CN104523388B - Multifunctional nursing bed and wheelchair conversion system and method - Google Patents
Multifunctional nursing bed and wheelchair conversion system and method Download PDFInfo
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- CN104523388B CN104523388B CN201510015494.5A CN201510015494A CN104523388B CN 104523388 B CN104523388 B CN 104523388B CN 201510015494 A CN201510015494 A CN 201510015494A CN 104523388 B CN104523388 B CN 104523388B
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- 230000000474 nursing effect Effects 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 15
- 238000000926 separation method Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 61
- 238000004891 communication Methods 0.000 claims description 16
- 239000000758 substrate Substances 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 6
- 206010048909 Boredom Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
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Abstract
The invention relates to a nursing bed and wheelchair conversion system. The nursing bed and wheel chair conversion system comprises a wheelchair (7) and a nursing bed base body (6). A trolley (8) is arranged at the lower portion of the wheelchair (7). The lower portion of the nursing bed base body (6) is provided with a groove (5). The trolley is clamped in the groove (5), and then a wheelchair supporting part (1) is laid flat, so the wheelchair (7) and the nursing bed base body (6) are combined into a multifunctional nursing bed. The invention further relates to a nursing bed and wheelchair conversion method. The conversion method comprises a combination method and a separation method. According to the nursing bed and wheelchair conversion system and method, a patient can be moved from the multifunctional nursing bed to the wheelchair just by himself/herself without the help of others, so that free movement is achieved, and nursing of the patient is facilitated.
Description
Technical field
Patent of the present invention is related to a kind of care bed, more particularly, to a kind of care bed and wheelchair converting system and its separate
Method with combining.
Background technology
Increasingly severe with Chinese population aging, concern senior health and fitness becomes a current big problem.Work as old age
Ill be can't take care of oneself when needing nursing, multifunction nursing bed can bring patient very big help, if in current base
On plinth, that can do is more intelligent, it will finer to life of elderly person, reduces the difficulty of nursery work simultaneously.
It is combined into one multifunction nursing bed with wheelchair or is separated, patient can be allowed more easily to walk out ward
Relieve boredom, how to allow the multifunction nursing bed one that engages with wheelchair more intelligent, and multifunction nursing bed engage with wheelchair
When being integrated, position is more accurate, thus multifunction nursing bed back lifting after not affecting to be engaged by two parts, the function such as bend one's legs.
Content of the invention
Move on wheelchair from sick bed to solve current patient and being difficult to only rely on itself, or be difficult to only rely on itself from
Technical deficiency present on sick bed is transformed on wheelchair, and a kind of multifunction nursing bed and wheelchair converting system is provided, with
And operate this converting system to realize the method that patient exchanges between wheelchair and care bed.
In order to realize above-mentioned technical purpose, the technical scheme that the present invention provides is as follows：
A kind of multifunction nursing bed and wheelchair converting system, wherein, converting system includes wheelchair and care bed matrix, described
Wheelchair bottom is provided with dolly, and described care bed matrix underpart is provided with groove, and described dolly snaps in groove, and then tiling wheelchair props up
Support part, wheelchair and care bed matrix merge into one multifunction nursing bed.
A kind of technical scheme that the present invention is preferable to carry out is, multifunction nursing bed also include positioning navigation module, described
Positioning navigation module is connect by the location navigation transmitter module being arranged on wheelchair and the location navigation being arranged on care bed matrix
Receive module composition.
A kind of technical scheme that the present invention is preferable to carry out is that wheelchair also includes handguard, is arranged on the wheelchair control hand of handguard
Handle, is arranged on wheel seat base below dolly, location navigation transmitter module, position accurate adjustment module, wheelchair controller, wherein, institute
Stating wheelchair control handle controls dolly to carry out orientation movement, and described wheelchair controller controls dolly to move.
A kind of technical scheme that the present invention is preferable to carry out is that wheel seat base bottom is provided with Mecanum wheel, and described Mike receives
Nurse wheel is used for realizing wheelchair all-around mobile.
A kind of technical scheme that the present invention is preferable to carry out is that described position accurate adjustment module is by least by three microswitch groups
Become, wherein, at least two microswitches are arranged on the side of dolly, before at least one microswitch is arranged on dolly
End, described microswitch is connected with wheelchair controller, and can implement to control by wheelchair controller.
