WO2017080534A1 - Lit mobile et modifiable robotique avec verticalisation - Google Patents

Lit mobile et modifiable robotique avec verticalisation Download PDF

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Publication number
WO2017080534A1
WO2017080534A1 PCT/CZ2015/000137 CZ2015000137W WO2017080534A1 WO 2017080534 A1 WO2017080534 A1 WO 2017080534A1 CZ 2015000137 W CZ2015000137 W CZ 2015000137W WO 2017080534 A1 WO2017080534 A1 WO 2017080534A1
Authority
WO
WIPO (PCT)
Prior art keywords
segment
femoral
modifiable
frame
segments
Prior art date
Application number
PCT/CZ2015/000137
Other languages
English (en)
Inventor
Petra Haladova
Pavel Halada
Daniel POLAK
Tomas Svoboda
Original Assignee
Robotsystem, S.R.O.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robotsystem, S.R.O. filed Critical Robotsystem, S.R.O.
Priority to EP15813244.9A priority Critical patent/EP3373878B1/fr
Priority to KR1020187016577A priority patent/KR20180094887A/ko
Publication of WO2017080534A1 publication Critical patent/WO2017080534A1/fr

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Classifications

    • 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.
  • PCT/CZ2013/000150 It is a robotic mobile and modifiable bed which consists of an omnidirectional and a modifiable area equipped with a positioning system that enables its controlled adjustment.
  • 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.
  • the Robotic mobile 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 section, on the
  • 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. Furthermore, it is advantageous when upholstery thickness towards the middle of the modifiable area increases into the central part of the segments from the end areas of head segment, foot segment and side rails.
  • control units of linear actuators are in the segments of the central line.
  • the system removes a gluteal line, when its function is taken by extensible telescopic columns firmly arranged to the femoral line and in the central chassis frame, creating four-joint mechanism controlled in the chassis.
  • This arrangement replaces the linear extension within the gluteal line which is necessary for entering of the patient to the chair modification, and enables to lower the lowest position of the loading area, and furthermore it allows creating of modification of the loading area to the angular verticalization.
  • the loading area is therefore adequately sized for the needs of disabled users and manipulation of the patient (the possibility of achieving a comparable height of loading area of normal beds and the loading area of the robotic mobile and modifiable bed with verticalization).
  • the head segment can be positioned rearward to a certain extent - the user can lean his or her head back.
  • 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).
  • FIG. 1 Two axonometric views of the modifiable chair (1a, 1b) and a side view of the angular verticalization (1c)
  • FIG. 2 Axonometric views of the omnidirectional chassis, where on the top view there is the chassis with extensible frames in extended position (2b), and on the bottom view there is the chassis with extensible frames in retracted position (2a)
  • FIG. 3 Top axonometric views of the modifiable area in the bed shape while on the top drawing there is the omnidirectional chassis with retracted extensible frames (3a), and on the bottom drawing there are the extensible frames extended to increase the overall stability (3b)
  • FIG. 4 In the upper part, there is a bottom view of the omnidirectional chassis with extended extensible frames; there is apparent pull-out system of the frame, fixing system of extensible telescopic columns and positioning system (4a).
  • Another view is a detail of the clamping belt with lock handle (4d).
  • the last image is an axonometric view of the robotic mobile and modifiable bed without the front cover, but with the central cover (4c) noticeable.
  • FIG. 5 A side rectangular view of the robotic mobile and modifiable bed, with the modifiable area and the omnidirectional chassis with extended extensible frames and covering through front and central covers
  • FIG. 6 A side rectangular view and a cross-section of the modifiable area with positioning system, extensible telescopic columns and their control via basket linear actuators through the swinging basket with eccentric axis and the swinging basket with eccentric axis and side pins. In both images there are apparent all mechanisms of transverse segment faults of the central line (6a,6b).
  • FIG. 7 A bottom axonometric view of the modifiable area with positioning system extensible telescopic columns and their control via basket linear actuators through the swinging basket with eccentric axis and the swinging basket with eccentric axis and side pins. There are apparent mechanisms of transverse segment faults of the central line, and mechanisms of relevant faults of side rails.
  • FIG. 8 A rectangular longitudinal cross-section of the modifiable chair, where a system of extension and positioning of the telescopic columns with their control via linear actuators is apparent; further there are faults of segments with their control via positioning mechanisms, including their drives as part of the positioning system (8a).
  • the second view from left is a longitudinal cross-section of angular verticalization, where the function of the positioning system (8b) is apparent.
  • FIG. 9 A rear axonometric view of the modifiable area in a position of the angular verticalization; the figure shows all positioning mechanisms forming the positioning system.
  • FIG. 10 In the upper left part there is a detail of connection of the lock handle prepared for attaching a clamping belt. In the bottom left part there is a cross-section of handle of the extensible telescopic column, where pivotal arrangement in the femoral segment via bolt with plate (10b) is apparent. On the third detail on the right there is a cross-section of pivotal attachment of the side rail in the staggered suspension with suspension bolt as a connection element, further there is apparent the four-joint mechanism for increasing the lift of a side rail operated via linear actuator of side rails ⁇ 1 Oc).
  • FIG. 11 At the top of the figure, there is apparent the attachment of a side rail of the femoral segment with its positioning of the four-joint mechanism (11a). In the bottom part there is the positioning of the foot segment through the mechanism for the increasing of the lift of pivotal movement; while the foot segment is pivotally arranged in the double handle of the foot segment mechanism (11b).
  • the controller is mounted on the folding board representing its location to control modifiable chair via operator (12a). The view is complemented by a detail of arrangement of the folding board of the controller handle (12b).
  • 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 verbalization 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
  • control units In the front extensible frame 9 and the rear extensible frame 9' there are arranged control units
  • chassis 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.
  • 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 controliing the calf segment 32 where there is again a pivotal arrangement.
  • head segment 30 - back segment 31 and back segment 3J. - 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 3_1, when it controls directly the head segment 30 in which it is placed.
  • the fault is realized by two holders 5_1 with pulleys firmly mounted in the back segment 3_1 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 5V 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 57.
  • 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.
  • plug holders 59 for a controller 60 which can by placed also on a folding board 6J. 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 rests 65 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 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 91, while on each of them there is through silentblocks arranged a fixed axle 1J.
  • which base is a connecting part 2 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.
  • 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 vertica!ization 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.
  • the modifiable area 3 is transversely divided into individual segments, which are: head segment 30, back segment 31, 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 31 , 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 3_1 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 5? is firmly connected with the back segment 3J. 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 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 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 operatingjright-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.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nursing (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

