, a state in which the height adjustment means is lowered;
Figure 7 is a front view of Figure 5, a state in which the height adjustment means is raised;
8 is a side view of FIG. 5
9 is a cross-sectional view illustrating a state in which a lower link, an upper link, and an auxiliary link are combined with a cross roller bearing in FIG.
10 is a perspective view showing the configuration of the tilting means in the present invention;
11 is a side view showing the operating state of the tilting means applied to the present invention;
12 is a bottom perspective view of a bed top plate applied to the present invention;
13 is a side view and a bottom view showing an installation state of the third actuator provided in the present invention;
14 is a side view showing the operating state of the third actuator provided in the present invention;
15 is a side view and a bottom view showing the installation state of the fourth actuator and the fifth actuator provided in the present invention;
16 is a side view showing the operating state of the fourth actuator and the fifth actuator provided in the present invention;
17 is a plan view showing the configuration of a fall prevention piece applied to the bed top of the present invention;
18 is a side cross-sectional view of FIG. 17
19 is a plan view of the mattress applied to the present invention

Hereinafter, a preferred embodiment of the bed robot having a pressure ulcer prevention function provided by the present invention will be described based on the accompanying drawings.

1 is an external perspective view showing a preferred embodiment of a bed robot having a pressure ulcer prevention function provided by the present invention, and FIGS. 2 to 4 are a front view of a bed robot having a pressure ulcer prevention function provided by the present invention and A side view and a top view are shown.

The bed robot 1 having a pressure ulcer prevention function provided in the present invention has a transfer cart 2, a height adjusting means 3 on the upper side of the transfer cart 2, and a height adjusting means 3 on the upper side of the bed robot 1 as shown. It is divided into a tilting means (4) and a bed top plate (5) above the tilting means (4).

The transfer bogie 2 is provided with wheels 22 installed on the lower side of the bogie frame 21 to provide mobility, and the brake 23 is installed on the bogie frame 21 so as to be exposed to the outside and installed in all directions. By allowing the wheel 22 to be braked, mobility is ensured and the wheel 22 can be fixed in a specific place.

A height adjusting means 3 is installed on the upper side of the bogie frame 21, and the height adjusting means 3 is symmetrically installed in the front (head side) and rear (foot side), and symmetrically installed in the front and rear The height adjusting means 3 is also configured as a pair on the left and right, and the lifting platform 6 provided with the tilting means 4 for supporting the bed top plate 5 is supported by four height adjusting means 3 . Provides a configuration that elevates to

A tilting means (4) is installed on the lifting platform (6) installed on the upper side of the height adjustment means (3) and raised and lowered by the height adjustment means (3), and as mentioned above, the bed top plate ( 5) is installed.

The bed top plate 5 is composed of a butt support plate 51 coupled to the tilting means 4, a back support plate 52 and a leg support plate 53, and the upper side of the bed top plate 5 is a mattress ( 13) is enshrined.

In addition, a plurality of fall prevention side rails 7 are installed in all directions of the bed top plate 5 , and means for user convenience are installed on these fall prevention side rails 7 .

For example, a controller 8 or an indicator or the like may be provided.

The bed top plate 5 can adjust the inclination in the longitudinal direction by individually operating the symmetrically installed height adjusting means 3 , and the tilting means 4 can adjust the inclination in the width direction of the bed top plate 5 . have.

Hereinafter, each component of the present invention will be described in more detail.

5 is a perspective view showing the height adjustment means in the present invention is extracted, Figure 6 is a state in which the height adjustment means is lowered in the front view of Figure 5, Figure 7 is a state in which the height adjustment means is raised in the front view of Figure 5 8 is a side view of FIG. 5, and FIG. 9 is a cross-sectional view illustrating a state in which a lower link, an upper link, and an auxiliary link are combined with a cross roller bearing in FIG.

