KR20180094887A - Comprising a verticalizing device, and a movable mobility changing bed - Google Patents

Abstract

The present invention relates to a robotic movable and changeable bed (1) comprising a movable omnidirectional chassis (6) and an area (3) which can be changed into a positioning system (2) The omnidirectional chassis 6 consists of a central frame 7 and an extendable frame 9,9 'each having a fixed shaft 11 with omni-directional wheels 14, And positioning system 2 is composed of head segment 30, back portion 31, femoral segment 29, calf segment 29 and foot segment 33 and these segments 30, 31, 29 and 32 are provided with side rails 34 and the changeable region 3 is provided with a vertical arrangement 5 (5), using the arrangement of the positioning system 2 and the omni-directional chassis 6 , And the vertical axis of the central frame 7 is adjustable in accordance with the position of the thighs There are shaking baskets 23 and 24 in which the lower portion of the pillar 27 that can be extended and extended from the opposite side pivotally placed on the pivot 29 is tightly disposed, The extensible and elongated and constrictive pillars 27 and the shaky baskets 23 and 24 are comprised of a mechanism consisting of four joints driven by basket drives 25, The omnidirectional wheels 14 of the fixed shaft 11 of the omnidirectional chassis 6 are placed with the rotary actuators and are connected to each other by a series of mutually continuous segments, The side rails 34 are pivotally connected through a suspension 41 which is staggered with the suspension bolts 42 and the side rails 34 of the segments 30, 31 and 32 are folded downward, Bundle The spring bolts 42 are driven by a side rail actuator 40 pivotally disposed in a segment 35 of the central line and are complemented by a mechanism of four abutments to enlarge the scope of the lift, The side rails 34 of the flank segment 29 are folded upward and the associated side rails 34 in the transverse direction due to the change in position between the segments of the central line 35 are realized by faults, A fault between the calf segment 29 and the calf segment 32 and a fault between the calf segment 32 and the foot segment 33 are caused by a suspension 41 having staggered bolts 42 controlled by associated actuators And the faults between the head segment 30 and the back segment 31 and the faults between the back segment 31 and the femoral segment 29, 'By, and it has a pulley handle (51, 51 load 52, 52' of the segment and firmly connected to the arc guide is provided by the opposite end extending into).

Description

Comprising a verticalizing device, and a movable mobility changing bed

The present invention relates to a portable universal robot adjustable device having a wide range of adjustable position functions, easy maneuverability, and large variability of control options.

Currently, there are a number of transportable and retrofitable devices specially developed for people who can not move and whose behavior is impaired. However, the overall style and configuration of these systems is designed for a specific purpose with minimal universality. Often they are option options to allow setting to a horizontal plane to create a surface to lie at a preselected location in a circumferential frame that makes up the partial surfaces of the area to lie down to There is no wheelchair or device.

The following inventions, namely US2012 / 016093A1 on June 5, 2012, EP2581072A1 on April 17, 2013, EP2583650A1 on April 24, 2013, and EP2583651A1 on April 24, 2013, Examples of nearby ones.

The above-mentioned inventions are based on the principle that the chair extends from the basic structure of the bed. Such a folding structure of the bed-chair does not allow the height adjustment capability of the bed and chair system, and does not allow the bed to achieve standard size parameters.

In such a variant, when the basic bed structure separates its parts and extends as a wheelchair, the basic bed structure remains divided in its middle over its entire length. Mattresses or upholstery are divided at the point where the user always lie down.

The above-described solutions automatically change the wheelbase between the axle and the rear axle when the seat base is changed from the lying position to the sitting position or vice versa, so that the movable base of the chair automatically shortens or lengthens, It is not controlled through robotic elements to meet current requirements for stability.

The width of the present device, i. E. The wheelchair, is generally constant, extending the width of the loading area with respect to the lying position, and operably reducing it for the sitting position so that a comfortable bed and, for example, Options of varying capabilities of the width of the loading area can not be used to ensure both passages through.

Currently, there is also a solution registered in patent application PV 2013-859 and PCT / CZ2013 / 000150.

It is a robotic movable and changeable bed consisting of an omni-directional, changeable area with a positioning system that enables controlled adjustment. The device features the option of switching the changeable area to the bed position, the chair position, and other intermediate positions between the two terminal positions.

However, these devices do not feature related accessories and angular verticalization needed for rehabilitation and other processes.

In addition, its chassis configuration has not been modified so that its layout maximizes the effective use of space for partial techniques. The lowest position of the loading area is not well designed for catastrophic user and patient manipulation requirements.

These devices have not been adapted for possible use by persons who are taller than normal people.

At the same time it has a number of elements, including cord systems that increase the probability of failure (e.g., rupture). Due to the structural design, the sides and the individual segments have limitations on the achieved speed and strength of the tilting mechanism of the side rails.

The disadvantages mentioned above are largely eliminated by the robotic movable and changeable bed with verticalization.

