CZ306563B6 - A robotic mobile and modifiable bed with verticalization - Google Patents

Abstract

The robotic mobile and modifiable bed (1) is formed by the omnidirectional chassis (6) and the modifiable surface (3) with the positioning system (2), while the omnidirectional chassis (6) comprises the central frame (7) and the sliding frames (9, 9'), while, in each of them, there is placed the fixed axle (11) with the omnidirectional wheels (14), while the positioning system (2) consists of the head segment (30), the back segment (31), the thigh segment (29), the calf segment (32) and the plantar segment (33), while the segments (30, 31, 29 a 32) are fitted with the side plates (34), while the modifiable surface (3) is, via the structural arrangement of the positioning system (2) and the omnidirectional chassis (6), positionable to the position of angular verticalization (5), while, in the longitudinal axis of the centre frame (7), there are placed the pendulum baskets (23, 24) in whose bottoms there are located the heels of the extensible telescopic columns (27) from the opposite side of the pivotally located in the thigh segment (29), while the leg segment (29), the extensible telescopic columns (27) and the pendulum baskets (23, 24) form a four-link mechanism controlled by the actuators (25) of the basket and the lift of the telescopic columns (27).

Description

Robotic mobile and modifiable bed with verticalization

Field of technology

The invention relates to a transport universal robotic positioning device with the function of a wide range of positioning positions, easy maneuverability, and great variability in controllability.

Prior art

At present, there are a number of transport and positioning devices developed especially for immobile and physically handicapped people. However, the overall design and construction of these systems is only purposefully oriented, with minimal versatility. As a rule, these are either wheelchairs without the possibility of positioning, or devices which make it possible to move to a horizontal plane and thus create a loading surface, but only in a predetermined place within the circumferential frame forming partial surfaces of the bed loading surface.

Representatives of the prior art are, for example, the solutions disclosed in patent applications US 2012/016093 A1 of 5 June 2012, EP2 581 072 A1 of 17 April 2013, EP 2 583 650 A1 of 24 April 2013, EP2 583 651 A1 of 24. April 2013

The above inventions are based on the principle that the chair starts from the basic construction of the bed. These folding constructions of the bed - armchairs, do not allow the height adjustment of the bed or seating system, furthermore, without the basic construction, they do not allow the achievement of standard dimensional parameters of the bed.

In the variant where a partial part of the bed is separated from the basic structure of the bed and exits as a wheelchair, this basic structure of the bed remains in the space as an obstacle. Another disadvantage is the solution of the loading surface itself, which is distributed directly in its center over the entire length. The mattress, or upholstery, is therefore divided in the place where the user always lies.

The above solutions are not controlled by robotic elements so that when changing from a lying position to a sitting position or vice versa, the wheelbase between the front and rear axles automatically changes, thus automatically shortening or lengthening the wheelchair base and thus adapting to current stability requirements. the whole device.

The width of the current equipment - wheelchairs - is generally constant, so the possibility of modifying the width of the loading area cannot be applied so that the width of the loading area can be increased for the supine position and operatively narrowed for the seating position, thus ensuring both comfortable lying and passage through narrower spaces - such as doors.

At present, there is also a solution which is captured in the 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 its controlled adjustment. The device has the possibility of converting the modifiable surface both to the position of the bed and to the position of the chair and other intermediate positions between these two extreme positions.

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

Furthermore, it does not have an adapted chassis design so that the layout solution makes the use of space for partial technologies as efficient as possible. The lowest position of the loading area is not sufficiently dimensioned for the needs of disabled users and patient handling.

- 1 CZ 306563 B6

The device is not adapted for possible use by above-average persons. At the same time, it contains a large number of elements, including, for example, cable systems, which then subsequently increase the probability of failure (rupture, etc.). Thanks to the design solution, the side panels and the individual segments have reserves in the achieved speed of movement and also the strength of the side tilting mechanism.