La présente invention concerne un lit mobile et modifiable (1) qui est constitué d'un châssis omnidirectionnel mobile (6) et d'une zone modifiable (3) avec un système de positionnement (2) ; dans lequel le châssis omnidirectionnel (6) est constitué d'un cadre central (7) et de cadres extensibles (9, 9') ; dans lesquels, dans chacun d'entre eux, est agencé un essieu fixe (11) avec des roues omnidirectionnelles (14) ; dans lequel le système de positionnement (2) est constitué d'un segment de tête (30), d'un segment de dos (31), d'un segment fémoral (29), d'un segment de cheville (32) et d'un segment de pied (33) ; dans lequel que les segments (30, 31, 29 et 32) sont équipés de rails latéraux (34) ; dans lequel la zone modifiable (3) est réglable à une position de la verticalisation angulaire (5) en utilisant une disposition de construction du système de positionnement (2) et du châssis omnidirectionnel (6) ; dans lequel, dans l'axe longitudinal du cadre central (7) sont placés les paniers oscillants (23, 24), dans les bases desquels sont fermement agencés des pieds des colonnes télescopiques extensibles (27) qui sont placées de façon pivotante par rapport au côté opposé dans le segment fémoral (29) ; dans lequel le segment fémoral (29), les colonnes télescopiques extensibles (27) et les paniers oscillants (23, 24) forment un mécanisme à quatre jonctions entraîné par les entraînements de panier (25) et le changement de levage des colonnes télescopiques extensibles (27) ; dans lequel, dans les roues omnidirectionnelles (14) de l'essieu fixe (11) du châssis omnidirectionnel (6) sont placés des actionneurs rotatifs ; dans lequel les segments mutuellement consécutifs et les rails latéraux (34) vers les segments sont raccordés de façon pivotante par l'intermédiaire de suspensions échelonnées (41) et de boulons de suspensions (42) ; dans lequel les rails latéraux (34) des segments (30, 31, 32) se plient vers le bas ; dans lequel les boulons de suspension (42) assemblés de façon pivotante sont entraînés par les actionneurs de rail latéral (40) qui sont agencés de façon pivotante dans les segments (35) de ligne centrale, et complétés par le mécanisme à quatre jonctions pour étendre la portée de levage ; dans lequel les rails latéraux (34) du segment fémoral (29) se plient vers le haut ; dans lequel les changements de position entre les segments de la ligne centrale (35) et, par conséquent, les rails latéraux associés (34) dans la direction transversale sont réalisés par des défauts ; dans lequel le défaut entre le segment fémoral (29) et le segment de cheville (32), et le défaut entre le segment de cheville (32) et le segment de pied (33) sont formés par la suspension échelonnée (41) avec un boulon de suspension (42) commandé par l'actionneur associé ; dans lequel le défaut entre le segment de tête (30) et le segment de dos (31), et le défaut entre le segment de dos (31) et le segment fémoral (29) sont fournis par des tiges guidées par arc (52, 52') fermement raccordées au segment associé sur leur premier côté, et par l'extrémité opposée s'étendant dans la poignée (51, 51') avec des poulies.
PCT/CZ2015/000137 2015-11-10 2015-11-13 Lit mobile et modifiable robotique avec verticalisation WO2017080534A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP15813244.9A EP3373878B1 (fr) 2015-11-10 2015-11-13 Lit mobile et modifiable robotique avec verticalisation
KR1020187016577A KR20180094887A (ko) 2015-11-10 2015-11-13 수직화 장치를 구비하고, 로봇식의 이동성이 있는 변경 가능한 침대

