CZ30471U1 - A robotic mobile and modifiable bed with verticalization - Google Patents

Description

Technical field

The solution relates to a transport universal robotic positioning device with a wide range of positioning positions, easy maneuverability and great variability in control options.

Background Art

Currently, there are a number of transport and positioning devices developed specifically for the disabled and physically disabled. However, the overall design and construction of these systems is oriented only purposefully, with minimal versatility. As a rule, these are either non-positioning armchairs or devices which, while allowing a horizontal plane to form a loading surface, but only at a location predetermined therein, within the circumferential frame forming sub-areas of the bed mattress platform.

Representatives of the prior art are, for example, the solutions disclosed in US 2012/016093 A1 of June 5, 2012, EP 2 581072 A1 of April 17, 2013, EP 2 583 650 A1 of April 24, 2013, EP 2 583 651 A1 of 24 April 2013.

The above-mentioned inventions are based on the principle that the chair leaves the base structure of the bed. These folding bed structures - armchairs, do not allow height adjustment of bed or seating systems, furthermore they do not allow standard bed dimensions to be achieved without the basic structure.

In a variant where the substructure is separated from the base structure of the bed and is driven out as a wheelchair, this basic bed structure remains in the space as an obstacle. Another disadvantage is the solution of the loading platform itself, which is divided directly in its center over the entire length. Thus, the mattress or upholstery is divided in the place where the user always lies.

The above solutions are not controlled by robotic elements so that when changing from lying position to sitting position or vice versa, the wheelbase between the front and rear axles is automatically altered, thus shortening or extending the mobile base of the chair and thus adapting to current stability requirements. the whole facility.

The width of the current equipment - mobile armchairs - is generally constant; therefore, the possibility of modifying the width of the mattress platform so that it is possible to increase the width of the mattress platform for the lying position, and to narrow it operatively for the seating position, thus ensuring both comfortable lying and passage through narrower spaces - such as doors.

Further, there is currently a solution that is disclosed in patent application PV 2013-859 and PCT / CZ2013 / 000150.

It is a robotic mobile and modifiable bed, which consists of an omnidirectional chassis and a modifiable surface equipped with a positioning system that allows it to be controlled. The device has the possibility of converting the modifiable area into both the bed position and the chair position and other intermediate positions between the two extreme positions.

However, the device does not have the angular verticalization function and the associated accessories needed for rehabilitation and other processes.

Furthermore, it does not have a chassis design so that the layout solution maximizes the use of space for partial technologies. The lowest loading area is not sufficiently dimensioned for the needs of disabled users and patient handling.

The device is not designed to be used by people of above average size. At the same time, it contains a large number of elements including, for example, cable systems, which in turn increase the probability of failure (rupture, etc.). The sidewalls and individual segments have, due to their structural design, a reserve in the achieved speed of movement and also in the strength of the sidewall tilting mechanism.

-1 CZ 30471 U1

The essence of the technical solution

These disadvantages are largely eliminated by the Robotic Mobile and Modifiable Bed with Verticalization, which consists of a mobile omnidirectional bogie and a modifiable surface provided with a positioning system that allows it to be controlled, wherein the omnidirectional bogie includes a central frame at the top of which are linear guides bogie, on which the retractable frame is hinged to the front and to the retractable frame, each of which is provided by damping elements with a rigid axle consisting of an interconnecting piece in which the omnidirectional wheels are fixedly fixed, the front and the extension frame being retractable the rear are pendulously interconnected by linear actuators, the end positions of the retractable frame of the front and retractable frame of the rear being limited by the stops of the retractable frame, whereby in the retractable frame the front and the retractable frame are located control units of the chassis drives - rotary drives of omni-directional wheels, in the center frame, on the sides in its lower part, there are batteries, while in the antero-posterior part, on the slide-out frame the front and the retractable frame, and on the sides of the central frame are circumferentially fixed bumper elements, where the side peripheral bumper elements are firmly attached to the center frame and the front and rear bumper elements are part of the front and withdrawable frame of the front and retractable frame, while the center frame is fitted longitudinally and axially divided by the center cover and the front and slide frame by the rear frame two parts of the front cover, the lower part of the modifiable surface being a positioning system consisting of subassembly segments and longitudinal lines formed by the head segment, the back segment, the thigh segment, the calf segment and the soles m segment, each of the segments being fitted with sidewalls, wherein in the longitudinal direction all the segments form a broken centerline and all the sidewalls form two longitudinal side lines, whereby changes of positions between the individual segments of the central line and thus the corresponding sidewalls are realized by means of breaks wherein the surface of the modifiable surface is lined with upholstery, wherein the upholstery area at the outer edges is sloping into a central area of the modifiable surface, the modifiable surface being positionable to an angular verticalization position by means of a positioning system and omnidirectional bogie arrangement; retractable rear frame, which is pivotally interconnected by the chassis extension drives with the center frame, with a battery charger in the rear extension frame, with a longitudinal axis of the center the omnidirectional chassis frame is equipped with swinging baskets - swinging basket with eccentric axis and swinging basket with eccentric axis and side bolts, to which the basket drives are fixed on both sides, when the swinging basket with the eccentric axis and the swinging basket with the eccentric axis and the side bolts are pivoted on on the opposite sides in the center-bearing pendulum bearings, in the days of the swinging basket with the eccentric axis and the swinging basket with the eccentric axis and the side pins, the heels of the telescopic columns are fixedly fixed, which are pivoted in the thigh segment, with the femoral segment, the two telescopic columns extending together with a swinging basket with an eccentric axis and a swinging basket with an eccentric axis and side bolts, it consists of a four-articulated mechanism operated by the basket drives on its sides and changing the stroke of the telescopic columns, while in the omnidirectional wheels that are part of the fixed omnidirectional axle axle j their rotary drives are mounted, wherein the omnidirectional wheels are provided with brake discs, into which circumference electromagnetic brakes engage rigidly with the side ends of the junction, wherein the mutually adjoining segments and sidewalls opposite the segments which are part of the positioning system consisting of the subassembly segments; the longitudinal lines are pendulously connected by alternating hinges and hinge pins, the sidewalls of the head segment, the back segment and the calf segment being folded downwards, the hinge pins being pivotally connected by alternating hinges firmly connected to the segments of the center line, wherein the hinge pins are hinged controlled sidewall drives, which are pivoted in the centerline segments and are complemented by four-joint mechanisms to increase the stroke range, each bo drive Nice is on the side frame pivotally connected to the crank mechanism side rocking in the respective segment, wherein the sidewalls on the opposite side is pivotally mounted in the respective segment, said four-link mechanism is completed by a rod mechanism while sidewalls, which is pivotally connected with the respective sidewall,