The essence of the invention

These disadvantages are largely eliminated by the Robotic mobile and modifiable bed with verticalization, which consists of a mobile omnidirectional chassis and a modifiable surface provided with a positioning system that allows its controlled adjustment, the omnidirectional chassis comprising a central frame with linear guides at the sides chassis, on which the front extension frame and the rear extension frame are suspended, in each of which a fixed axle is mounted by means of damping elements, consisting of a connecting part, in the side ends of which omnidirectional wheels are fixed, the front frame and the extension frame the rear are pivotally connected by linear drives, the end positions of the front and extension frame are limited by the stops of the extension frame, while in the front frame and the rear frame are located control units of chassis drives - rotary omnidirectional drives, while in the center frame, after sides at its bottom, j batteries are located, the circumferential bumper elements being fixed in the front-rear part, on the front sliding frame and the rear sliding frame, and on the sides of the middle frame, the side circumferential bumper elements being firmly attached to the central frame and the front-rear circumferential bumper elements being part of the sliding frame. front and retractable rear frame, a longitudinally and axially divided center cover attached to the central frame and two front cover parts on the retractable frame front and retractable frame, the lower part of the modifiable surface being a positioning system consisting of subassemblies and longitudinal lines formed head segment, back segment, thigh segment, calf segment and foot segment, each segment being fitted with sidewalls, all segments in the longitudinal direction forming an angled centerline and all sidewalls forming two longitudinal side lines, the position changes between the individual centerline segments and thus the relevant sidewalls in the transverse direction are realized by means of fractures, the surface of the modifiable surface being coated with upholstery, the upholstery surface being at the outer edges sloping into the central area of the modifiable surface, the modifiable surface being positionable to the angular vertical position by a structural positioning system and omnidirectional chassis the chassis includes a front extension frame and a rear extension frame, which are pivotally connected by the chassis extension drives to the center frame, while a battery charger is mounted in the rear extension frame, while swinging baskets are mounted in the longitudinal axis of the omnidirectional chassis center frame. axle and swing basket with eccentric axis and side pins to which the basket drives are attached on both sides, where the swing basket with eccentric axis and swing basket with eccentric axis and side pins are pivoted on opposite sides in the swing bearings of the central frame. baskets with eccentric axis and the swing basket with the eccentric axis and the side pins are fixedly the heels of the telescopic columns, which are pivoted in the thigh segment, the thigh segment, the two telescopic columns together with the eccentric axis swing basket and the eccentric axis and side pivot basket, forms a four-joint mechanism controlled on its sides by mounted basket drives and by changing the stroke of telescopic columns, while omnidirectional wheels, which are part of the fixed axle of the omnidirectional chassis, are mounted their rotary drives, omnidirectional wheels are equipped with brake discs, into the circumference of which electromagnetic brakes connected to the side ends of the connecting part, the mutually adjoining segments and sidewalls with respect to the segments, which are part of a positioning system consisting of subassembly segments and longitudinal lines, pivotally connected by means of alternating hinges and hinge pins, the side segments of the head segment, back of the segment and the calf segment are tilted downwards, the hinge pins being pivotally connected by means of alternating hinges firmly connected to the segments

-2EN 306563 B6 centerline, wherein the pivoting hinge pins are controlled by side drive pivots mounted in the centerline segments and complemented by four-joint mechanisms to increase the stroke range, each side drive pivotally connected to the crank side crank on the engagement side. mounted in the respective segment, the sidewall pivotally mounted in the respective segment on the opposite side, this four-joint mechanism being complemented by a side mechanism rod which is pivotally connected to the respective sidewall, the thigh segment sideways tilting upwards to form an armrest. wherein each of the thigh segment sidewalls is a four-joint mechanism and is supported by three cranks, one pair of thigh segment side crank mechanism cranks being free and the third thigh segment side crank mechanism being operated by the sidewall drive, with position changes between centerline segments and t The break between the thigh segment and the calf segment is effected by means of an alternating hinge with a hinge pin controlled by calf segment drives pivotally mounted in the thigh segment and the calf segment, the break between the calf segment and the foot segment forming an alternate hinge with hinge pins controlled by a foot segment drive pivotally mounted on the calf segment and acting on a double crank of the foot segment mechanism, wherein the rocker arm is a foot of the foot segment mechanism and the foot segment is a crank of this mechanism rotating about an axis of rotation formed by the calf segment extensions into the space of the foot segment, the foot segment being pivotally mounted in the calf segment extensions, the break between the head segment and the back segment being effected by arcuate guided rods which are firmly connected to the head segment and engage in the holder with rollers, which is part of the back segment, the movement being provided by a head segment drive pivoted in the head segment and the back segment, the break between the back segment and the thigh segment being effected by arcuate lower guide rods which are firmly connected to the back segment and extend into a holder with lower rollers, which is part of the thigh segment, the movement is provided by back segment drives swinging in the back segment, the counterpart being controlled via a four-joint mechanism, in which the crank of the back segment mechanism is pivoted in the back segment and via the mechanism rod the second crank of the four-joint mechanism, which is the thigh segment, is actuated by the back segment, the last virtual axis of the four-joint mechanism being the center of the arcuate lower guide bar, the upper part of the head segment having openings for adjustable headrest connection.