Such a bed consists of a movable omnidirectional chassis and a changeable area with a positioning system to enable controlled adjustment, wherein the omnidirectional chassis comprises a forwardly extending frame on the sides in the upper portion, A central frame with linear chassis conductors on which extensible frames are suspended and each having a fixed axis comprising a connecting part in which omnidirectional wheels are firmly placed on the side ending, blocks, the front extender frame and the rear extender frame being pivotally connected via linear drives, and the end positions of the front extender frame and the rear extender frame being connected to the extensible frame Is limited by stops, The control units of the EVE, i.e. the rotary actuators of the omnidirectional wheels, are arranged in the front extendable frame and the rear extendable frame, the batteries are arranged in the central frame on the sides at the bottom, The sidewall bumper elements are firmly disposed on the sagittal section and the sidewall bumper elements are firmly attached to the central frame so that the sagittal circumferential bumper elements can be extended forwardly A longitudinally and axially divided central cover is attached to the central frame and two parts of the front cover are mounted on the front extendible frame and on the rear extendable frame Attached, The lower part of the inverse is a positioning system consisting of subassembly segments and vertical lines formed by a head segment, a back segment, a femoral segment, a calf segment, and a foot segment, Each of the segments having side rails, all segments in the longitudinal direction forming a refracted central line, all the side rails forming two longitudinal side lines, and the central line being positioned between the segments Each side rail in the transverse direction is implemented by a fault and the surface changeable area is coated with the cover and each surface of such cover has a gradient to the middle part of the changeable area On the outer edge, such a changeable area being a structural element And the orientation of the omnidirectional chassis can be adapted to the position of each verticalization and the portion of the chassis can be fitted with a front extension extending pivotally through the drives of the chassis extension with the central frame A battery charger is disposed in the rear extendable frame, and a longitudinal axis of the central frame of the omnidirectional chassis is provided with shaking baskets, i.e., a shaking basket with an eccentric shaft, and an eccentric shaft and a side pin pins, with drives mounted on both sides of the basket, a swinging basket with such eccentric shafts, and a swinging basket with eccentric shafts and side pins on opposite sides of the swinging bearings of the central frame, When deployed as possible, the shaking with the eccentric shaft The basket has an elongated, elongated, lowered column of feet that are tightly spaced from the femoral segment on the bottom of the shaking basket with eccentric shaft and side pins, and a femoral segment, The pillar that can be reduced, the eccentric shaft, the shaking basket, the eccentric shaft and the side pins, the shaky basket, and the side pins are extended and extended with the basket drives on its side. The omnidirectional wheels, which are part of the fixed axial omnidirectional chassis, are placed with their rotary drives, and such omnidirectional wheels are placed in the perimeter of the omni-directional chassis, The brakes extend so tightly that they are connected to the Rake disks and the side rails to the segments which are successive segments and segments of the positioning system consisting of subassembly segments and vertical lines are pivotally connected via staggered suspensions and suspension bolts And the side rails of the head segment, the back segment and the calf segment are folded down and the suspension bolts are pivotally connected through staggered suspensions fixedly connected to the segments of the central line and the pivotally mounted suspension The bolts are controlled through side rail drives pivotally mounted on the segments of the central line, and each side rail drive is pivoted about the handle of the side rail mechanism pivotally positioned in the associated segment, Which side rail is pivotally mounted on each segment on the opposite side and a mechanism consisting of four abutments is also supplemented by a rod of a side rail mechanism which is pivotally connected to the associated side rail, The side rails of the segment are folded upwards to form an armrest, each of the side rails of the femoral segment being a pitman of a mechanism consisting of four abutments, spatially transported by three handles, the side rails of the thigh segments The second handle of the thigh segment side rail mechanism is controlled via the side rail drive and the positional change between the segments of the central line and thus the associated side rails in the lateral direction, Is realized by the thighs A fault between the segment and the calf segment is accomplished through a suspension that is staggered with suspension bolts controlled by calf segment drives mounted pivotally on the thigh segment and the calf segment and a fault between the calf segment and the foot segment is provided by the calf segment Wherein the rod of the foot segment mechanism is a rocker and the foot is formed by a suspension which is pivotally mounted on the foot segment mechanism and is formed by a suspension which is staggered with a suspension bolt controlled by a foot segment drive acting on the double handle of the foot segment mechanism, The segment is a tool handle pivoted about a pivot axis formed by the extension of the calf segment extending into the space of the foot segment and the fault between the head segment and the back segment is tightly connected to the head segment, The head segment is formed by arc guided rods extending to the handle with the pulleys and motion is provided by the head segment drive and the head segment drive pivotally mounted on the back segment, Is provided by bottom arc guided rods that are tightly connected to the back segment and extend to the handle with bottom pulleys that are part of the thigh segment and are provided by back segment drives pivotally mounted on the back segment Movement is provided and the counterpart is controlled through a mechanism consisting of four joints in which the handle of the back segment mechanism is pivotally disposed in the back segment and the stem of the back segment mechanism, The second handle of the mechanism consisting of the four joints is controlled, and four Formed by the intermediate portion of the virtual axis of the bottom arc of the guide rod mechanism consisting of the junction, the holes for the adjustable connection of the head-rest are in the upper portion of the head segment.

Further, when the angular position of the verticalization reaches a range of 75 degrees, the side rails of the head segment, the back segment and the calf segment are folded down by 180 占 and the side rails of the thigh segment are folded upward by 90 占It is advantageous.

It is advantageous that the control units of the chassis drive, i. E. Linear actuators, are arranged in the front extendable frame and the rear extendable frame.

It is also possible to extend and extend the femoral segment through the bolts with extended heads and tightly connected plates that can be reduced. When the columns that can be reduced are placed, the plate-shaped bolts are turned in the thigh segment It is advantageous to be arranged as possible.

It is also a plug fork that extends to the holes of the head segment to which the screws with bearing balls of the head rest are mounted, and the head rests of the head rests in the shaped recess of such plug forks It is advantageous to enable positioning.

Also in both side rails of the femoral segment in the armrest, plug holders for the controller, which can be placed on a folding board on the back of the head segment, are arranged and the foot segment pedestal is placed on the bottom surface of the foot segment It is advantageous.

In addition, two pairs of locking knobs with two clamping belts are secured on the side edges of the two point clamping belts, two clamping belts in the back segment, and a pair of locking knobs with one clamping belt in the thigh segment, Is present.

It is also advantageous that the thickness of the cover towards the middle of the changeable area increases into the middle portion of the portions from the end regions of the head segment, foot segment, and side rails.

It is also advantageous that the mechanism drives of the positioning system, the changeable area, the drives of the chassis extension, and the basket drives are linear.

It is advantageous that the control units of the linear actuators are in the parts of the central line.

Advantages of the proposed device compared to existing systems

It features the relevant accessories needed for rehabilitation and other processes and the function of each verticalization (functon).