Wherein the sidewalls of the femur segment are tilted upwardly, thereby simultaneously forming the armrest, each of the femoral sidewalls of the femoral segment being a four-joint mechanism and supported in three clicks, one pair of the femoral side mechanism handles the loose and the third mechanism crank the sidewall of the femur segment is controlled by the sidewall drive, and the changes in position between the segments of the midline and thus the respective sidewalls in the transverse direction are effected by fractures, the break between the femoral segment and the calf segment being effected by an alternating hinge with a hinge pin operated by the calf drive swiveled in the thigh segment and the calf segment, wherein the break between the calf segment and the foot segment is formed by an alternating hinge hinge controlled by the foot segment drive, swivelingly mounted on the calf segment and acting on the double crank of the foot segment mechanism, where the rocker arm is a mechanism of the foot segment mechanism and the foot segment is a crank of this mechanism that rotates about the pivot axis formed by the calf segment extending into the foot segment area, the foot segment being swinging embedded in the leg segment extensions, wherein the break between the head segment and the back segment is provided by arcuate rods which are rigidly connected to the head segment and extend into the roller holder which is part of the back segment, the movement being provided by the head segment drive pivotally mounted in the head segment and the back segment, wherein the break between the back segment and the femoral segment is performed by arcuate lower rods which are rigidly connected to the back segment and engage the handle the lower part of the thigh segment, the movement being provided by the back segment drives swiveled in the back segment, the counterpart being actuated via a four-joint mechanism in which the handle of the back segment mechanism is pivoted in the back segment and via the back mechanism rod the second crank of the four-articulated mechanism is segmented, which is the femoral segment, the last virtual axis of the four-articulated mechanism being formed by the center of the arc-guided lower rod, with the headband apertures in the upper part of the head segment.

Furthermore, it is advantageous if the angular verticalization position is up to 75 °, whereby the sides of the head segment, the back segment and the calf segment are tilted downwards by 180 °, the sides of the femur segment being tilted upwards by 90 °.

Furthermore, it is advantageous if the chassis drive control units - linear drives - are located in the rear frame and the retractable frame in the rear frame.

Furthermore, it is advantageous if the telescopic columns in the thigh segment are supported by bolts with plates fixedly connected to the heads of the telescopic columns, the plates being pivoted in the thigh segment.

Furthermore, it is advantageous if the head support is provided with a plug, which then engages in the openings in the head segment in which the spring-loaded ball screws are accommodated to position the head support on the shaped recesses of the plug.

Furthermore, it is advantageous for plug-in brackets for the actuator to be placed in the armrests of both legs of the femoral segment, which can also be placed on a tilting plate located on the rear of the head segment, with foot pads being located on the lower surface of the foot segment.

Furthermore, it is advantageous if the locking clamps of the two-point clamping belts are firmly anchored at the side edges of the segments, with two pairs of locking clamps with two clamping straps in the back segment, and one pair of locking clamps with one clamping belt in the thigh segment.

Furthermore, it is advantageous if the thickness of the upholstery to the center of the modifiable area increases in the central segments of the segments from the end regions of the head segment, the foot segment and the sidewalls.

Furthermore, it is advantageous if the actuators of the positioning system mechanisms, the loading surface, the chassis drive drives and the basket drives are linear.

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Furthermore, it is advantageous to have linear drive control units located in the centerline segments.

Advantages of the proposed device compared to existing systems

- it has an angular verticalization function and its associated accessories needed for rehabilitation and other processes

- has a chassis design so that the layout design maximizes the use of space for partial technologies (eg drives are located in omnidirectional wheels, not in the interconnecting part, etc.)

- in the system, the buttock line is removed, with telescopic pillars pivoted to form a four-articulated mechanism operated in the undercarriage, which is retractable to the femur line and in the center chassis. This arrangement replaces the linear extension within the gluteal line necessary for the user to enter the modification of the chair, thereby reducing the lower position of the loading area and, in addition, allowing the modification of the loading area to angular verticalization. The loading area is therefore sufficiently dimensioned for the needs of handicapped users and the handling of the patient (the possibility of achieving a comparable height of the bed of a standard bed and the loading area of a robotic mobile and modifiable bed with verticalization)

- is adapted to be used by over-high persons, whereby the head segment can be supplemented with an adjustable head restraint slidably fixed into the upper edge of the centerline of the headline.