It is further preferred that the position of the angular verticalization is up to 75 °, wherein the sides of the head segment, the back segment and the calf segment are tilted downwards by 180 °, while the sides of the thigh segment are tilted upwards by 90 °.

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

It is furthermore advantageous if the extendable telescopic columns are mounted in the thigh segment by means of pins with plates fixedly connected to the heads of the telescopic columns, these pins with plates being pivotably mounted in the thigh segment.

It is furthermore advantageous if the headrest comprises a plug-in fork, which then engages in openings in the head segment, in which screws with a spring-loaded ball are accommodated, enabling the headrest to be positioned on the shaped recesses of the plug-in fork.

Furthermore, it is advantageous if in both sides of the thigh segment in the armrests there are plug-in holders for the actuator, which can also be placed on a tilting plate situated on the back of the head segment, with footrest supports located on the lower surface of the foot segment.

-3 CZ 306563 B6

It is furthermore advantageous if the locking lugs of the two-point fastening straps are firmly anchored at the side edges of the segments, with two pairs of locking brackets with the possibility of attaching two straps at the back segment and one pair of locking brackets with the possibility of fitting one clamping strap.

It is furthermore advantageous if the thickness of the padding increases towards the center of the segments from the end regions of the head segment, the foot segment and the sidewalls towards the center of the modifiable surface.

It is furthermore advantageous if the drives of the positioning system mechanisms, the loading surface, the chassis extension drives and the basket drives are linear

It is also advantageous if linear drive control units are arranged in the centerline segments.

Advantages of the proposed device compared to existing systems • has the function of angular verticalization and related accessories needed for rehabilitation and other processes • has adapted the chassis design so that the layout solution maximally streamlines the use of space for partial technologies (eg drives are located in omnidirectional wheels, not in the connecting part, etc.) • the buttock line is removed in the system, when its function is taken over by telescopic columns swinging to the thigh line and in the central frame of the chassis, which form a four-joint mechanism controlled in the chassis. This arrangement replaces the linear extension within the buttock line required for the user to enter the chair modification, thus allowing the lowest position of the loading surface to be reduced and, in addition, allowing the loading surface modification to be formed into angular verticalization. The loading area is therefore sufficiently dimensioned for the needs of disabled users and patient manipulation (possibility of achieving a comparable height of the loading area of a conventional bed and a loading area of a robotic mobile and modifiable bed with verticalization) • is adapted for possible use by above-average persons, where the head segment can be supplemented by an adjustable headrest slidably inserted with a fork into the upper edge of the central part of the headline.

• The head segment can be positioned backwards to a certain extent - the user can tilt the head • The sides and individual segments use four-joint mechanisms with an accelerating effect to increase the stroke - compared to existing equipment improved kinematic processes, higher possible speeds and strengthening.

Thus, in addition to the possible combination of bed - chair positions, the device proposed by us has a position of verticalization with an angle of up to 75 °, which increases the range of possible movements, and thus also rehabilitation and other processes. It offers such combinations of functional features that ensure comfort both for users in the home environment and in institutional care (wide range of possible movements, change from a full bed to an armchair able to pass the standard door width / 80 cm /, the possibility of reducing the loading area to the height of a standard bed, extension of the loading area with an adjustable headrest, etc.)