The arrangement has a modified configuration of the chassis (e.g., the drives are located on the omnidirectional wheels, not the connecting parts, etc.) to maximize the effective use of space for partial techniques.

The system is an elongated extension that is tightly disposed on the femoral line. Its function is taken by the diminutive pillars and the gluteal, which creates a mechanism consisting of four joints in the chassis on the central chassis frame, Remove the line. This arrangement replaces the linear extension in the buttock line, which is necessary for the patient to enter by chair modification and allows lowering the lowest position of the loading area, and furthermore, it permits the modification of the loading area of each vertical furnace to take place do. Therefore, the loading area is appropriately sized for the needs of users with disabilities and patient manipulation (vertical loading allows comparison of the loading area of normal beds and the loading area of robotic movable and changeable beds) comparable height).

When the head segment can be supplemented with an adjustable head restraint limited to be slidable by a plug fork to the upper edge of the center line of the headline, it is suitable for possible use by a person higher than the average.

The head segment can be positioned back to a certain extent, i.e. the user can lean his or her head back.

The side rails and individual segments use a mechanism consisting of four joints, which has an accelerating effect on lift expansion, as compared to conventional devices, and can improve the kinematic process, And hardening.

Thus, in addition to the possible combinations of bed-chair positions, the apparatus proposed herein is capable of providing a position of verticalization with an angle of up to 75 degrees which increases the possible range of motion, . It provides a combination of functional features that provide comfort to home users as well as facility shelters (a wide range of possible movements, from fully effective beds that can pass 80 cm of standard door width to chairs The possibility of lowering the loading area at the height of the standard bed; the extension of the loading area through the adjustable headrest, etc.).

Technically, the device proposed herein is simplified while improving the functional properties as compared to existing systems, in which case there is a simplification and consolidation of the entire folding mechanism of the side rails, for example.

The attached sheets show the drawings and the description.
The drawing for the annotation shows two projections (a, b) of the changeable chair and a side view (c) of each verticalization.
1 shows two aisometrical projections (1a, 1b) of a changeable chair and a side view (1c) of each verticalization.
Fig. 2 is a perspective view of an omnidirectional chassis with a top view (2b) with a chassis with extendable frames in an extended position and a bottom view (2a) with a chassis with an extendable frame Each projection.
Fig. 3 shows a bed shape changeable (not shown), consisting of a top view 3a in which an omnidirectional chassis with a retractable frame is present, and a bottom view 3b in which an extendable frame is extended to increase overall stability. Each projection of the top of the region.
In Figure 4, the upper figure shows an omnidirectional chassis with an elongated extensible frame, where there is a clear pull-out system of frames, a retractable extensible stretchable columns fixing system, And the lower figure shows an uncovered lid of the femoral segment with the clamping belt clearly shown with the lock handles from the left and there is a cover over the front cover, There is also a chassis without an omnidirectional chassis at the location of the elongate extendable frames and a top view (4b) of a robotic movable and changeable bed in which the circumferential bumper elements and battery are clearly there, Another illustration is a detailed view of the clamping belt with the lock knob (4d), the last image not visible but visible Inequality of available and possible changes bed robotic movement of the cover teureol each projection (4c).
Figure 5 is a side view of a side view of a robotic movable and changeable bed with an omnidirectional chassis with extendable frames that cover and extend through the front cover and the central cover and the changeable area.
Figure 6 shows a side view and cross-sectional side view of a positionable system and an alterable area with an extendable and extendable column, wherein the swinging basket with the eccentric shaft, the wobbled shaft with the eccentric shaft and the side pins Their control via basket linear actuators is shown in the basket, and in both images all the mechanisms of the horizontal segment faults of the central line are clearly shown (6a, 6b).
Figure 7 shows a positionable system with extendable and elongated pivotable positioning system and a shaky basket with an eccentric shaft and a basket through a swinging basket with an eccentric shaft and side pins, And in this case the mechanism of the transverse segment faults of the central line and the mechanism of the associated faults of the side rails is clearly shown.
Figure 8 shows a longitudinal cross-section of a changeable chair, in which the positioning of the pillar is shown clearly with a system with an extension and a control with their control via a linear actuator, There is a fault of segments with their control through a positioning mechanism, including their drives as part of the positioning system 8a (8a). The second figure (8b) from the left is a longitudinal section of each verticalization, showing the function of the positioning system clearly shown.
FIG. 9 shows the rear projection of each changeable area at each verticalization, showing all the positioning mechanisms forming the positioning system. FIG.
The upper left portion in Fig. 10 shows a detail of the connection of the locking knob prepared for attaching the clamping belt. In the bottom left portion 10b is shown a section view of the handle of the pillar which can be extended and extended to show the pivoting device in the thigh segment through the bolt with the plate 10b being clearly shown. A detail 10c on the right side shows a section of the swing attachment of the side rails in a staggered suspension with suspension bolts as a connecting element and also shows the lift of the side rails actuated through the linear actuator of the side rails A mechanism made up of four joints is shown in the figure.
11, the attachment of the side rail of the femoral segment with the positioning of the mechanism consisting of four joints is clearly shown at the top of the figure (11a), and at the bottom of the figure, There is a positioning of the foot segment, and such a foot segment is shown in Fig. 11b in which the foot segment is pivotally mounted on the double handle of the foot segment mechanism.
Figure 12 shows a side view of a changeable chair with circumferential bumper elements, a central cover, and a front cover, and on the side outside of the side rails of the femoral segment, with the arrangement and positioning of the four- The staggered suspension of the side rails is clearly shown. The controller is mounted on a folding plate indicating its position for controlling a changeable chair via an operator (Fig. 12a). The details of the arrangement of the folding plate of the controller knob are supplemented (Fig. 12 (b)).