A kind of technical scheme that the present invention is preferable to carry out is wherein, to be additionally provided with three switches in the groove of care bed matrix
Touch groove, described switch actuating groove is arranged on the front end of groove, and corresponding with microswitch, and described switch actuating groove is arranged on
The side of groove, and corresponding with microswitch.
A kind of technical scheme that the present invention is preferable to carry out is, wherein, positioning navigation module can using ultrasonic sensor or
One of infrared sensor or laser sensor, are connected with wheelchair controller by described positioning navigation module, by controlling
Wheelchair all-around mobile realized by dolly, and the dolly of achievable wheelchair bottom enters in the groove of care bed matrix, realizes wheel
Chair is positioned with the assembling of care bed matrix.
The present invention also provides a kind of multifunction nursing bed conversion method with wheelchair, and the technical scheme that it adopts is as follows：Turn
The method of changing includes separating and combined method, and it is as follows that described separation method includes step：
The first step, the separation button switch when needing care bed matrix to separate with wheelchair, on operation wheelchair joystick；
Second step, separation button switch start dolly, and dolly drives wheelchair slowly to depart from the groove of care bed matrix underpart；
3rd step, when dolly slowly exits the groove of care bed matrix underpart, wheelchair is separated with care bed matrix；
4th step, regulation wheelchair supporting part, make wheelchair supporting part be folded into wheelchair profile.
The present invention also provides a kind of multifunction nursing bed conversion method with wheelchair, and the technical scheme that it adopts is as follows：Turn
The method of changing includes separating and combined method, and it is as follows that described combined method includes step：
The first step, the combination button switch when needing care bed matrix to combine with wheelchair, on operation wheelchair joystick；
Second step, positioning navigation module automatically and agv controller connection communication, is moved by agv controller pilot trolley
Dynamic, make dolly initially enter care bed groove of substrate；
3rd step, when dolly initially enters the groove of care bed matrix underpart, the microswitch on dolly is corresponding and protects
When switch actuating groove in reason bed groove of substrate touches, microswitch can produce a switching signal when touching, and issues dolly
Controller, positioning navigation module stops and agv controller connection communication, and microswitch starts and agv controller connection communication,
Dolly all-around mobile is controlled by wheelchair control handle and agv controller, the microswitch on dolly is all touched with switch
When dynamic groove is touched and touched, and when agv controller receives the switching signal that whole microswitches touch generation, dolly stops
Mobile, multifunction nursing bed combination completes.
The solution have the advantages that：By providing a kind of multifunction nursing bed and wheelchair converting system, realize patient and exist
Not by with the help of other people, and only by itself, oneself is transferred on wheelchair from multifunction nursing bed, thus realizing
Freely activity.Patient also by multifunction nursing bed with wheelchair converting system, and not by external force in the case of, and only pass through
Itself from the wheelchair moves to oneself on multifunction nursing bed.Thus greatly facilitating the nursery work of patient, it is also convenient for
The acting on one's own of patient.
Brief description
Fig. 1 is multifunction nursing bed and wheelchair forms structural representation.
Fig. 2 is flow chart during multifunction nursing bed combination.
Fig. 3 is that during multifunction nursing bed conjunction, base enters groove simplified schematic diagram.
Accurate adjustment mode in position when Fig. 4 first touches for 402 microswitches.
Accurate adjustment mode in position when Fig. 5 first touches for 403 microswitches.
Accurate adjustment mode in position when Fig. 6 touches for 402,403 microswitches.
Fig. 7 is figure after the multifunction nursing bed combination of position accurate adjustment.
Fig. 8 is for carrying out back lifting and bent leg figure after multifunction nursing bed combination after the accurate adjustment of position.
Fig. 9 is not carry out back lifting and bent leg figure after the multifunction nursing bed combination of position accurate adjustment.
Specific embodiment
With specific embodiment, the multifunction nursing bed combination system of the present invention and method are carried out in detail below in conjunction with the accompanying drawings
Thin illustrate, in the hope of being more clearly understood that the architectural feature of the present invention and using process, but the guarantor of the present invention can not be limited with this
Shield scope.