- The head segment can be positioned to the rear to a certain extent

- Sidewalls and individual segments utilize four-joint mechanisms with accelerating effect to increase stroke - compared to existing equipment, kinematic processes have been improved, as well as increased speed and strength.

Thus, in addition to the possible combination of bed-chair positions, the equipment proposed by us has a verticalization position of up to 75 °, thereby increasing the range of possible movements and thus rehabilitation and other processes. It offers a combination of functional features that provide comfort for both home and institutional users (a wide range of possible movements, changing from a full-size bed to an armchair capable of traveling through a standard door width of 80 cm /, the possibility of lowering the bed to a standard bed height, extension of loading area by adjustable head restraint, etc.)

From the technical point of view, our proposed equipment is simplified in comparison with the existing systems, while improving the functional properties, when, for example, the whole sidewall tilt mechanism was simplified and reinforced.

Clarifying drawings

The attached sheets show pictures and a legend.

FIG. 1 shows two side axonometric views of a modifiable chair and a side rear view of angular verticalization

FIG. 2 axonometric views of the omnidirectional bogie, where the chassis with retractable frames in the extended position is shown in the top view and the omnidirectional bogie with retractable frames is in the retracted position at the bottom view

FIG. 3 shows top axonometric views of a modifiable bed-shaped surface, wherein in the top figure there is an omnidirectional chassis with non-extended pull-out frames and in the lower figure, the pull-out frames are already extended to increase overall stability

FIG. 4 In the upper part, there is a bottom view of the omnidirectional chassis with extended telescopic frames, there is a frame pull-out system, a telescopic column mount system and a positioning system. In the bottom left-hand pictures, the top view is robotic mobile and modifiable

-4GB 30471 Ul bed with exposed thigh segment upholstery, with a fastening belt with locking handles, chassis with front cover but no center cover, omnidirectional chassis with retractable frames, circumferential bumper elements and battery. Another view is the detail of the clamping belt with the locking handle. The last view is an axonometric view of a robotic mobile and modifiable bed without a front cover but with a visible center cover

FIG. 5 is a side, rectangular view of a robotic mobile and modifiable bed with a modifiable surface and omnidirectional bogie with extended telescopic frames and a front and center cover

FIG. 6 Rectangular side view and longitudinal section of the modifiable surface with positioning system, telescopic telescopic columns and their control by linear basket baskets by means of an asymmetric pendulum basket and a swivel basket with asymmetric axis and side pins. In both views, all mechanisms of transverse fractures of the centerline segments are well visible

FIG. 7 is a bottom perspective view of a modifiable surface with a positioning system, telescopic telescopic columns and their control by a linear linear basket drive via an asymmetric pendulum basket and an asymmetric axis pivot basket with side pins. All the transverse fracture mechanisms of the centerline segments and the fracture mechanisms of the respective side walls are seen

FIG. 8 a rectangular longitudinal section through a modifiable chair, where the system of ejection and positioning of telescopic columns with their control by linear drives is visible, as well as the breaks of individual segments with their control by means of positioning mechanisms including their drives as part of the positioning system. The second left view is the longitudinal section of the angular verticalization, where the positioning system function is visible

FIG. 9 is a rear axonometric view of a modifiable surface at an angular verticalization position;

FIG. 10 in the upper left part shows the detail of the fixed connection of the locking bracket ready for the clamping belt attachment. In the lower left part there is shown a section of the telescoping telescopic column holder, where its swinging support in the thigh segment can be seen by means of a plate pin. On the third detail on the right, there is a section of the swinging attachment of the sidewall in the alternating hinge with the hinge pin as an interconnecting element, and there is also a four-joint mechanism for increasing the sidewall stroke controlled by the linear side drive.

FIG. 11 in the upper part of the picture shows the attachment of the thigh segment sidewall with its four-joint mechanism. At the bottom, the foot segment coating is captured by a mechanism for increasing the pendulum motion, whereby the foot segment is pulled in the double handle of the foot segment mechanism.

FIG. 12 is a side view of a modifiable chair with its peripheral buffer elements, center and front covers. On the side there are alternating sidewall hinges, outside the thigh segment side, where the four-hinged mechanism is mounted and coated. The controller is mounted on a tilting plate representing its location to control the modifiable chair by the operator. The view is complemented by the detail of the position of the control panel hinged plate.

Example of a technical solution

The robotic mobile and modifiable bed 1 allowing the adjustable positioning system 2 of the modifiable surface 3 to be controlled, with the possibility of converting a modifiable surface 3 into a flat surface, a modifiable chair 4 and an angular verticalization 5, consists of a mobile omnidirectional bogie 6 on which a modifiable surface 3 is placed.

The basic subassembly of the mobile omnidirectional bogie 6 is the center frame 7, in the sides of which at the top are two linear bogie guides 8. On each pair of these chassis linear guides 8, the sliding frame 9 is suspended from the front and the extension frame 9) in the rear and rear, respectively.

Wherein in each of them a fixed axle 11 is disposed by means of silent blocks 10, consisting of a connecting part 12, in which the omnidirectional wheels 14, in which their rotary drives are mounted, are fixedly fixed by means of a positive-fit connection; 14 are provided with brake discs into which the electromagnetic brakes 13 engage rigidly with the side ends of the interface piece 12.