A robotically movable and changeable bed (1) for the controlled adjustment of the positioning system (2) of the changeable area (3) which is capable of being converted into a planar surface of the changeable area (3) 4, and each verticalization 5 consists of a movable omnidirectional chassis 6 in which a changeable region 3 is located.

The basic subassembly of the movable omnidirectional chassis 6 is the central frame 7 with the two linear chassis conductors 8 having the sides present from above. In each pair of linear chassis conductors 8, the forwardly extendable frame 9 and the rearwardly extendable frame 9 'are suspended in an anteroposterior direction, and this forward extendable frame 9 and the rear extendable frame 9' (9 ') each have a fixed shaft (11), which consists of a connecting part (12) with ends to be put through an interlocking lock omnidirectional wheel (14) on which rotary actuators are mounted, are placed through the silent blocks And the omnidirectional wheel 14 has brake discs with circumferential electromagnetic brakes 13 extending tightly connected to the lateral ends of the connecting portion 12. [

The front extensible frame 9 and the rear extensible frame 9 'are pivotally connected by a linear actuator 15 of the chassis extension with the central frame 7, The end positions of the possible frames 9 'are limited by the extendible frame stops 16 of the extendable frame.

In the front extensible frame 9 and the rear extensible frame 9 ', the chassis drives, the control unit 17 of the linear actuators and the rotary actuators of the omnidirectional wheels 14 are arranged and the rear extensible frame 9 The battery charger 19 is placed. The batteries 19 are placed on the sides in the lower part of the central frame 7.

The circumferential bumper elements 20 are rigidly disposed in the sagittal section on the front extendable frame 9 and the rear extendable frame 9 'and on the sides of the central frame 7, and such circumferential bumper elements 20 And the sagittal circumferential bumper elements 20 are part of a front extendable frame 9 and a rear extendable frame 9 '. Below them there is a vertically and axially divided central cover 21 connected to the central frame 7 and two parts of the front cover 2 are connected to the front extendable frame 9 and the rear extendable frame 9. [ (9 ').

In the vertical axis line of the central frame 7 there are two swing baskets, namely a basket 23 with an eccentric shaft and a swinging basket 24 with eccentric shafts and side pins and a swinging basket 23 , The eccentric shafts are driven by two linear basket drives 25 and the basket 23 with the eccentric shafts and the swinging basket 24 with the eccentric shafts and side pins are driven by the shaky bearings 28 of the central frame And is pivotally disposed on opposite sides. At the bottom of the shaking baskets 23 and the shaking baskets 24 with the eccentric shafts, the bases of the columns 27, which can be extended and extended, are firmly arranged, And the bolts 28 with such plates are connected to the bolts 28 with the femoral segments 29, two extendable and extendable pivots 27, a swinging basket 23 with an eccentric shaft ), A swinging basket 24, and a linear basket actuator 25 mounted on its side bolts, and through a lift change of the extendable and extendable pillar 27 And is pivotally mounted on the thigh segment 29 to form a mechanism consisting of four controlled joints.

Another major subassembly includes the following two basic frame subassembly segments and vertical lines: head segment 30, back segment 31, femoral segment 29, proximal segment 32, and foot segment 33 Which is the bottom portion of the changeable area 3 made up of the first and second movable bodies 2, 3. Each of these segments has two side rails 34 except for the foot segment 33 and in the longitudinal direction all the segments form a central line 35 that wraps into it and all the side rails 34 have two Thereby forming a vertical side line 36.

All of the side rails 34 of the femoral segment 29 also serve as an armrest 37 and the side rails 34 of the femoral segment 29 each have a four- It is a pitman, which is carried spatially by three handles. One pair of formed handles 38 of the mechanism of the femoral segment side rails is free and the third handle 39 of the mechanism of the femoral segment is driven by the linear side rail actuator 40. [ The side rails of all remaining segments, head segment 30, back segment 31, calf segment 32, are staggered so that the suspension bolts 42 are tightly interconnected with the segments of the central line 35 The suspension bolts 42 pivotally connected through suspensions 41 and pivotally coupled are supplemented by a mechanism consisting of four abutments to increase the lift range and the segments of the central line 35 When operated through a linear side-rail actuator 40 that is always pivotally disposed in the side-by-side direction.

Each linear side rail actuator 40 is configured such that the side rail 34 is pivotally disposed on an associated segment on the opposite side and the mechanism of the four joining is also pivotally connected to the associated side rail 34, Is also on the side of the recess pivotally connected to the handle 43 of the side rail mechanism placed on the side rail 34 when complemented also by the rod 44 of the rail mechanism 41.

A fault between the femoral segment 29 and the calf segment 32 folding there under as the side rail 34 is then likewise applied to the femoral segment 34 towards the calf segment 32 downwards, Is actuated via two linear calf segment drives (45) pivotally mounted on the femoral segment (29).

The faults between the segments of the central line are as follows:

A staggered suspension 22 mounted pivotally on the thigh segment 29 and having suspension bolts 42 actuated through two calf segment drives 45 that directly control the calf segment 32 in which the swivel facility resides. There is the simplest controlled fault between the femoral segment 29 and the calf segment 32, Which is then pivoted on the calf segment 32 and is controlled by the linear foot segment drive 46 acting on the dual handle 48 of the foot segment mechanism. A rocker is the rod 47 of the foot segment mechanism and such a foot segment 33 is again connected to the foot segments 33 ) Of the calf segment extending into the space of the calf segment.