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CZ2015-801A CZ2015801A3 (cs) 2015-11-10 2015-11-10 Robotické mobilní a modifikovatelné lůžko s vertikalizací
CZPV2015-801 2015-11-10

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CN108938249A (zh) * 2017-07-22 2018-12-07 江苏恒爱医疗器械有限公司 护理床
DE102018118570A1 (de) * 2018-07-31 2020-02-06 Meyra Gmbh Elektrorollstuhl mit Aufrichtfunktion

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EP1535593A1 (fr) * 2002-09-04 2005-06-01 Sanyo Electric Co., Ltd. Lit basculant
US20120016093A1 (en) 2005-07-04 2012-01-19 Zannan Scitech Co., Ltd. Recyclable ruthenium catalysts for metathesis reactions
US20120181779A1 (en) * 2010-06-21 2012-07-19 Shohei Tsukada Wheelchair and bed
EP2581072A1 (fr) 2010-06-08 2013-04-17 Panasonic Corporation Lit, procédé de formation d'un lit par union, procédé de séparation d'un lit
EP2583650A1 (fr) 2010-06-21 2013-04-24 Panasonic Corporation Lit et chaise roulante
US20140265181A1 (en) * 2013-03-14 2014-09-18 Stryker Corporation Reconfigurable transport apparatus
WO2015067225A1 (fr) * 2013-11-07 2015-05-14 Moravsky Vyzkum, S.R.O. Lit robotique mobile modifiable

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EP2722028A1 (fr) * 2012-10-19 2014-04-23 Bruno Rolland Fauteuil automoteur pour personne handicapée
RO131089A2 (ro) * 2014-11-24 2016-05-30 Ciprian Pădurariu Fotoliu rulant cu sistem de verticalizare

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EP1535593A1 (fr) * 2002-09-04 2005-06-01 Sanyo Electric Co., Ltd. Lit basculant
US20120016093A1 (en) 2005-07-04 2012-01-19 Zannan Scitech Co., Ltd. Recyclable ruthenium catalysts for metathesis reactions
EP2581072A1 (fr) 2010-06-08 2013-04-17 Panasonic Corporation Lit, procédé de formation d'un lit par union, procédé de séparation d'un lit
US20120181779A1 (en) * 2010-06-21 2012-07-19 Shohei Tsukada Wheelchair and bed
EP2583650A1 (fr) 2010-06-21 2013-04-24 Panasonic Corporation Lit et chaise roulante
EP2583651A1 (fr) 2010-06-21 2013-04-24 Panasonic Corporation Chaise roulante et lit
US20140265181A1 (en) * 2013-03-14 2014-09-18 Stryker Corporation Reconfigurable transport apparatus
WO2015067225A1 (fr) * 2013-11-07 2015-05-14 Moravsky Vyzkum, S.R.O. Lit robotique mobile modifiable

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108938249A (zh) * 2017-07-22 2018-12-07 江苏恒爱医疗器械有限公司 护理床
CN108938249B (zh) * 2017-07-22 2023-09-01 江苏恒爱医疗器械有限公司 护理床
DE102018118570A1 (de) * 2018-07-31 2020-02-06 Meyra Gmbh Elektrorollstuhl mit Aufrichtfunktion

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CZ306563B6 (cs) 2017-03-08
EP3373878B1 (fr) 2019-05-22
CZ2015801A3 (cs) 2017-03-08
EP3373878A1 (fr) 2018-09-19
KR20180094887A (ko) 2018-08-24

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