The extension frame 9 the front and the extension frame are pivotally interconnected by linear drive mechanisms 15 of the chassis with the central frame 7, the end positions of the extension frame 9 of the front and rear frame 91 being limited by the rubber stops 16 of the extension frame.

In the pull-out frame 9 by the front and the extension frame 91, there are control units 17 of the chassis drives - rotary drives of the omni-directional wheels 14 and linear drives, wherein a battery charger 18 is mounted in the rear frame 91. In the center frame 7, at the sides at the bottom, there are batteries 19.

The peripheral buffer elements 20 are fixedly fixed in the antero-posterior frame, on the front frame and in the rear frame and on the sides of the center frame 7, whereby the side peripheral buffer elements 20 are firmly attached to the center frame 7 and the antero-posterior peripheral buffer elements 20 are part of the withdrawable the frame 9 of the front and withdrawal frame 91. Below them is a longitudinally and axially divided center cover 21 attached to the center frame 7, and two portions of the front cover 22 attached to the extension frame 9 by the front and withdrawal frame 91 rearwardly.

In the longitudinal axis line of the center frame 7 there are two swing baskets - a swing basket 23 with an eccentric axis and a swinging basket 24 with an eccentric axis and side pins, whereby the eccentric axis is driven on both sides by two linear actuators 25 with an eccentric axis and side pins. baskets, wherein the swinging basket 23 with the eccentric axis and the swinging basket 24 with the eccentric axis and the side pins are pivotably mounted on opposite sides in the center bearing swinging bearings 28. In the days of the swinging basket 23 with the eccentric axis and the swinging basket 24 with the eccentric axis and the side pins, the heels of the two telescopic columns 27 are fixedly fixed and the pins 28 and plates are fixedly connected to them with the plates being pivoted in the thigh segment 29, so that the thigh segment 29, the two telescopic columns 27, together with the swinging basket 23 with the eccentric axis and the swinging basket 24 with the eccentric axis and the side bolts, form a four-joint mechanism actuated on its sides by the linear basket bases 25 and the stroke of the telescopic columns 27. .

Another large subassembly is the positioning system 2, which is the lower part of the modifiable surface 3, consisting of the following base frame subassembly segments and longitudinal lines:

a head segment 30, a back segment 31, a thigh segment 29, a calf segment 32, and a foot segment 33.

Each of these segments outside the foot segment 33 is fitted with two sidewalls 34, all longitudinally forming the center line 35 in the longitudinal direction, and the two sidewalls 34 forming the two longitudinal side lines 36.

The two sides 34 of the thigh segment 29 in the upward position, when folded up, also serve as the hand supports 37, each of the sides 34 of the thigh segment 29 being the center of the four-joint mechanism and supported in three clicks. One pair of shaped crankshafts 38 of the femoral sidewall mechanism loosely and the third crank 39 of the femoral sidewall mechanism is operated by a linear 40 sidewall drive.

The sidewalls of all remaining segments - the head segment 30, the back segment 31 and the calf segment 32 - rotate downward, where the hinge pins 42 are pivotally connected by alternating hinges 44 firmly connected to the segments of the center line 35, when the hinge pins 42 are controlled by linear Sidewall drives 40, which are always pivoted in the centerline segments 35 and are complemented by four-joint mechanisms to increase the stroke range.

Each sidewall drive 40 is pivotally coupled to the crank 43 of the sidewall mechanism located on the sidewall 34 where the sidewall 34 is pivotably mounted on the opposite side of the side segment 6ZZ 30471, the four-joint mechanism being complemented by the side mechanism linkage 44 that is pivotally connected to the respective sidewall 34.

The same is true for the break between the thigh segment 29 and the calf segment 32, which is folded down like the sidewalls 34, that is, the calf segment 32 with respect to the thigh segment 29 downwardly and is controlled by two linear calf drive drives 45 swiveled to the thigh segment 29.

The breaks between the midline segments 35 look like this:

the simplest controlled break is between the thigh segment 29 and the calf segment 32, wherein the hinge 44 with the hinge pin 42 is controlled by two linear calf drive drives 45 swiveled in the thigh segment 29 and the directly operating calf segment 32, where the oscillation is again.

The adjacent fracture between the calf segment 32 and the foot segment 33 forms an alternate hinge 41 with hinge pins 42 operated by a linear foot 46 of the foot segment, pivoted on the calf segment 32 and acting on the double crank 48 of the four-armed mechanism of the foot segment where 47 of the foot segment mechanism 47 is drawn and the foot segment 33 is again a crank of this mechanism that rotates about a pivot axis formed by the two calf leg extensions 49 penetrating into the foot segment 33.

The remaining fractures of the head segment 30 - back segment 31 and back segment 31 - thigh segment 29 are similarly arranged, wherein the broken head segment 30 - back segment 34 is simpler and is directly controlled by the linear head segment drive 50 swiveled in the back segment 34 when it directly controls the head segment 30 in which it is pivoted. The break is effected by two holders 51 with rollers firmly seated in the back segment 31 into which the arc guided rods 52 engage firmly with the head segment 30.