The remaining faults: the head segment 30, the back segment 31 and the back segment 31-the femoral segment 29 have a similar arrangement, the fault: the head segment 30-the segment 31 is simpler Is directly controlled through a linear head segment drive 50 pivotally mounted on the back segment 31 when directly controlling the head segment 30 in which it is placed. The faults are realized by two holders 51 with pulleys firmly mounted in the segment 31, such as arc-guided rods 52 tightly connected to the head segment 30. Fault: The back segment 31 - the femoral segment 29 is carried by the bottom arc guided rod 52 ', which is tightly connected to the back segment 31 and extends with the bottom pulleys into the holder 51' Except that it is made as a fault between the head segment 30 and the back segment 31 which is operated through two linear back segment drives 53 pivotally arranged in the back segment 31, The counterpart is controlled via a mechanism consisting of four joints in which the handle 54 of the back segment mechanism is pivotally arranged in the back segment 31 and is connected to the femoral segment 29) is controlled, and the last imaginary axis of the mechanism consisting of the four abutments is formed by the middle part of the bottom arc guided rod 52 '.

The head pedestal 56 can be adjustably attached to the upper edge of the head segment 30 via a plug fork 57 which is a part thereof. Such a plug fork 57 then extends into the openings in the head segment 30 where the screws 58 with suspended balls are stored so that the head rests on the molded recesses of the plug fork 57 56).

The side hold rails 34 of the femoral segment 29 in the armrest 37 are provided with a plug holder 60 for the controller 60 which can also be placed on the folding plate 61 mounted on the rear portion of the head segment 30. [ (59) are arranged.

The locking knob 62 of the clamping belt 63 with two points is securely fixed on the side edges of the segments. There are two pairs of locking knobs 62 that are likely to have two clamping belts 63 disposed in the back segment 31 and one clamping belt 63 in the thigh segment 29 There is a pair of lock knobs 62.

The surface of all parts of the positioning system 2 of the changeable area 3 is coated with a cover 64 and the surface of the cover 64 on the outer edge is moved downward to the center area of the changeable area 3 And the thickness of the lid 64 is also in the middle of the region 3 that is changeable from the end regions of the head segment 30, the foot segment 33, and the side rails 34 to the middle sections of the segments. Lt; / RTI >

At the bottom of the foot segment 33 there is a changeable chair 4 or a foot segment pedestal 65 for use in changing each verticalization 5 which has the potential to achieve a slope of 75 °.

The control units 66 of the linear actuators are arranged in the segments of the central line 35.

function

The principle of the robotic movable and changeable bed 1 is that all the omnidirectional mobility is transmitted from the planar changeable region 3 to the omnidirectional and height adjustable changeable chair 4 or the positioning system 2 And possible translations into each verticalization (5) used.

The omnidirectional movement of the robotic movable and changeable bed 1 is made possible by the omnidirectional chassis 6 and the base of this omni-directional chassis 6 is the central frame 7, The upper part of the central frame 7 is present in the forward and backward linear chassis conductors 8 with extendable frames, namely a forwardly extendable frame 9 and a rearwardly extendable frame 9 ' A connecting portion 12 with side edges at which the omnidirectional wheel 14 disposed through the shaped connection is present is present through the silenced blocks on which the fixed shaft 11 is located. Such an omnidirectional wheel 14 has a brake disc in which the circumferential electromagnetic brake 13 extends in tight connection with the lateral ends of the connecting part 12. [ This electromagnetic brake 13 enables safe braking at each stop of the omni-directional chassis 6, which can be moved as a parking brake, or enables emergency braking if the supply batteries 19 fail.

When switching the changeable chair 4 to the changeable area 3, it is necessary to increase the wheelbase of the fixed axes 11 for stability. This is possible through two drives 15 of extendable frames, a chassis extension pivotally connecting each of the front extendable frame 9 and the rear extendable frame 9 ', in this case the central frame 7, And their locking at the end positions in the symmetrical extension are provided by a rubber extendable frame stop 16.

In the space of the front extensible frame 9 and the rear extensible frame 9 ', the control units 17 of the chassis drives, namely the rotary actuators of the omnidirectional wheels 14 and the linear actuator, lie. A battery charger 18 for user's convenience is disposed on the bottom, middle surface of the rear extendable frame 9 ', and the supply batteries of the chassis's electrical system are disposed on the side surfaces of the central frame 7. Important details are the circumferential bumper elements 20 such that they are firmly mounted on the central frame 7 and the pre-post circumferential bumper elements 20 are connected to the elongate frames, Is the portion of the extendable frame 9 and the rear extendable frame 9 '.

A front cover 22 mounted on the front extendable frame 9 and on the rear extendable frame 9 'by a longitudinally and axially divided central cover 21 attached to the central frame 7, A covering is formed by emphasizing safety and aesthetic aspects. Such covering is dimensionally designed to function even when it is the maximum extension of the front extendable frame 9 and the rear extendable frame 9 '.

The changeable area 3 in the horizontal position designed to lie needs to be height controlled and the switch to the adjustable chair 4 designed to sit needs to be controlled anterior-posteriorly, The central frame 7 of the omnidirectional chassis 7 which is movable for this purpose has the shaking basket 23 with the eccentric shaft and the eccentric shaft and the side pins There is an extendable and extendable pillar 27 that is firmly mounted in the shaky basket 24 and a swinging basket 23 with an eccentric shaft and a swinging basket 24 with eccentric shafts and side fins are located in the center Only the shaking basket 24 with the eccentric shaft and the side pins is driven by the linear basket drives 25 when it is firmly placed in the shaky bearings 26 of the frame. There are bolts 28 on the heads of the extendable and extendable column 27 that are tightly disposed on the plates and such bolts 28 are pivotally mounted on the femoral segments 29 such that the femoral segments (29) closes the mechanism consisting of four joints formed from the parts, and such a mechanism allows the desired height and sagittal movement of the changeable area (3).

The functional arrangement in the form of a changeable chair 4 and a respective verticalization 5 results from the conversion of the changeable region 3 into a changeable chair 4 or to each verticalization 5 and vice versa The variability of the changeable area 3 of the positioning system 2 is possible through the division in the horizontal direction or the vertical direction using the positioning system 2. [

The changeable region 3 is laterally divided into discrete segments: head segment 30, back segment 31, femoral segment 29, calf segment 32, and foot segment 33, Each of the segments except the side walls 33 is provided with a side rail 34.