From a technical point of view, our proposed device is simplified compared to existing systems, while at the same time improving the functional properties, which, for example, simplified and strengthened the entire mechanism of tilting the sidewalls.

-4CZ 306563 B6

Explanation of drawings

The attached sheets show pictures and a legend.

The figure for annotation shows two side axonometric views of a modifiable chair and a side rear view of the angular verticalization

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

GIANT. 2 are axonometric views of the omnidirectional bogie, the top view showing the bogie with the sliding frames in the extended position and the bottom view the omnidirectional bogie with the sliding frames in the retracted position

GIANT. 3 are top axonometric views of a modifiable bed-shaped surface, with the upper figure showing an omnidirectional chassis with non-extended sliding frames and the lower figure showing the sliding frames already extended to increase overall stability

GIANT. 4 In the upper part there is a bottom view of the omnidirectional chassis with extended sliding frames, there is a visible system for extending the frames, a system for attaching telescopic telescopic columns and a positioning system. In the lower pictures from the left is a top view of a robotic mobile and modifiable bed with exposed upholstery of the thigh segment, where the clamping belt with locking handles is visible, there is also a chassis with front covers but without a central cover, omnidirectional chassis is in position with extended sliding frames , there are visible circumferential bumper elements and batteries. Another view is a detail of the clamping belt with a locking handle. The last view is an axonometric view of a robotic mobile and modifiable bed without a front cover, but with a visible central cover

GIANT. 5 side rectangular view of a robotic mobile and modifiable bed with modifiable surface and omnidirectional chassis with extended sliding frames and covered by front and center covers

GIANT. 6 is a rectangular side view and a longitudinal section of a modifiable surface with a positioning system, retractable telescopic columns and their control by lateral linear basket drives by means of a swinging basket with an asymmetrical axis and a swinging basket with an asymmetrical axis and side pins. In both views, all the mechanisms of transverse fractures of the centerline segments are clearly visible

GIANT. 7 is a bottom axonometric view of a modifiable surface with a positioning system, retractable telescopic columns and their control by lateral linear basket drives by means of a swinging basket with an asymmetrical axis and a swinging basket with an asymmetrical axis with side pins. All mechanisms of transverse fractures of the centerline segments and mechanisms of fractures of the respective sidewalls are evident here

GIANT. 8 is a rectangular longitudinal section of a modifiable chair, where a system for extending and positioning telescopic columns with their control by linear drives is visible, fractures of individual segments with their control by means of positioning mechanisms including their drives as part of the positioning system are visible. The second view from the left is a longitudinal section of the angular verticalization, where the function of the positioning system is evident

GIANT. 9 is a rear axonometric view of the modifiable surface in the position of angular verticalization, the figure shows all the positioning mechanisms forming the positioning system

-5CZ 306563 B6

GIANT. 10 in the upper left part, a detail of the fixed connection of the locking holder ready for holding the clamping strap is captured. In the lower left part, a section is shown of the holder of the extendable telescopic column, where its pivoting mounting in the thigh segment by means of a pin with a plate is visible. On the third detail on the right is a section of the swinging attachment of the side panel in an alternating hinge with the hinge pin as a connecting element, there is also a four-joint mechanism to increase the stroke of the side panel controlled by a linear drive side panels

GIANT. 11 in the upper part of the figure, the attachment of the side of the thigh segment with its positioning by a four-joint mechanism can be seen. In the lower part, the positioning of the foot segment is captured by means of a mechanism for increasing the stroke of the oscillating movement, the foot segment being pivoted in a double handle of the foot segment mechanism.

GIANT. 12 is a side view of a modifiable chair with its circumferential bumper elements, center and front covers. From the side you can see the alternating hinges of the side panels, outside the side panels of the thigh segment, where the mounting and positioning is on a four-joint mechanism. The controller is mounted on a tilting plate representing its location for controlling the modifiable chair by the operator. The view is complemented by a detail of the location of the tilting plate of the controller holder.