The bad back segment 34 - the thigh segment 29 is performed as a break between the head segment 30 - the back segment 34 except that it is provided by the arcuate lower rods 52 'which are firmly connected to the back segment 34 and extend into the roller holder 51' lower, being controlled by two linear back segment drives 53 mounted swivelly in the back segment 34, and the counterpart being actuated via a four-joint mechanism in which the handle 54 of the back segment mechanism is pivoted in the back segment 34 and a second handle is actuated via the back segment mechanism handle 55 the four-hinge mechanism, which is the femoral segment 29, wherein the last virtual axis of the four-joint mechanism is formed by the center of the arcuate lower rod 52 '.

In addition to the upper edge of the head segment 30, a head restraint 56 can be fixedly adjustable by means of a plug fork 57 which is a part thereof. The plug-in fork 57 then extends into the openings in the head segment 30 in which the spring-loaded ball screws 58 are accommodated to position the head support 56 on the recesses of the plug-in fork 57.

In the two sides 34 of the thigh segment 29 in the armrests 37 there are plug-in brackets 59 for the actuator 60 which can also be placed on the hinged plate 61 located on the back of the head segment 30.

Locking clamps 62 of two-point clamping belts 63 are firmly anchored to the side edges of the segments. In the back segment 34 there are two pairs of locking clamps 62 with the possibility of attaching two clamping belts 63 and in the thigh segment 29 there is one pair of locking clamps 62 with the possibility of attaching one clamping belt 63.

The surface of all parts of the positioning system 2 of the modifiable surface 3 is lined with upholstery 64, wherein the upholstery surface 64 is at the outer edges sloping into the central region of the modifiable surface 3, in addition to the central segments of the segments from the end regions of the head segment 30, the foot segment 33 and the sidewalls 34 the thickness of the upholstery 64 is sloped towards the center of the modifiable surface 3.

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On the lower surface of the foot segment 33, foot pads 65 are provided for use in modification to a modifiable chair 4 or angular verticalization 5 with a 75 ° slope.

Linear drive control units 66 are located in the centerline segments 35.

Function

The essence of the robotic mobile and modifiable bed 1 lies in its possible transformations from a planar modifiable surface 3 to an omnidirectionally movable and height-adjustable modifiable chair 4 or to angular verticalization 5 by a positioning system 2, all with its omnidirectional mobility.

The omnidirectional movement of the robotic mobile and modifiable bed i allows an omnidirectional bogie 6, the basis of which is a central frame 7, in the upper part of which in the front-to-back direction are the bogie linear guides 8 on which the telescopic frames are hinged - the extendable frame 9 and the slide frame 9) the rear on each of which a fixed axle 11 is mounted by means of silent blocks 10, the basis of which is an interconnecting part 12, in which the omnidirectional wheels 14 are fixedly fixed by means of a positive connection. The omnidirectional wheels 14 are provided with brake discs into which the electromagnetic brakes engage The electromagnetic brakes 13 enable safety braking at each stop of the mobile omnidirectional bogie 6 as a parking brake or as an emergency brake in the event of a power supply failure 19.

In the case of converting a modifiable chair 4 into a modifiable surface 3, the wheelbase of the fixed axles H must be increased for stability reasons. This is made possible by two linear drive chassis extensions 15 connecting each of the telescopic frames to the extensible frame 9 front and telescopic frame 91 rear - with center frame 7 and their positioning in the end positions by symmetrical extension, the rubber stops 16 of the withdrawable frame permit. In the space of the extendable frame 9 of the front and withdrawal frame 91, control units 17 of the chassis drives - rotary drives of omni-directional wheels 14 and linear drives - are mounted.

The battery charger 18 disposed in the lower, central area of the retractable frame 91 of the rear and on the side surfaces of the center frame 7 is supported by the battery 19 of the chassis electrical system.

Peripheral buffer elements 20 are also important details, with the peripheral buffer elements 20 being fixedly attached to the center frame 7, and the antero-posterior peripheral buffer elements 20 being part of the slide-out frames 9 of the front and rear extension frame 91.

The security and aesthetic coverings form a longitudinally and axially divided central cover 21 connected to the center frame 7 and two parts of the front cover 22 attached to the extension frame 9 by the front and the extension frame 91 by the rear. The covering is shaped in such a way that it is functional even with the maximum extension of the extendable frame 9 of the front and withdrawable frame 91.

The adjustable surface 3 in the horizontal position for lying is to be controlled by height, its conversion into a modifiable chair 4 is to be controlled both vertically and anteriorly, and the same applies to the angular verticalization 5, where they are in the longitudinal axis of the central frame 7 mobile omnidirectional bogie 6 extendable telescopic columns 27 which are fixedly mounted in a swinging basket 23 with an eccentric axis and in a swinging basket 24 with an eccentric axis and side pins, wherein only the swinging basket 24 with an eccentric axis and side pins is driven by the basket linear drives 25 when the swinging basket 23 with the eccentric axis and the swinging basket 24 with the eccentric axis and the side bolts are pivoted in the center frame swinging bearings 26. The plate pins 28 are fixedly fixed in the heads of the telescopic columns 27, which are pivotably mounted in the thigh segment 29, whereby the thigh segment 29 closes the four-joint mechanism made of said parts and this mechanism, permitting the necessary height and anterior movements of the modifiable area 3.

The functional arrangement of the modifiable chair 4 and the angular verticalization 5 arise from the deformation of the modifiable area 3, i.e. the variability of the modifiable surface 3 transition to the modifying armchair 4 or the angular verticalization 5, and vice versa is possible by transverse and longitudinal dividing by the positioning system 2.