The changeable region 3 is vertically divided into two opposing side lines 36 consisting of the side rails 34 and a central line 35 consisting of all the segments and such vertical side lines are connected to the central line 35 This is because the foot segment does not have the side rail 34.

The adjacent segments 30, the back segment 31, the femoral segment 29, the calf segment 32, and the foot segment 33, and the side rails 34 towards them, Is pivotally connected via stiffened suspensions 41 and suspension bolts 42 to allow for alteration of the shapes of the positioning system 2 of the robotic movable and changeable bed 1. All the side rails 34 are folded down by about 180 °, except for the side rails 34 of the upwardly folding femoral segment 29.

The movement of the side rails 34 except for the side rails 34 of the femoral segment 29 is controlled by a side rail actuator (not shown) that operates through a mechanism consisting of four abutments that accelerate the movement of the side rails 34 40).

The linear side rail actuator 40 acts on the handle 43 of the side rail mechanism pivotally arranged in the associated segment and furthermore via the rod 44 of the side rail mechanism which fulfills the function of the locker of the mechanism, Acts on a side rail 34 pivotally arranged on an associated segment that fulfills the function of the handle of the implement.

The side rails 34 of the femoral segment 29 are folded by 90 [deg.] And naturally form the armrests 37 on their upper edges on each side.

This movement of the side rails 34 is accomplished through a mechanism consisting of four abutments to create a virtual imaginary axis on the surfaces of the covers 64 of the components. The mechanism consisting of these four abutments is driven by a linear side rail actuator 40 acting on the handle 39 of the mechanism of the femoral segment side rails and further that the next element is in the function of the femoral segment 29 Wherein the side rails 34 are carried by the handle 38 formed by the mechanism of the femoral segment side rails and the staggered suspensions 41 with the suspension bolts 42 are used It does not.

The simplest arrangement is a 90 degree downward linkage between the calf segment 32 and the femoral segment 29 so that the stiffened suspension 41 and the suspension bolt 42 between the segments, There is only a pivot connection device through the pair of caliper segment drives 45 that are pivotally suspended from both sides of the segment.

Another subsequent coupling device is to pivotally move the foot segment 33 toward the calf segment upward by 90 degrees. In that case, such movement is effected through calf segment drive 46, which is pivotally disposed in calf segment 29. In such a case, a mechanism consisting of four abutments is used to increase the lift in which the two double handles 48 of the foot segment mechanism extend the foot segment drive 46, and this movement is effected through a pair of rods of the foot segment mechanism So that the function of the rocker of the mechanism consisting of the four abutments transitions on the foot segment 33 pivotally arranged in the calf segment extension 49.

Which is implemented by two arc-guided rods 52 with an intermediate middle at the intersecting surfaces of the head segment 30 and the surfaces of the back segment 31 at the opposite side of the modifiable region 3, There is a movement of the swivel connector by + 15 ° above the head segment 30 towards -the head 31 and by -10 ° downwards. Each arc guided rod 52 extends to a holder 51 having pulleys that are part of the back segment 31 and is tightly connected to the head segment 30. Such movement is accomplished through the head segment 30 and the head segment drive 50 pivotally disposed in the back segment 31.

The last lateral motion engagement is a pivotal movement of the back segment 31 by 90 degrees upwardly toward the femoral segment 29 which is in the middle of the intersecting contact surfaces of the back segment 31 and the femoral segment 29 Through two bottom arc-guided rods 52 '. Each bottom arc guided rod 52 'is rigidly connected to the back segment 31 and extends to the holder 51' with bottom pulleys that are part of the femoral segment 29. Such movement is accomplished through two linear back segment drives 53 pivotally arranged on the back segment 31 on the thigh segment 29. [ A mechanism consisting of four abutments is used to increase the lift when the linear back segment drive 53 acts on the handle 54 of the back segment mechanism that is pivotally attached to the back segment 31. Such movement is also such that when the rod 55 of the back segment mechanism acts on the thigh segment to push the back segment 31 and when the rocker of the mechanism consisting of the four abutments functions, 55, and there is a fault at the last virtual joint of the mechanism consisting of the four joints which is the middle of the bottom arc guided rod 52 '.

If necessary, the upper portion of the head segment 30, when particularly for taller users, can be mounted into the holes in the upper portion of the head segment 30, It is possible to adjustably attach the head rests 56 to the edges and the positioning of such head rests 56 can be achieved by two screws 58 with a suspended ball tightly mounted on the head segment 30. [ Lt; / RTI >

All the movements of the positioning system 2 of the robotically movable and changeable bed 1 and its movable omnidirectional chassis 8 can be programmed in order of several operations to facilitate the control procedure, Lt; RTI ID = 0.0 > 60 < / RTI > Therefore, the servo amplifiers of the linear liquid crystal devices are outside the omni-directional movable chassis 6, and are also in the central line 35.

On the surface of the armrest 37 on both sides of the side rails 34 of the femoral segment there is a plug holder 59 on which the controller is mounted and the use of such a plug holder 59 on the right and left sides It is possible. Such a controller may be placed on a folding plate 64 disposed on the head segment 30 so that the positioning system of the robotic movable and changeable bed 1 by manipulation of the left hand and right hand 2 can be controlled.

All portions of the movable area 3 are covered with a suitable lid 64 from the outer edges that are slightly inclined downwardly from the user's point of view and towards the central line 35.

In the case of displacements from the position of the changeable area 3 to the position of the changeable chair 4 or to the position of each verticalization 5, it is essential that this department is moved forward. The movement is enabled by pivotable mounted extensible and extendable pivots 27 controlled through a linear basket drive 25. In this case, there is some movement while controlling the changeable area 3 by the electronically limited user to avoid collision. When setting the verticalization 5, a foot segment pedestal 65 is applied, two clamping belts 63 applied to the lock knob 62 are used, and two pairs of lock knobs 62 are used for the back segment And a pair of locking knobs 62 are firmly attached to the edge portions of the calf segment 32. [

The control units 66 of the drive are arranged in the segments of the central line 35 to control the drive of the linear drives 35 to the respective control units 66 of the linear drives from the linear drives of the positioning system 2, Minimize wiring length.