The height adjusting means 3 applied to the present invention has a configuration in which the lower part is installed on the upper side of the transfer cart 2, and the upper part is installed on the lower part of the lifting platform 6, and the left and right pair are symmetrical to the front and rear. is installed with

That is, a pair of left and right first support brackets 24 are provided on the front and rear sides of the transport cart 2, and the first shaft 31 is installed to be supported by a bearing so as to rotate. The rotation bracket 32 is integrally coupled to the middle of the first shaft 31 , and a protrusion is formed on the rotation bracket 32 to be eccentric, and both ends of the first actuator 33 are formed between the protrusion and the transfer cart 2 . is rotatably coupled to push and pull the rotation bracket 32 when the first actuator 33 operates to convert a linear motion into an arc motion.

The lower link 34 is fixed to both sides of the rotation bracket 32 on the first shaft 31 so that it can be rotated together with the first shaft 31, and the upper end of the lower link 34 has a crossed roller bearing 34a. ) is installed.

In addition, the second shaft 35 is coupled to the first support bracket 24 together. The second shaft 35 is installed so as to be located above the center of the first shaft 31 and in the opposite direction to the lower link 34 when viewed from the side to rotate. The second shaft 35 is coupled to the lower end of the auxiliary link 36 so that it can rotate, and the upper end of the auxiliary link 36 is eccentrically coupled to the inner ring of the crossed roller bearing 34a. The third shaft 37 ) in combination with the lower link 34 and the auxiliary link 36 to provide a four-section link configuration so that stable operation can be achieved.

Meanwhile, the lower end of the upper link 38 is coupled to the third shaft 37 to which the upper end of the auxiliary link 36 is coupled.

The upper link 38 is rotatably coupled to the second support bracket 61 provided on the lifting platform 6 as a bearing, and a cross roller bearing 38a is installed in the lower portion like the upper end of the lower link 34 to install the inner ring. The third shaft 37 is coupled so as to be eccentric to the .

When the height adjusting means 3 is configured in this way, when the first shaft 31 is rotated outwardly by the first actuator 33 , the auxiliary link 36 installed on the lower link 34 and the second shaft 35 . At this time, the upper link 38 is also erected while rotating upward, and when the first shaft 31 rotates inwardly by the first actuator 33, the lower link 34 and the second shaft 35 ), the auxiliary link 36 is laid down, and at this time, the upper link 38 is also laid down while rotating downward to adjust the height.

Figure 10 is a perspective view showing the configuration of the tilting means in the present invention, Figure 11 is a side view showing the operating state of the tilting means applied to the present invention.

The tilting means 4 provided in the present invention is a component for rotating the bed top plate 5 left and right.

That is, a pair of third support brackets 41 are installed on the upper side of the lifting platform 6 to which the upper link 38 of the height adjusting means 3 is coupled, and the bed robot is mounted on the third support bracket 41 . The fourth shaft 42 is coupled to be supported by a bearing so as to be rotated in the longitudinal direction of the .

The fourth shaft 42 is coupled to the fourth support bracket 43 provided under the butt support plate 51 constituting the bed top plate 5 to provide a butt support plate 51 together with the fourth shaft 42 . allow it to be rotated

And the fourth shaft 42 is integrally coupled with the connecting operation member 44 so that it is drawn out to the lower side of the lifting platform 6 , and the second connecting operation member 44 and the lower part of the lifting platform 6 are Both ends of the actuator 45 are rotatably coupled to rotate the fourth shaft 42 .

In addition, the patient lying along the bed top plate (5) by installing load cells (9) in all directions so as to be in contact with the third support bracket (41) supporting the fourth shaft (42) on the upper side of the lifting platform (6) to check the weight of At this time, the third support bracket 41 is fixed to the lift plate 6 through the load cell 9, so that the weight provided to each load cell 9 is checked when the patient lying along the bed top plate 5 moves. allows the patient's location to be checked arbitrarily.