Transversely, the modifiable surface 3 is divided into individual segments, which are:

a head segment 30, a back segment 31, a thigh segment 29, a calf segment 32, and a foot segment 33, each of the segments except the foot segment 33 being fitted with sidewalls 34.

Longitudinally, the modifiable surface 3 can be divided into a central line 35 formed by all the segments and two opposite longitudinal side lines 36 formed by the sidewalls 34, the longitudinal side line 36 being shorter than the central line 35, since the foot segment 33 is not fitted with sidewalls 34.

Adjacent, adjacent segments - the head segment 30, the back segment 31, the leg segment 29, the calf segment 32, the foot segment 33 - and the sidewalls 34 therebetween, are swiveled by alternating hinge 41 and hinge pins 42 to allow positioning modification System 2 of Robotic Mobile and Modifiable Bed 1. All sidewalls 34, apart from the sidewalls 34 of the thigh segment 29, which are tilted upward, are tilted down by about 180 °.

The movement of the sidewalls 34 outside the sidewall 34 of the thigh segment 29 is accomplished by a linear sidewheel drive 40 which acts through a four-joint mechanism to accelerate the movement of the sidewheel to increase stroke 34. The linear sidewheel drive 40 thus acts on the crank 43 of the sidewheel mechanism pivotably mounted in the respective segment, and further via the drawbar 44 of the sidewall mechanism acting as rocker arm, acts on the sidewall 34 to swing in the respective segment, which functions as a crank of this mechanism.

The sidewalls 34 of the thigh segment 29, after tilting upward by 90 °, naturally form a hand support 37 at their upper edge, on each side.

The movement of this sidewall 34 is accomplished through a four-joint mechanism forming an approximate virtual axis at the interface of the upholstery surfaces of the 64 parts. The four-articulated mechanism is driven by a linear sidewheel drive 40 acting on the crank 39 of the thigh segment sidewall mechanism, the next adjoining mechanism of the thigh segment 29 being the rocker arm of the thigh segment, and the sidewheel 34 being supported by the crank mechanism 38 of the thigh segment sidewall mechanism, not utilized by the alternate hinges 41 with hinge pins 42.

The simplest embodiment is a 90 ° downward linkage between the calf segment 32 and the thigh segment 29 where there is only swinging between the segments through the hinge pins 42 of the hinges 41, and the movement is effected by a pair of linear calf drive 45 swinging suspended on both mentioned segments.

A further, adjacent linkage is the rocking motion of the foot segment 33 relative to the calf segment 32 by 90 ° upwards. Here, movement is produced by a linear actuation of the foot segment 46 swivelingly mounted on the calf segment 32. To increase the stroke, a four-joint mechanism is used, into which two foot handles 48 of the foot segment mechanism engage a linear foot 46 and this movement is transmitted by a pair of foot mechanism rods 47 of the segment of the four-hinged mechanism, to the foot segment 33, which is pivoted in the legs 49 of the calf segment.

On the opposite side of the modifiable surface 3 there is a + 15 ° upward motion, -10 ° downward motion of the head segment 30 relative to the back segment 34, which is realized by two arcuate rods 52 centered at the intersection of the face segment 30 and back 3L. the arc guided rod 52 is rigidly connected to the head segment 30 and extends into the roller holder 51 which is part of the back segment 31. The movement is provided by a linear head segment drive 50 swiveled in the head segment 30 and back segment 31.

The last transverse motion coupling is the rocking motion of the back segment 31 by 90 ° upward relative to the thigh segment 29, which is realized by two arcuate rods 52 ' downwardly centered at the intersection of the interfaces of the back segment 31 &

30471 U1 of the segment 29. Each arcuate lower rod 52 'is rigidly connected to the back segment 31 and extends into the holder 51', with the lower pulleys, which is part of the thigh segment 29. The movement is carried out by two linear drives 53 of the back segment, swinging the back segment 31 is moved to the thigh segment 29. The movement is carried out via a four-joint mechanism in order to increase the stroke, the linear back segment drives 53 acting on the crank 54 of the back segment mechanism swiveled in the back segment 31, the movement being transmitted through the two mechanism linkages 55 the back segment acting as a rocker of the four-articulated mechanism, wherein the back segment linkages 55 act on the thigh segment 29, thereby pushing the back segment 31 and breaking in the last, virtual joint of the four-joint mechanism, which is the center of the arcuate lower rod 52 '.

If desired, in particular for users of a higher height, a head restraint 56 can be attached to the upper edge of the head segment 30, whereby a plug 57 of the head restraint 56 can be inserted into the openings in the top of the head segment 30, the positioning of the head restraint 56 being possible by means of two spring-loaded ball screws 58 fixed in the head segment 30.

All movements of the robotic mobile and modifiable bed positioning system 2 and its mobile omnidirectional bogie 6 are controlled via the controller 60, with some operations being programmed for electronic control and executed electronically. Therefore, the linear drive servoamplifiers are located outside the mobile omnidirectional bogie 6 even in the center line 35.

In the area of the arm support 37, a plug holder 59 is placed on both sides 34 of the thigh segment 29, into which the actuator 60 is mounted, and can be applied to the right or left side.

The actuator can also be placed on the tilting plate 61, which is located on the head segment 30, whereby the positioning system 2 of the robotic mobile and modifiable bed 1 can be operated by both the right-handed and left-handed person.