Industrial Use

This robotic movable and changeable bed with verticalization has three positions: a sitting position when such a robotic movable and changeable bed has the shape of a chair, a horizontal position, Is a multi-aspect robotic positioning system having a wide range of possible locations of a changeable area characterized by a wide range of locations within the transition between locations. Such a device is also capable of height adjustment with the possibility of omnidirectional motion, using both manual and remote control, including options using automated motion. The multidisciplinary nature of the unit is also a variability of the different environments, that is, it is designed for both universal indoor, medical and outdoor environments.

A multidisciplinary robotic positioning system for the proposed delivery can be used, for example, for the elderly, immobile persons, or patients under treatment. Therefore, it is useful for health care.

1: Robot movable and changeable bed
2: Positioning system 3: Changeable area
4: Changeable chair 5: Each verticalization
6: Omnidirectional chassis 7: Central frame
8: Linear chassis conductor 9: Front extendable frame
9 ': rear extendable frame 10: silent block
11: Fixed shaft 12: Connection part
13: electromagnetic brake 14: Omnidirectional wheel
15: drive of chassis extension 16: extendable frame stop
17: Control unit of the chassis drive 18: Battery charger
19: Battery 20: Circumferential bumper elements
21: Central cover 22: Front cover
23: shaking basket with eccentric shaft
24: shaking basket with eccentric shaft and side pins
25: Basket Drive 26: Central Frame Shaking Bearing
27: Extendable and extendable pillars that can be reduced
28: Bolt with plate
29: femoral segment 30: head segment
31: back segment 32: calf segment
33: foot segment 34: side rail
35: central line 36: vertical sideline
37: Armrests
38: formed handle of the instrument of the femoral segment side rails
39: handle of instrument of thigh segment side rail
40: side rail actuator 41: staggered suspension
42: suspension bolt 43: handle of the side rail mechanism
44: rod of side rail mechanism 45: calf segment drive
46: foot segment drive 47: load of foot segment mechanism
48: double handle of foot segment mechanism 49: calf segment extension
50: head segment drive 51: holder with pulley
51 ': Floor holder with pulley 52: Arc guided rod
52 ': Ground arc guided load 53: Drive segment such as
54: handle of the back segment mechanism 55: rod of the back segment mechanism
56: headrest 57: plug fork
58: Screw with hanging ball 59: Plug holder
60: Controller 61: Folding plate
62: Locking handle 63: Clamping belt
64: lid 65: foot segment pedestal
66: Control unit of drives

Claims (10)