Examples of embodiments of the invention

The robotic mobile and modifiable bed 1 enabling controlled adjustment of the positioning system 2 of the modifiable surface 3 with the possibility of converting the modifiable surface 3 into a planar surface, modifiable chair 4 and angular verticalization 5 consists of a mobile omnidirectional chassis 6 on which the modifiable surface 3 is placed.

The basic subassembly of the mobile omnidirectional chassis 6 is a central frame 7, in the sides of which there are two linear guides 8 of the chassis in the upper part. On each pair of these linear guides 8 of the chassis, a front extension frame 9 and a rear extension frame 9 'are suspended in the front-rear direction, in each of which a fixed axle H consisting of a connecting part 12 is mounted by means of silent blocks 10, at the side ends of which are the omnidirectional wheels 14, in which their rotary drives are mounted, are fixed by means of a form connection, the omnidirectional wheels 14 being provided with brake discs, in the circumference of which the electromagnetic brakes 13 firmly connected to the side ends of the connecting part 12 extend.

The extension frame 9 front and the extension frame 9 'rear are pivotally connected by linear drives 15 of the chassis extension to the central frame 7, the end positions of the extension frame 9 front and the extension frame 9 / rear being limited by the rubber stops 16 of the extension frame.

Control units 17 of the chassis drives - rotary drives of omnidirectional wheels 14 and linear drives - are located in the extension frame 9 'at the front and the extension frame 9' at the rear, while a battery charger 18 is housed in the extension frame 9 'at the rear. In the central frame 7, on the sides in the lower part, batteries 19 are placed.

In the front-rear part, on the extension frame 9, the front and extension frame 9 [rear and on the sides of the center frame 7, circumferential bumper elements 20 are fixedly mounted, the side circumferential bumper elements 20 being fixedly attached to the center frame 7 and the front-rear circumferential bumper elements 20 extension frame 9 front and extension frame 9 / rear. Below them there is a longitudinally and axially divided central cover 21 connected to the central frame 7, and two parts of the front cover 22 mounted on the sliding frame 9 by the front and the sliding frame 9 by the front and the sliding frame 9 'by the rear.

-6CZ 306563 B6

Two swinging baskets are arranged in the longitudinal axis line of the central frame 7 - a swinging basket 23 with an eccentric axis and a swinging basket 24 with an eccentric axis and side pins, while the swinging basket 24 with an eccentric axis and side pins is driven on both sides by two linear drives 25. baskets, wherein the swinging basket 23 with an eccentric axis and the swinging basket 24 with an eccentric axis and side pins are pivotally mounted on opposite sides in the swinging bearings 28 of the central frame. At the bottoms of the swing basket 23 with the eccentric axis and the swing basket 24 with the eccentric axis and the side pins, the heels of the two extendable telescopic columns 27 are fixed and their pins 28 are firmly connected to the plates by their heads, these pins 28 with the plates being pivoted in the thigh segment. 29, so that the thigh segment 29, the two retractable telescopic columns 27 together with the swing basket 23 with the eccentric axis and the swing basket 24 with the eccentric axis and side pins, form a four-joint mechanism controlled by the basket linear drives 25 mounted on its sides and changing 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 basic frame subassembly segments and longitudinal lines: head segment 30, back segment 3f, thigh segment 29, calf segment 32 and foot segment 33.

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

The two sides 34 of the thigh segment 29 in the upper position when folded up also serve as armrests 37, each of the sides 34 of the thigh segment 29 being the weight of a four-joint mechanism and supported three-dimensionally by three cranks. One pair of shaped cranks 38 of the thigh segment segment mechanism is free and the third crank 39 of the thigh segment mechanism is controlled by a linear drive 40 of the sides.

The sides of all remaining segments - head segment 30, back segment 31 and calf segment 32 - rotate downwards as the hinge pins 42 are pivotally connected by alternating hinges 41 fixedly connected to the centerline segments 35, the pivot pins 42 of the hinge being actuated by linear sidewall drives 40, which are always pivotally mounted in the segments of the center line 35 and are complemented by four-joint mechanisms for increasing the stroke range.