All parts of the modifiable surface 3 are covered with a suitable upholstery 64 from the user's point of view and are slightly sloping from the outer edge towards the centerline 35.

In the case of the transition from the modifiable area 3 to the modifiable chair 4 or the angular verticalizer 5, it is necessary that this formation be moved forward. Said movement is made possible by the swiveling telescopic columns 27 operated by the basket linear actuators 25. Here, some of the movements of the modifiable surface 3 by the user are electronically limited to avoid collisions. When adjusted to the angular verticalization 5, the foot segment 65 is applied and the tensioning straps 63 applied to the locking tabs 62 are used, the two pairs of locking tabs 62 being fixedly fixed in the edge portions of the back segment 31, and one pair of locking tabs 62 being firmly attached to the edge sections parts of the calf segment 32.

Linear drive control units 66 are located in the centerline segments 35, thereby minimizing the length of the cable ducts from the linear drives of the loading platform positioning system 2 to the respective controllers 66 of the linear drives.

Industrial usability

The Robotic Mobile and Modifiable Bed with Verticalization is a versatile, wide range of modifiable surface positioning system that has a wide range of positions within the transition between three positions, ie a sitting position with a robotic mobile and modifiable bed shape and a horizontal position and angular verticalization position. Furthermore, the device is height adjustable with the ability of omnidirectional movement using both manual and remote control, including the possibility of using automated movements. The versatility of the device is also in the variability of possible usable environments - the device is designed for both classic interior environments and medical facilities, as well as for outdoor environments.

-10CZ 30471 U1

The proposed universal transport robotic positioning system can be used, for example, for seniors, immobile persons or patients in treatment processes. It is therefore systemically usable in health care.

Claims (10)