A robotic movable and changeable bed (1) comprising:
The bed consists of a movable omni-directional chassis (6) and a changeable zone (3) with a positioning system (2) enabling controlled conversion, the omni-directional chassis (6) And a central frame 7,
On the side faces of the central frame 7 there is a linear chassis conductor 8 in the upper part and on the central frame 7 there are hanging a front extendable frame 9 and a rear extendable frame 9 '
Each of the frames 9 and 9 'is provided with a fixed shaft 11 consisting of a connecting part 12 through which an omnidirectional wheel 14 engaged with endings is passed through silent blocks And the rear extensible frame 9 and the rear extensible frame 9 are pivotally connected by a linear actuator 15 and extendable from an extendable frame stop 16, the control unit 17 of the chassis drive, that is, the rotary actuator of the omnidirectional wheel 14, is arranged on the front extensible frame 9 and the rear extensible frame 9 ' A battery 19 is placed on the sides of the lower portion of the central frame 7 and a battery 19 is disposed on the sides of the front extended frame 9 and the rear extendable frame 9 ' side When the circumferential bumper elements 20 are firmly disposed in the sagittal section and when the circumferential bumper elements 20 are firmly attached to the central frame 7 the sagittal circumferential bumper elements 20 are inserted into the forwardly extendable frame 9 and a vertically and axially divided central cover 21 is attached to the central frame 7 and two portions of the front cover 22 are attached to the front extension 22, The bottom part of the changeable area 3 is a positioning system 2 consisting of a subassembly part and vertical lines, The longitudinal lines comprise a head segment 30, a back segment 31, a femoral segment 29, a calf segment 29 and a foot segment 33, wherein the segments 30, 31, 29, 32 each have a side rail 34 And all the side rails 34 form two longitudinal side lines 36 and a position between the parts of the central line 35 is defined as And thus the side rails 34 in the transverse direction are realized through a fault and the surface of the changeable area 3 is coated with the lid 64 and the surface of the lid 64 of the outer rim is changed When it is inclined downward to the middle region of the possible region 3,
The changeable region 3 is adjustable to the position of each angular verticalization 5 using the configuration layout of the positioning system 2 and the omni-directional chassis 6,
The portion of the omnidirectional chassis 6 is a forwardly extendable frame 9 and a backward extendable frame 9 'pivotally connected to the central frame 7 by a linear actuator 15 of the chassis extension, A battery charger 18 is disposed in the rear extendable frame 9 '
In the longitudinal axis of the central frame 7 of the omnidirectional chassis 6 there are shaky baskets, i.e. a baskets 23 with eccentric shafts and shaking, eccentric shafts and side pins, A baskets drive 25 is attached to both sides of the basket and a baskets 23 having an eccentric shaft and a swinging basket 23 and eccentric shafts and side pins 24 and a swinging basket 24 are mounted on a swinging bearing 26 of a central frame A basket 23 with eccentric shafts and a swinging basket 23, eccentric shafts and side pins, and the bottom of the swinging basket 24 is pivotally mounted on the femoral segment 29, The base of the column 27, which can be extended and extended, is tightly disposed, and the femoral segment 29 and the two extendable The ever-decreasing pillar 27 is supported by the basket drive 25 with its eccentric shaft and shaky basket 23, eccentric shaft and side pins and with its shaky basket 24 disposed on its side and Which is a part of the fixed shaft 11 of the omni-directional chassis 6, is formed by forming a mechanism composed of four joints which are driven by a lift change of the column 27, The omnidirectional wheel 14 is provided with a rotary actuator and the omnidirectional wheel 14 has a perimeter electromagnetic brake 13 which extends tightly connected to the side endings of the connecting part 12 The portions continuous to each other and the side rails 34 towards such continuous portions, which are part of the positioning system 2 comprising the brake discs and consisting of subassembly portions and vertical lines, gered suspensions 41 and suspension bolts 42,
The head segments 30, the back segments 31 and the side rails 34 of the calf segment 32 are folded downward and the suspension bolts 42 are stitched together with the segments 35 of the central line The pivotally coupled suspension bolts 42 are pivotally connected through suspensions 41 and are pivotally disposed in the segments 35 of the central line and are pivotally connected by four joints Driven by the side rail actuators 40 supplemented by the mechanism provided,
Each side rail actuator 40 is on the side of the recess pivotally connected to the handle 43 of the side rail mechanism pivotally disposed in the relevant portion and the side rail 34 is pivotally mounted And the mechanism consisting of the four joints is also implemented by a rod 44 of a side rail mechanism pivotally connected to an associated side rail 34,
The side rails 34 of the femoral segment 29 are folded upwardly to form an armrest 37 and each side rail 34 of the femoral segment 29 is connected to a pitman of a mechanism consisting of four abutments. And the third handle 39 of the mechanism of the femoral segment side rails is fixed to the side rail actuators 40 and 40. The third handle 39 of the mechanism of the femoral segment side rails is spatially transported by the three handles and a pair of the handles 38 formed in the mechanism of the femoral segment side rails are free, , ≪ / RTI >
The associated side rails 34 are realized by the faults in the lateral direction and a fault between the femoral segment 29 and the calf segment 32 is displaced between the portions of the femoral segment 29, Is implemented through staggered suspensions (41) with suspension bolts (42) controlled by calf segment drives (45) pivotally mounted on the calf segment (29) and calf segment (32)
A fault between the calf segment 32 and the foot segment 33 is a suspension bolt that is pivotally mounted on the calf segment 32 and is controlled by a foot segment drive 46 that acts on the double handle of the foot segment mechanism Wherein the rod 47 of the foot segment mechanism is a rocker and the foot segment 33 is formed by an extension of the calf segment extending to the space of the foot segment 33, Wherein the foot segment (33) is pivotally mounted at an extension (49) of the calf segment, the foot segment (33) being pivotally mounted about the pivot axis formed by the segments (49)
The fault between the head segment 30 and the back segment 31 is an arc guided (not shown) extending to the handle 51, which is tightly connected to the head segment 30 and which is a part of the back segment 31, arc guided rod 52 and motion is provided by the head segment 30 and the head segment drive 50 pivotally mounted on the back segment 31,
A fault between the back segment 31 and the femoral segment 29 is a bottom arc guided rod extending to the handle 51 ' with the bottom pulleys tightly connected to the back segment < RTI ID = Gt; 52 ', < / RTI >
The movement is provided by the back segment drive 53 pivotally mounted on the back segment 31 and the handle 54 of the back segment mechanism is pivotally disposed on the back segment 31 The counterpart is controlled through the mechanism and the second handle of the mechanism consisting of the four joints is controlled via the rod 55 of the back segment mechanism to be the femoral segment 29, The last imaginary axis is formed by the middle of the bottom arc guided rod 52 '
Characterized in that the holes for adjustable connection of the headrest (56) are in the upper part of the head segment (30). The method according to claim 1,
The position of each vertical 5 is up to 75 and the head segments 30, the back segments 31 and the side rails 34 of the calf segment 32 are folded down to 180 占 and the femoral segments 29) are folded upward by 90 [deg.]. The method according to claim 1,
Characterized in that the control unit (17) of the chassis drive, i. E. The linear actuator, is arranged in the front extendable frame (9) and the rear extendable frame (9 '). The method according to claim 1,
Extendable and extendable columns 27 are placed on the femoral segments 29 through the bolts 28 having a plate tightly connected to the heads of the columns 27 and bolted to the plate 28, Is rotatably disposed on the femoral segment (29). The method according to claim 1,
A plug fork 57, which is part of the headrest 56, extends to the holes of the head segment 30,
Characterized in that the shaped recess of the plug fork (57) is fitted with a threaded ball bearing (58) which allows positioning of the headrest (56) . The method according to claim 1,
Both sides of the side rails 34 of the femoral segment 29 in the armrest 37 are provided with plug holders 60 for the controller 60 which can be placed on a folding board 61 at the back of the head segment 30 plug holder (59) is disposed, and a foot segment pedestal (65) is disposed on the bottom surface of the foot segment (33). The method according to claim 1,
The locking handle 62 of the clamping belt 63 with two points is securely fixed on the side edges of the segments and the locking handle 62 with the two clamping belts 63 in the back segment 31 Wherein one pair of clamping belts (63) are arranged in the thigh segment (29). The method according to claim 1,
Characterized in that the cover thickness towards the middle of the changeable region (3) increases from the end regions of the head segment (30), the foot segment (33), and the side rail (34) towards the middle portion of the segments Possible and changeable beds. The method according to claim 1,
Characterized in that the mechanism drives of the positioning system (2), the variable area (3), the drives of the chassis extension (15) and the basket drives (25) are linear. The method according to claim 1,
Characterized in that the control units (66) of the linear actuators are in segments of the central line (35).

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