Fig. 1 is the monomer structure schematic diagram of care bed matrix 6 and wheelchair 7, as shown in figure 1, multifunction nursing bed include shield
Reason bed matrix 6 and wheelchair 7, in the bottom middle setting fluted 5 of care bed matrix 6, on the groove 5 of care bed matrix 6 bottom
It is provided with least three switch actuating grooves（501、502、503）, wherein, switch actuating groove（502、503）It is arranged on care bed base
On the side of groove 5 of body 6 bottom, switch actuating groove 501 is arranged on the front end of groove 5 or the rear end of care bed matrix 6 bottom.
As shown in figure 1, including support member 1 and dolly 8 on wheelchair 7, and it is arranged on the dolly drivetrain in dolly 8
System, wherein, dolly 8 is provided with position accurate adjustment module 4, and position accurate adjustment module 4 is by least three microswitches（401、402、403）
Composition, microswitch 401 is arranged on front end or the rear end of dolly, and can be corresponding with switch actuating groove 501, microswitch
（402、403）It is arranged on the side of dolly, and can be with switch actuating groove（502、503）Correspondence.
It is additionally provided with positioning navigation module 2, wherein, positioning navigation module 2 includes being arranged on nursing on multifunction nursing bed
Location navigation receiver module 202 on bed matrix 6 and the location navigation transmitter module 201 being arranged on wheelchair, location navigation mould
Block 2 can adopt ultrasonic sensor or one of infrared sensor or laser sensor, by described positioning navigation module 2 with
Wheelchair controller 10 connects, and realizes wheelchair 7 all-around mobile by controlling dolly 8, and the dolly 8 of achievable wheelchair 7 bottom enters
Enter in the groove 5 of care bed matrix 6, realize the assembling positioning of wheelchair 7 and care bed matrix 6.
With reference to shown in Fig. 1, the handguard 100 of wheelchair 7 also sets up wheelchair control handle 101 and agv controller 10, dolly
Controller 10 and wheelchair control handle 101 are communicated with position accurate adjustment module 4 and positioning navigation module 2 respectively, and received bit
Put accurate adjustment module 4 and the command information of positioning navigation module 2.
With reference to shown in Fig. 1, the bottom of wheelchair 7 is provided with dolly 8, drives wheelchair 7 mobile by dolly 8, the lower end of dolly sets
There is base 3, the lower end of base is provided with Mecanum wheel 9, be used for realizing wheelchair 7 all-around mobile by Mecanum wheel 9.
Three switch actuating grooves（501、502、503）Respectively with wheelchair 7 on position accurate adjustment module 4 in three fine motions open
Close（401、402、403）Corresponding, three microswitches（401、402、403）Corresponding three switches can be respectively enterd touch
Dynamic groove（501、502、503）.
Supporting part 1 is also included on wheelchair 7, wherein, wheelchair 7 supporting part 1 can be folded into the support shape of wheelchair it is also possible to tile
Tabular as one-tenth care bed matrix 6.When wheelchair 7 is combined with care bed matrix 6, supporting part 1 and care bed base
Body 6 be laid into one multifunction nursing bed, when wheelchair 7 is separated with care bed matrix 6, wheelchair supporting part 1 is folded into wheelchair 7
Profile.
Multifunction nursing bed separation is that, when multifunction nursing bed separation, it comprises with conversion method principle when combining
Step be：
The first step, the separation button when needing care bed matrix 6 to separate with wheelchair 7, on operation wheelchair joystick 101
Switch；
Second step, separation button switch start dolly 8, and dolly 8 drives wheelchair 7 slowly to depart from care bed matrix 6 bottom
Groove 5；
3rd step, when dolly 8 slowly exits the groove 5 of care bed matrix 6 bottom, wheelchair 7 is separated with care bed matrix 6；
4th step, regulation wheelchair 7 supporting part 1, make wheelchair supporting part 1 be folded into wheelchair profile.
When multifunction nursing bed combination, the step that it comprises is：
The first step, the combination button when needing care bed matrix 6 to combine with wheelchair 7, on operation wheelchair joystick 101
Switch；
Second step, positioning navigation module 2 automatically and agv controller 10 connection communication, is guided little by agv controller 10
Car 8 is mobile, makes dolly 8 initially enter care bed matrix 6 groove；
3rd step, when dolly 8 initially enters the groove 5 of care bed matrix 6 bottom, the microswitch on dolly 8（401、
402、403）Correspond to and the switch actuating groove in care bed groove of substrate 5（501、502、503）During shake-up, microswitch（401、
402、403）A switching signal can be produced during shake-up, and issue agv controller 10, positioning navigation module 2 stops and dolly control
Device 10 connection communication processed, microswitch（401、402、403）Start and agv controller 10 connection communication, by wheelchair control hand
Handle 101 and agv controller 10 control dolly all-around mobile, the microswitch on dolly（401、402、403）All with open
Close and touch groove（501、502、503）When touching and touching, and agv controller 10 receives whole microswitches（401、402、
403）When touching the switching signal producing, dolly stops moving, and multifunction nursing bed combination completes.