In the case of configuring the tilting means 4 as described above, it is possible to adjust the inclination in the width direction of the bed by pushing and pulling the second actuator 45 .

12 is a bottom perspective view of the bed top plate applied to the present invention.

The bed top plate 5 provided in the present invention is provided with a back support plate 52 on one side of the buttock support plate 51 coupled to the tilting means 4 as a center as shown, and a leg support plate on the opposite side ( 53) is installed, and these back support plates 52 and leg support plates 53 are coupled to each other in a hinge configuration so that they can be erected or laid down at various angles, and this operation is performed by the third to fifth actuators ( 10) (11) (12) is achieved.

13 is a side view and a bottom view showing an installation state of the third actuator provided in the present invention, and FIG. 14 is a side view showing an operating state of the third actuator provided in the present invention.

The back support plate 52 provided in the present invention is configured to rotate by being interconnected by a hinge on one side of the buttock support plate 51 .

In addition, a third actuator 10 is installed between the buttock support plate 51 and the back support plate 52 to enable the back support plate 52 to be erected or laid down at various angles.

The third actuator 10 forms a fixing bracket on the lower side of the buttock support plate 51 and the back support plate 52, and is coupled thereto to rotate by coupling fixing means such as a pin or a bolt nut.

When the third actuator 10 is operated while the third actuator 10 is installed so that both ends are fixed to the buttock support plate 51 and the back support plate 52 as described above, the buttock support plate 51 and The back support plate 52 connected by a hinge is erected or laid down so that it is in a horizontal state with the buttock support plate 51 .

15 is a side view and a bottom view showing the installation state of the fourth actuator and the fifth actuator provided by the present invention, and FIG. 16 is a side view showing the operating state of the fourth actuator and the fifth actuator provided by the present invention will show

In the case of the leg support plate 53 provided in the present invention, as shown, it may be divided into a thigh support plate 53a and a calf support plate 53b.

Preferably, the thigh support plate 53a connected to the buttock support plate 51 and the hinge, and the thigh support plate 53a and the calf support plate 53b connected by the hinge are combined to form the leg support plate 53 .

At this time, the fourth actuator 11 is installed between the buttock support plate 51 and the thigh support plate 53a so that the thigh support plate 53a can be erected or laid down at various angles.

The fourth actuator 11 forms a fixing bracket on the lower side of the buttock support plate 51 and the thigh support plate 53a, and combines it with a fixing means such as a pin or a bolt nut to be able to rotate.

Then, both ends are fixed to the thigh support plate 53a and the calf support plate 53b to rotate, and a fifth actuator 12 is installed to set up or lay down the calf support plate 53b.

The fifth actuator 12 forms a fixing bracket below the thigh support plate 53a and the calf support plate 53b and combines fixing means such as a pin or a bolt nut to it to rotate. When the fifth actuator 12 is withdrawn, the calf support plate 53b is horizontally extended, and when the fifth actuator 12 is drawn in, the calf support plate 53b is folded.

In addition, in the present invention, it is configured to further include a footrest 54 to the side of the calf support plate 53b.

The footrest 54 may be configured to be adjustable in length in the longitudinal direction of the bed top plate 5, and length adjustment is made by installing an actuator 55 for the footrest between the footrest 54 and the calf support plate 53b. configure it to be

17 is a plan view showing the configuration of the fall prevention piece applied to the bed top plate of the present invention, and FIG. 18 is a side sectional view of FIG. 17 .

In the case of the bed top plate 5 provided in the present invention, when the bed is tilted in the width direction by the tilting means 4, a fall prevention piece 56 is provided to prevent the patient lying on the bed from deviating from the center, and have.