PROTECTION REQUIREMENTS A robotic mobile and modifiable bed (1) consisting of a mobile omnidirectional bogie (6) and a modifiable surface (3) provided with a positioning system (2) which allows its controlled adjustment, the omnidirectional bogie (6) comprising a central frame (7) in which the sides of the upper part have linear bogie guides (8) on which the telescopic frame (9) is hung front and the telescopic frame (9 ') are rear, each of which has a fixed axle (11) by means of damping elements, Consisting of an interconnecting member (12) in which the omnidirectional wheels (14) are fixedly mounted in the lateral ends, the front and rear extension frames (9 ') being pivotally connected by linear drives, the end positions of the extension frame (9) ) of the front and extendable frame (9 ') of the rear are limited by the stops (16) of the extendable frame, and in the extendable frame (9) of the front and extendable frame (9 ') rear, the chassis drive units (17) of the rotary drives of the omnidirectional wheels (14) are located, the batteries (19) being located in the center frame (7) at the sides at the bottom thereof, an extensible frame (9) of the front and an extensible frame (9 ') of the rear, and on the sides of the central frame (7) are fixed peripheral bumper elements (20), the lateral peripheral bumper elements (20) being fixedly attached to the central frame (7) and the anterior-posterior perimeter bumper elements (20) are part of the front and rear extension slide (9 ') and the rear frame (9) is attached to the central frame (7) by a longitudinally and axially divided central cover (21) and on the slide frame (9). the front and extendable frame (9 ') through the rear two parts of the front cover (22), the lower part of the modifiable surface (3) being a positioning system (2) consisting of subassembly segments and longitudinal lines comprising a head segment (30), a back segment (31), a thigh segment (29), a calf segment (32) and a foot segment (33), each segment (30, 31, 29 and 32) being fitted with sidewalls (34), wherein in the longitudinal direction all segments form a kinked centerline (35) and all the sidewalls (34) form two longitudinal side lines (36), wherein the position changes between the individual segments of the centerline (35) and hence the respective sidewalls (34) ) in the transverse direction are realized by kinks, wherein the surface of the modifiable surface (3) is coated with a padding (64), wherein the padding surface (64) is on the outer edges with descent into the central region of the modifiable surface (3) the surface (3) is adjustable to the angular verticalization (5) position by the construction of the positioning system (2) and the omnidirectional bogie (6), part of the undercarriage (6) are a sliding frame (9) front and a sliding frame (9 ') rear, which are pivotally connected by the chassis slide drives (15) to the central frame (7), with a charger (9') mounted in the rear sliding frame (9 '). 18) of a battery, in the longitudinal axis of the center frame (7) of the omnidirectional bogie (6), there are mounted swinging baskets - swinging basket (23) with eccentric axis and swinging basket (24) with eccentric axis and lateral pins, 25) baskets, wherein the eccentric axis swinging basket (23) and the eccentric axis swinging basket (24) and the side pins are pivotally mounted on opposite sides in the center frame swing bearings (26), wherein on the days of the eccentric swinging basket (23) the heels of the telescopic columns (27), which are pivotably mounted in the thigh segment (29), the thigh segment (29), two extendable telescopic the columns (27), together with the eccentric axis swinging basket (23) and the eccentric axis swinging basket (24) and the side pins, form a four-hinge mechanism operated on its sides by the mounted basket drives (25) and changing the lift of the telescopic columns (27); in the omnidirectional wheels (14) which are part of the fixed axle (11) of the omnidirectional bogie (6), their rotary drives are mounted, the omnidirectional wheels (14) are provided with brake discs, the circumference of which is (13) rigidly connected to the side ends of the connector (12), the interconnecting segments and sidewalls (34) relative to the segments forming part of the positioning system (2) consisting of subassembling segments and longitudinal lines are pivotally interconnected by alternating hinges (41) and hinge pins (42), the side (34) of the head segment (30), back of the segment (31) and calf segment (32) are folded downwardly, wherein the hinge pins (42) are pivotally connected by alternating hinges (41) firmly connected to the centerline segments (35), wherein the pivotal hinge pins (42) are actuated sidewall drives (40) that are pivotally mounted in the centerline segments (35) and are supplemented with four-articulated mechanisms to increase the stroke range, each sidewall drive (40) being coupled at the engagement side with a crank (43) of the sidewall mechanism a sidewall (34) on the opposite side of the rocker mounted in a respective segment, the four-articulated mechanism being supplemented by a sidewall mechanism rod (44) which is pivotally connected to the sidewall (34), the sidewall (34) of the femur segment (29) tilting upwards, thereby forming the armrest (37) at the same time wherein each of the sidewalls (34) of the femoral segment (29) is a four-hinge mechanism and is supported by three cranks, one pair of the femoral sidewall mechanism cranks (38) being free and a third crank (39) of the femoral sidewall mechanism 40) of the sidewalls, wherein the changes of the positions between the individual segments of the centerline (35) and hence the respective sidewalls (34) in the transverse direction are realized by means of breaks, the break between the thigh segment (29) and calf segment (32) (41) with a hinge pin (42) actuated by the calf segment drives (45) pendulum mounted in the thigh segment (29) and the calf segment (32), the break between the calf segment (32) and the foot segment (33) forming an alternate hinge (41) ) with hinge pins (42) controlled by the foot segment drive (46), swinging mounted on the calf segment ntu (32) and acting on the double crank (48) of the foot segment mechanism, wherein the lever is the handle (47) of the foot segment mechanism and the foot segment (33) is a crank of the mechanism that rotates about a pivot axis formed by the calf extension penetrating into the space of the foot segment (33), the foot segment (33) being pivotally mounted in the extensions (49) of the calf segment, the break between the head segment (30) and the back segment (31) being made by arcuate guided rods (52). are rigidly connected to the head segment (30) and extend into the pulley holder (51) of the back segment (31), the movement being provided by the head segment drive (50) pivoted in the head segment (30) and the back segment (31), wherein the fracture between the back segment (31) and the thigh segment (29) is effected by arcuate guided rods (52 ') lower, which are rigidly connected to the back segment (31) and extend into the lower pulley support (51 ') of the thigh segment (29), the movement being provided by the back segment drives (53) pivoted in the back segment (31), wherein the counterpart is actuated via a four-hinge mechanism in which the back segment handle (54) is pivoted in the back segment (31) and a second crank of the four-hinge mechanism, the thigh segment (29), is actuated via the back segment handle (55), wherein the last virtual axis of the four-hinge mechanism is the bottom center of the arcuate guided rod (52 '), wherein at the top of the head segment (30) there are openings for an adjustable connection of the head support (56). - 12GB 30471 U1 A robotic mobile and modifiable bed (1) according to claim 1, characterized in that the position of the angular verticalization (5) is up to 75 °, wherein the sidewalls (34) of the head segment (30), back segment (31) and calf segment. (32) fold down by 180 °, with the sidewalls (34) of the thigh segment (29) tilting up by 90 °. Robotic mobile and modifiable bed (1) according to claim 1, characterized in that in the front slide-out frame (9) and the rear slide-out frame (9 ') there are located the chassis-drive control units (17) - linear drives. Robotic mobile and modifiable bed (1) according to claim 1, characterized in that the telescopic masts (27) extend in the thigh segment (29) by means of plate pins (28) fixedly connected to the telescopic mast heads (27). wherein the plate pins (28) are pivoted in the thigh segment (29). Robotic mobile and modifiable bed (1) according to claim 1, characterized in that the head restraint (56) comprises a plug-in fork (57) which then extends into the openings in the head segment (30) in which the screws ( 58) with a spring-loaded ball enabling positioning of the head restraint (56) on the shaped recesses of the plug-in fork (57). Robotic mobile and modifiable bed (1) according to claim 1, characterized in that in both side walls (34) of the femoral segment (29) in the armrests (37) there are plug-in holders (59) for the actuator (60) which It is also possible to place it on a hinged plate (61) situated on the rear side of the head segment (30), with foot pads (65) on the bottom surface of the foot segment (33). A robotic mobile and modifiable bed (1) according to claim 1, characterized in that the locks (62) of the two-point seat belts (63) are firmly anchored at the side edges of the segments, with two pairs of locks at the back segment (31). (62) with the possibility of attaching two tensioning straps (63), and for the thigh segment (29) there is one pair of locking fasteners (62) with the possibility of attaching one tensioning strap (63). Robotic mobile and modifiable bed (1) according to claim 1, characterized in that in the center portions of the segments from the end regions of the head segment (30), the foot segment (33) and the sidewalls (34), the padding thickness is directed towards the middle (3) magnifies. Robotic mobile and modifiable bed (1) according to claim 1, characterized in that the drives of the mechanisms of the positioning system (2) of the mattress platform (3), the drives of the undercarriage (15) and the drives of the basket (25) are linear. Robotic mobile and modifiable bed (1) according to claim 1, characterized in that linear drive control units (66) are disposed in the centerline segments (35).