Each linear sidewall drive 40 is pivotally connected on the engagement side to a crank 43 of the sidewall mechanism located on the sidewall 34, the sidewall 34 being pivotally mounted in a respective segment on the opposite side, this four-joint mechanism being complemented by a sidewall mechanism rod 44 which is pivotally connected. with the corresponding sidewall 34.

The same applies to the break between the thigh segment 29 and the calf segment 32, which tilts like the sides 34 apart, i.e. the calf segment 32 downwards relative to the thigh segment 29 and is actuated by two linear calf segment drives 45 pivotally mounted on the thigh segment 29.

The breaks between the segments of the centerline 35 look like this:

the simplest actuated break is between the thigh segment 29 and the calf segment 32, where the alternating hinge 41 with the hinge pin 42 is actuated by two linear calf segment drives 45 pivoted in the thigh segment 29 and directly actuating the calf segment 32, where the pivot bearing is again.

The adjoining break between the calf segment 32 and the foot segment 33 is formed by an alternating hinge 41 with hinge pins 42 controlled by a linear foot segment drive 46 pivotally mounted on the calf segment 32 and acting on a double crank 48 of the four-joint foot segment mechanism, where the rocker arm is a foot 47 of the foot segment mechanism. and the foot segment 33 is again a crank of this mechanism which rotates about a pivot axis formed by two calf segment extensions 49 penetrating the space of the foot segment 33.

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The remaining fractures of the head segment 30 - the back segment 31 and the back segment 31 - the thigh segment 29 are of a similar arrangement, the break of the head segment 30 - the back segment 31 being simpler and directly controlled by the linear drive 50 of the head segment swinging mounted in the back segment 31. directly controls the head segment 30 in which it is pivoted. The break is effected by two holders 51 with rollers fixedly mounted in the back segment 31, into which arcuate guide rods 52 fixedly connected to the head segment 30 extend.

The fracture of the back segment 31 - the thigh segment 29 is realized as a break between the head segment 30 - the back segment 31 with the difference that it is realized by arcuate lower guide rods 52 'which are firmly connected to the back segment 31 and extend into the pulley holder 51'. is operated by two linear back segment actuators 53 pivotally mounted in the back segment 31 and the counterpart is actuated by a four-joint mechanism in which the crank 54 of the back segment mechanism is pivotally mounted in the back segment 31 and a second four-joint crank is actuated by a rod of the back segment mechanism 55. mechanism, which is the thigh segment 29, the last virtual axis of the four-joint mechanism being the center of the arcuate guide bar 52 'lower.

In addition, a headrest 56 may be adjustably attached to the upper edge of the head segment 30 by means of a plug-in fork 57 which is a part thereof. The plug-in fork 57 then engages in holes in the head segment 30, in which screws 58 with a spring-loaded ball are accommodated, allowing the positioning of the headrest 56 on the shaped recesses of the plug-in fork 57.

In both sides 34 of the thigh segment 29 in the armrests 37 there are plug-in holders 59 for the actuator 60, which can also be placed on a tilting plate 61 located on the rear side of the head segment 30.

At the side edges of the segments, the locking fasteners 62 of the two-point fastening straps 63 are firmly anchored. At the back segment 31 there are two pairs of locking fasteners 62 with two attachments 63 and at the thigh segment 29 there is one pair of locking fasteners 62 with one fastening 63.

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

On the lower surface of the foot segment 33 there are supports 65 of the foot segment for use in the modification to a modifiable chair 4 or by angular verticalization 5 with the possibility of achieving an inclination of 75 °.

Linear actuator 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 an angular verticalization 5 by means of a positioning system 2, all in its omnidirectional mobility.

The omnidirectional movement of the robotic mobile and modifiable bed 1 is enabled by an omnidirectional chassis 6, the base of which is a central frame 7, in the upper part of which in the anteroposterior direction there are linear chassis guides 8 on which the sliding frames are suspended - the front sliding frame 9 and the rear sliding frame 9 '. , on each of which a fixed axle 11 is mounted by means of silent blocks 10, the basis of which is a connecting part 12, in the lateral ends of which omnidirectional wheels 14 are fixedly mounted by means of a form connection. The omnidirectional wheels 14 are provided soon

-8EN 306563 B6 into the circumference of which the electromagnetic brakes 13 firmly connected to the side ends of the connecting part 12 engage. The electromagnetic brakes 13 allow safety braking each time the mobile omnidirectional chassis 6 is stopped as a parking brake or as an emergency brake in case of power supply failure 19.