Operational flowchart when Fig. 2 is combined with wheelchair 7 for care bed matrix 6, with reference to shown in Fig. 2, operating procedure is as follows：
The first step, wheelchair control when wheelchair 7 and care bed matrix 6 are in released state, on operation wheelchair 7 handguard 100
Handle 101, and provide the combined command of wheelchair 7 and care bed matrix 6.
Second step, the positioning navigation module 201 on wheelchair 7 and navigation receiver module 202 automatically begin to work, care bed base
The mutual transmission information of positioning navigation module 201 in navigation receiver module 202 and wheelchair 7 dolly 8 in body 6 groove 5, meanwhile,
Agv controller 10 connection communication in positioning navigation module 201 and navigation receiver module 202 and dolly 3, by base 3
Agv controller 10 controls trolley base 3 to press the movement of certain route, so that dolly 8 is initially entered in the groove 5 of care bed matrix 6.Recessed
Groove 5 size is bigger than dolly 8 base 3 size, to be easier to allow dolly 8 to enter in groove 5.
3rd step, during the base 3 of dolly 8 enters groove 5, the microswitch 402,403 on base 3 can be because encountering
502 faces of groove 5 and touch, touch when microswitch 402,403 is one of, then dolly 8 positioning navigation module 2 stops and bottom
Agv controller 10 connection communication on seat 3.
4th step, dolly 8 position accurate adjustment module 4 and agv controller 10 connection communication on base 3, position accurate adjustment module 4
Operation principle：By microswitch 401,402,403 and agv controller 10 connection communication on base 3, when any one fine motion
During switch touching, microswitch can produce a switching signal, and issues the agv controller 10 on base 3, little on base 3
Vehicle controller 10 control dolly 8 base 3 all-around mobile, until base 3 on microswitch 401,402,403 all with matrix
Groove 501,502 faces are touched and microswitch（401、402、403）All issue producing switching signal during touching on base 3
Agv controller 10, then stop dolly 8 base 3 mobile.Dolly 8 base 3 is fitted and is alignd with groove of substrate 501,502 faces, many work(
Can care bed merging terminate.
Fig. 3 is that during multifunction nursing bed conjunction, base enters groove simplified schematic diagram, with reference to shown in Fig. 3, works as microswitch（402、
403）Touch with the medial surface groove 502 of groove 5, when the medial surface groove 501 of microswitch 401 and groove 5 touches, then position
Navigation module 2 stops and agv controller 10 connection communication on base 3.
Fig. 4 first touches simplified schematic diagram for microswitch 402, when microswitch 402 first touches the switch actuating groove of groove 5
502, positioning navigation module 2 stops and agv controller 10 connection communication on base 3, more counterclockwise slight moving cart 8 make micro-
Dynamic switch 403 touches the switch actuating groove 503 of groove 5 again, when microswitch 403 touches the switch actuating groove 503 of groove 5,
Slight reach dolly makes microswitch 401 touch the switch actuating groove 501 of groove 5 again, that is, complete the dolly on wheelchair 7 and nursing
The combination of bed matrix 6.
Fig. 5 first touches simplified schematic diagram for microswitch 403, when microswitch 403 first touches the switch actuating groove of groove 5
503, positioning navigation module 2 stops and agv controller 10 connection communication on base 3, more clockwise slight moving cart 8 make micro-
Dynamic switch 402 touches the switch actuating groove 502 of groove 5 again, when microswitch 402 touches the switch actuating groove 502 of groove 5,
Slight reach dolly makes microswitch 401 touch the switch actuating groove 501 of groove 5 again, that is, complete the dolly on wheelchair 7 and nursing
The combination of bed matrix 6.