The fall prevention piece 56 is partitioned by a predetermined width on the left and right sides of the buttock support plate 51, the back support plate 52, and the thigh support plate 53a constituting the bed top plate 5, and these fall prevention pieces 56 is connected to the buttock support plate 51, the back support plate 52, and the thigh support plate 53a by a hinge, and is also connected to the neighboring fall prevention piece 56 by a hinge, so that the backrest support plate 52 and the legs of the bed top plate 5 While allowing the support plate 53 to be bent, the fall prevention piece 56 is configured to stand up in the width direction of the bed top plate 5 when the bed top plate 5 is unfolded.

In order to operate the fall prevention piece 56, in the present invention, two sixth actuators 57 are symmetrically installed on the lower surface of the backrest support plate 52, and the fall prevention piece 56 and the connection bracket 58 are coupled to each other. When the 6th actuator 57 is withdrawn, the fall prevention piece 56 is rotated upward to be erected, and when the 6th actuator 57 is retracted, the fall prevention piece 56 is rotated downward to be laid down.

19 shows a plan view of the mattress 13 applied to the present invention.

The mattress 13 used on the bed top plate 5 of the present invention has a built-in pressure sensor 13a at regular intervals. The pressure sensor may be installed on the backrest support plate 52 and the buttock support plate 51 .

The pressure sensor 13a is electrically connected to the controller 8 installed on the fall prevention side rail 7 to provide a pressure value provided by the pressure sensor 13a.

At this time, the controller 8 confirms the position of the patient according to the pressure value of the pressure sensor 13a, operates the first and second actuators 33 and 45 to adjust the inclination of the bed top plate 5, and also By operating the sixth actuator 57 to make the fall prevention piece 56 stand up, the position change of the patient lying on the mattress 13 can be provided periodically.

The above-described position change period can be arbitrarily set by a caregiver or the like by operating the controller 8 .

In the detailed description of the present invention, although specific embodiments are described, various modifications are possible without departing from the scope of the present invention. Therefore, the protection scope of the present invention should not be limited to the described embodiments, and should be defined by the following claims as well as equivalents.

1: Bed robot with bedsore prevention function 2: Transport cart
21: bogie frame 22: wheel
23: brake 24: first support bracket
3: height adjustment means 31: first axis
32: rotation bracket 33: first actuator
34: lower link 34a, 38a: cross roller bearing
35: second axis 36: auxiliary link
37: 3rd axis 38: upper link
4: tilting means 41: third support bracket
42: 4th axis 43: 4th support bracket
44: connection actuator 45: second actuator
5: Bed top 51: Buttock plate
52: back support plate 53: leg support plate
53a: thigh support plate 53b: calf support plate
54: scaffolding 55: actuator for scaffolding
56: fall prevention section 57: 6th actuator
58: Connection bracket 6: Elevator plate
61: second support bracket 7: side rail for fall prevention
8: Controller 9: Load cell
10: the third actuator 11: the fourth actuator
12: fifth actuator 13: mattress
13a: pressure sensor

Claims (8)