In the case of conversion of the modifiable chair 4 to the modifiable surface 3, it is necessary to increase the wheelbase of fixed axles EL for stability reasons. This allows two linear drives 15 of the chassis extension, connecting the swinging each of the extension frames - extension frame 9 front and extension frame 9 'rear with center frame 7. and their positioning in the end positions during symmetrical extension is made possible by the rubber stops 16 of the extension frame. In the space of the sliding frame 9 of the front and the sliding frame of the rear, the control units 17 of the chassis drives are stored - rotary drives of the omnidirectional wheels 14 and linear drives.

The user-friendly battery charger 18 is housed in the lower, central surface of the rear extension frame 9 ', and the battery batteries 19 of the chassis electrical system are mounted on the side surfaces of the center frame 7.

Important details are also the circumferential bumper elements 20, where the circumferential bumper elements 20 are firmly attached to the central frame 7 and the front-rear circumferential bumper elements 20 are part of the sliding frames - the sliding frame 9 of the front and the sliding frame 9 'of the rear.

The safety and aesthetic cover consists of a longitudinally and axially divided central cover 21 connected to the central frame 7 and two parts of the front cover 22 mounted on the sliding frame 9 front and the sliding frame 9 'rear. The covering is shaped in such a way that it is functional even at the maximum extension of the extension frame 9 of the front and the extension frame 9 'of the rear.

The modifiable surface 3 in the horizontal position intended for lying must be controlled in height, its conversion into the modifiable seat 4 intended for sitting must be controlled in height and anteroposterior, and the same applies to angular verticalization 5, for this purpose in the longitudinal axis of the central frame 7. mobile omnidirectional bogie 6 retractable telescopic poles 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, while only a swinging basket 24 with an eccentric axis and side pins is driven by the linear basket drives 25, wherein the swing basket 23 with the eccentric axis and in the swing basket 24 with the eccentric axis and the side pins are pivotally mounted in the swing bearings 26 of the central frame. The pins 28 with the plate are fixedly mounted in the heads of the telescopic columns 27 and are pivotally mounted in the thigh segment 29, whereby the thigh segment 29 closes a four-joint mechanism formed of said parts and this mechanism allows the necessary height and anteroposterior movements of the modifiable surface 3.

The functional arrangement of the modifiable chair 4 and the angular verticalization 5 is created by deformation from the modifiable surface 3, i.e. the variability of the transition of the modifiable surface 3 to the modifiable chair 4 or angular verticalization 5 and vice versa is enabled by transverse and longitudinal division with the contribution of the positioning system 2.

Transversely, the modifiable surface 3 is divided into individual segments, which are: head segment 30, back segment 31, thigh segment 29, calf segment 32 and foot segment 33, each of the segments, except for the foot segment 33, being fitted with side panels 34.

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

Adjacent segments - head segment 30, back segment 31, thigh segment 29, calf segment 32, foot segment 33 - and side panels 34 are pivotally connected to each other by means of alternating 41 hinges and hinge pins 42, allowing modifications of the positioning shapes. system 2 robotic mobile and modifiable bed f. All

-9EN 306563 B6 ny side panels 34, outside the side panels 34 of the thigh segment 29, which are tilted upwards, are tilted downwards by approx. 180 °.

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

The sides 34 of the thigh segment 29, after being tilted upwards by 90 °, naturally form an armrest 37 on their upper edge, on each side.

The movement of this sidewall 34 is effected via a four-joint mechanism forming an approximate virtual axis at the interface of the padding surfaces 64 of said parts. The four-joint mechanism is driven by a linear drive 40 of the sidewalls acting on the crank 39 of the thigh segment side mechanism, another adjoining element of the mechanism is the side 34 of the thigh segment 29 acting as a rocker arm of this mechanism and said side 34 being supported by shaped cranks 38 of the thigh segment mechanism. hinges 41 with hinge pins 42.