Fig. 6 touches simplified schematic diagram for microswitch 402,403 simultaneously, when microswitch 402,403 touch respectively simultaneously recessed
The switch actuating groove 502,503 of groove 5, positioning navigation module 2 stops and agv controller 10 connection communication on base 3, more slightly
Reach dolly makes microswitch 401 touch the switch actuating groove 501 of groove 5 again, that is, complete the dolly on wheelchair 7 and care bed base
The combination of body 6.
Fig. 7 is that wheelchair 7 combines structural representation with care bed matrix 6, with reference to shown in Fig. 7, when wheelchair 7 and nursing
After bed matrix 6 combination, put down the support zone 1 of wheelchair 7, and stitched together with the support member of care bed matrix 6, constitute
One multifunction nursing bed.
Fig. 8 is merged with care bed matrix for wheelchair and carries out the multifunction nursing bed back lifting after accurate adjustment and bent leg figure, works as nursing
Bed matrix 6 has carried out accurate adjustment when merging with wheelchair 7, you can realize the support zone slitless connection of care bed matrix 6 and wheelchair 7,
There is provided one comfortable multifunction nursing bed.
Fig. 9 is not carry out the multifunction nursing bed back lifting after accurate adjustment wheelchair in position is merged and bent leg figure with care bed matrix,
Do not carry out accurate adjustment when care bed matrix 6 is merged with wheelchair 7 it is impossible to realize care bed matrix 6 seamless with the support zone of wheelchair 7
Docking, can cause multifunction nursing bed support zone out-of-flatness, and affect the rest of patient, can bring very big discomfort to patient.
Embodiment described above only have expressed embodiments of the present invention, and its description is more detailed, as long as the skill of this area
After viewing embodiments of the invention, on the premise of present inventive concept, the change made broadly falls into this to art personnel
Bright protection domain.But embodiment as herein described is it is not intended that limit to protection scope of the present invention.
Claims (4)
1. one kind is multifunction nursing bed includes wheelchair (7) and nursing with wheelchair converting system it is characterised in that described converting system
Bed matrix (6), described wheelchair（7）Bottom is provided with dolly（8）, described care bed matrix（6）Bottom is provided with groove (5), described little
Car snaps in groove（5）Interior, then tile wheelchair supporting part（1）, wheelchair（7）With care bed matrix（6）Merge into one multi-functional
Care bed；Described multifunction nursing bed also include positioning navigation module（2）, described positioning navigation module（2）By being arranged on wheel
Chair（7）On location navigation transmitter module（201）Be arranged on care bed matrix（6）On location navigation receiver module（202）
Composition；Described wheelchair also includes handguard（100）, be arranged on handguard（100）Wheelchair control handle（101）, be arranged on dolly（8）
Following wheel seat base（3）, location navigation transmitter module（201）, position accurate adjustment module（4）, agv controller（10）, wherein,
Described wheelchair control handle（101）Dolly is controlled to carry out orientation movement, described wheelchair controller（10）Dolly is controlled to move, described
Positioning navigation module（2）Ultrasonic sensor or one of infrared sensor or laser sensor can be adopted, by described fixed
Position navigation module（2）With agv controller（10）Connect, by controlling dolly（8）Realize wheelchair（7）All-around mobile, and can be real
Existing wheelchair（7）The dolly of bottom（8）Enter into care bed matrix（6）Groove（5）Interior, realize wheelchair（7）With care bed matrix
（6）Assembling positioning, described wheelchair（7）Base（3）Bottom is provided with Mecanum wheel（9）, described Mecanum wheel（9）For reality
Existing wheelchair（7）All-around mobile, described position accurate adjustment module（4）By at least by three microswitches（401、402、403）Composition,
Wherein, at least two microswitches（402、403）It is arranged on dolly（8）Side, at least one microswitch（401）Peace
It is contained in dolly（8）Front end, described microswitch（401、402、403）With agv controller（10）Connect, and dolly can be passed through
Controller（10）Implement to control.
2. according to claim 1 multifunction nursing bed with wheelchair converting system it is characterised in that described care bed matrix
（6）Groove（5）Inside it is additionally provided with three switch actuating grooves（501、502、503）, described switch actuating groove（501）It is arranged on groove
（5）Front end, and and microswitch（401）Corresponding, described switch actuating groove（502、503）It is arranged on groove（5）Side,
And and microswitch（402、403）Corresponding.