a transport cart 2 provided with wheels 22 having a brake 23 function to the lower side;
A pair of height adjustment means (3) symmetrically installed on the front and rear of the transfer cart (2) and;
a lifting platform 6 installed on the upper side of the pair of height adjusting means 3;
a tilting means (4) installed on the lifting platform (6);
a bed top plate (5) installed on the tilting means (4);
A bed robot having a pressure ulcer prevention function, characterized in that it includes a mattress (13) placed on the bed top plate (5).
The method of claim 1 ;
A pair of height adjusting means (3) installed symmetrically on the front and back includes a first shaft (31) supported by a first support bracket (24) provided on the transfer cart (2);
a rotation bracket 32 eccentrically coupled to the center of the first shaft 31;
a first actuator 33 coupled to the transfer cart 2 and the rotation bracket 32 so that both ends are rotated to rotate the first shaft 31;
a lower link 34 having a lower end coupled to the first shaft 31 and rotating by the operation of the first actuator 33;
a crossed roller bearing (34a) coupled to the upper end of the lower link (34);
a second shaft (35) installed on the first support bracket (24) so as to be located above the center of the first shaft (31) and opposite to the lower link (34);
an auxiliary link 36 having a lower end coupled to the second shaft 35 and rotating with a third shaft 37 having an upper end eccentrically coupled to an inner ring of the crossed roller bearing 34a;
The upper link is coupled to rotate as a bearing to the second support bracket 61 provided on the lifting platform 6 and the third shaft 37 is eccentrically coupled to the inner ring of the crossed roller bearing 34a coupled to the lower end. (38) Bed robot having a pressure ulcer prevention function, characterized in that provided in the configuration comprising.
The method of claim 1 ;
The tilting means (4) includes a third support bracket (41) installed on the upper side of the lifting platform (6);
a fourth shaft 42 installed on the third support bracket 41 in the longitudinal direction of the bed;
a fourth support bracket (43) installed on the bottom surface of the bed top plate (5) in a state coupled to the fourth shaft (42);
Bed robot having a pressure ulcer prevention function, characterized in that it is installed on the bottom surface of the lifting plate (6) and comprises a second actuator (45) for rotating the fourth shaft (42).
4. The method of claim 3;
A plurality of load cells (9) for detecting the weight of a patient lying on the bed top plate (5) are installed on all sides of the lift plate (6) so that the position of the patient can be grasped by the detection value of the load cell (9). A bed robot with a pressure ulcer prevention function.
The method of claim 1 ;
The bed top plate 5 includes a butt support plate 51 connected to the elevator platform 6 by tilting means 4 to rotate in the width direction;
The back support plate 52 connected to the buttock support plate 51 and the hinge and both ends are fixed to the buttock support plate 51 and the back support plate 52 so that both ends are rotated to erect or lay down the back support plate 52. A third actuator (10) Wow;
The leg support plate 53 connected to the buttock support plate 51 and the hinge opposite the backrest support plate 52 and the buttock support plate 51 and the leg support plate 53 are fixed so that both ends are rotated so that the leg support plate 53 is erected. Bed robot having a pressure ulcer prevention function, characterized in that it is configured to include a fourth actuator (11) that lays down.
6. The method of claim 5;
The leg support plate 53 includes a thigh support plate 53a connected to the buttock support plate 51 and a hinge; It is divided into a thigh support plate (53a) and a calf support plate (53b) connected by a hinge;
The thigh support plate (53a) is erected or laid down by the fourth actuator (11);
Both ends of the thigh support plate 53a and the calf support plate 53b are fixed to rotate so as to include a fifth actuator 12 for erecting or laying down the calf support plate 53b;
When the fifth actuator 12 is withdrawn, the calf support plate 53b is spread horizontally, and when the fifth actuator 12 is drawn in, the calf support plate 53b is folded. bed robot.
The method of claim 1 ;
The buttock support plate 51, the back support plate 52, and the thigh support plate 53a constituting the bed top plate 5 divide the fall prevention pieces 56 on the left and right sides;
The fall prevention piece 56 is connected to the buttock support plate 51, the back support plate 52, and the thigh support plate 53a by a hinge, and is also connected to the neighboring fall prevention piece 56 by a hinge;
The two sixth actuators 57 are symmetrically installed on the backrest support plate 52 and coupled to the buttock support plate 51 and the connecting bracket 58 so that when the sixth actuator 57 is withdrawn, the fall prevention piece 56 is A bed robot with a pressure ulcer prevention function, characterized in that it is rotated upward and is erected, and when the sixth actuator (57) is retracted, the fall prevention piece (56) is rotated downward to lie down.
The method of claim 1 ;
The first and second pressure sensors 13a are installed on the mattress 13 placed on the bed top plate 5 at regular intervals and electrically connected to the controller 8 by the pressure value provided by the pressure sensor 13a. A bed robot having a pressure ulcer prevention function, characterized in that it can periodically provide a position change of a patient lying on the mattress (13) by operating the actuators (33) (45) and the sixth actuator (57).

Images