3. a kind of conversion method based on the multifunction nursing bed and wheelchair converting system described in claim 1 or 2, its feature exists
In described conversion method includes separation method and combined method, and it is as follows that described separation conversion method includes step：
The first step, when needing care bed matrix（6）With wheelchair（7）When separating, operate wheelchair joystick（101）On separation press
Button switch；
Second step, separation button switch start dolly（8）, dolly（8）Drive wheelchair（7）Slow disengaging care bed matrix（6）Under
The groove in portion（5）；
3rd step, work as dolly（8）Slowly exit care bed matrix（6）The groove of bottom（5）, wheelchair（7）With care bed matrix（6）
Separate；
4th step, regulation wheelchair（7）Supporting part（1）, make wheelchair supporting part（1）It is folded into wheelchair profile.
4. a kind of conversion method based on the multifunction nursing bed and wheelchair converting system described in claim 1 or 2, its feature exists
In described conversion method includes separation method and combined method, and it is as follows that described Combination conversion method includes step：
The first step, when needing care bed matrix（6）With wheelchair（7）During combination, operate wheelchair joystick（101）On combination press
Button switch；
Second step, positioning navigation module（2）Automatically and agv controller（10）Connection communication, by agv controller（10）Guiding
Dolly（8）Mobile, make dolly（8）Initially enter care bed matrix（6）Groove；
3rd step, works as dolly（8）Initially enter care bed matrix（6）The groove of bottom（5）When, dolly（8）On microswitch
（401、402、403）Correspond to and care bed groove of substrate（5）Interior switch actuating groove（501、502、503）During shake-up, fine motion is opened
Close（401、402、403）A switching signal can be produced during shake-up, and issue agv controller（10）, positioning navigation module（2）
Stop and agv controller（10）Connection communication, microswitch（401、402、403）Start and agv controller（10）Connect logical
Letter, by wheelchair control handle（101）And agv controller（10）Control dolly all-around mobile, the fine motion on dolly is opened
Close（401、402、403）All with switch actuating groove（501、502、503）When touching and touching, and agv controller（10）Receive
All microswitches（401、402、403）When touching the switching signal producing, dolly stops moving, and multifunction nursing bed has combined
Become.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510015494.5A CN104523388B (en) | 2015-01-13 | 2015-01-13 | Multifunctional nursing bed and wheelchair conversion system and method |
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| CN201510015494.5A CN104523388B (en) | 2015-01-13 | 2015-01-13 | Multifunctional nursing bed and wheelchair conversion system and method |
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| CN104523388A CN104523388A (en) | 2015-04-22 |
| CN104523388B true CN104523388B (en) | 2017-02-22 |
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| CN104997600A (en) * | 2015-08-06 | 2015-10-28 | 江南大学 | Omni-directional electric medical care bed chair |
| CN106580588A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Bed and chair integrated nursing bed and bed and chair butt-jointing method |
| CN105287134B (en) * | 2015-10-29 | 2018-11-23 | 安徽睿知信信息科技有限公司 | Care device |
| CN106880454B (en) * | 2015-12-16 | 2019-01-01 | 安徽三联机器人科技有限公司 | A kind of robot nursing bed control system and method |
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| CN105853099A (en) * | 2016-04-28 | 2016-08-17 | 北京博创兴盛科技有限公司 | Integrated nursing bed |
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| CN108214507A (en) * | 2017-12-28 | 2018-06-29 | 安徽三联机器人科技有限公司 | A kind of magnetic navigation care bed goes out Input System and goes out storage method |
| CN110151421A (en) * | 2018-03-14 | 2019-08-23 | 赵月云 | A kind of nursing bed with forwarding function |
| CN111345950A (en) * | 2018-12-24 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Bed and wheelchair butt joint method based on diagonal gear train and intelligent bed and chair integrated equipment |
| WO2021072758A1 (en) * | 2019-10-18 | 2021-04-22 | 广东博智林智能技术有限公司 | Control method and control apparatus for wheelchair and nursing bed, and wheelchair |
| CN110974572A (en) * | 2019-12-06 | 2020-04-10 | 上海交通大学 | Wheelchair bed integrated nursing robot system and operation method |
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| 床椅一体化多功能护理床_实现卧床老人生活自理的梦想;胡木华;《机器人技术与应用》;20130430(第2期);第43-45页 * |
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