The simplest mounting is a 90 ° downward swing between the calf segment 32 and the thigh segment 29, where there is only a swing through said hinge pins 42 and alternating hinges 44, and the movement is performed by a pair of linear drives 45 of the calf segment swinging on both. mentioned segments.

Another subsequent connection is the oscillating movement of the foot segment 33 relative to the calf segment 32 by 90 ° upwards. The movement is created by a linear drive of the foot segment 46 pivotally mounted on the calf segment 32. To increase the stroke, a four-joint mechanism is used, into which two double cranks 48 of the foot segment mechanism engages a linear drive 46 of the foot segment and this movement is transmitted by a pair of rods 47 of the foot mechanism. segment acting as a rocker arm of the four-joint mechanism, on the foot segment 33, pivoted in the extensions 49 of the calf segment.

On the opposite side of the modifiable surface 3 is a movable pivoting connection + 15 ° upwards, -10 ° downwards of the head segment 30 relative to the back segment 31, which is realized by two arcuate guide rods 52 centered at the intersection of the surface surfaces of the head segment 30 and back segment 3L. the arcuate guide rod 52 is rigidly connected to the head segment 30 and extends into a pulley holder 51 which is part of the back segment 31. The movement is effected by a linear head segment drive 50 pivotally mounted in the head segment 30 and the back segment 31.

The last transverse movement is the oscillating movement of the back segment 31 by 90 ° upwards relative to the thigh segment 29, which is realized by two arcuate lower guide bars 52 'centered at the intersection of the interface of the back surfaces 31 and thigh segment 29. Each arcuate guide bar 52' the lower is firmly connected to the back segment 31 and extends into the lower roller holder 51 ', which is part of the thigh segment 29. The movement is effected by two linear drives 53 of the back segment pivotally mounted in the back segment 31 on the thigh segment 29. The movement is stroke is carried out via a four-joint mechanism, where the linear drives 53 of the back segment act on the crank 54 of the back segment mechanism swinging in the back segment 31, the movement is transmitted via two rods 55 of the back segment mechanism as a rocker arm of the four-joint mechanism segment acts on the thigh segment 29, thereby pushing off the back segment ment 31 and a break occurs in the last, virtual joint of the four-joint mechanism, which is the center of the arcuate guide rod 52 'lower.

If necessary, especially for taller users, the headrest 56 can be adjustably connected to the upper edge of the head segment 30, and a plug-in fork 57 of the headrest 56 can be inserted into the holes in the upper part of the head segment 30, and the headrest 56 can be positioned by means of two spring-loaded ball screws 58, fixedly mounted in the head segment 30.

All movements of the positioning system 2 of the robotic mobile and modifiable bed 1 and its mobile omnidirectional chassis 6 are controlled via a controller 60, with the proviso that the sequence of some operations can be programmed to facilitate control and is performed electronically. For this reason, the servo amplifiers of linear drives are located outside the mobile omnidirectional chassis 6 and in the center line 35.

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

The controller can also be placed on the tilting plate 61, which is located on the head segment 30, whereby it is possible to control the positioning system 2 of the robotic mobile and modifiable bed 1 by the operating right-handed and left-handed person.

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

In the case of a transition from the position of the modifiable surface 3 to the modifiable chair 4 or the angular verticalization 5, it is necessary for this formation to move forwards. Said movement is enabled by pivoting telescopic columns 27 controlled by linear basket drives 25. Here, some movements when the user modifies the modifiable surface 3 are electronically limited so as to avoid collisions. When adjusted to the angular verticalization 5, the footrest support 65 is applied and clamping straps 63 applied to the locking catches 62 are used, two pairs of locking holders 62 being firmly held in the edge portions of the back segment 31 and one pair of locking holders 62 firmly held in the edge parts of the calf segment 32.

Linear actuator control units 66 are located in the centerline segments 35, thereby minimizing the length of the cable routing from the linear actuators of the positioning system 2 of the loading surface 3 to the respective linear actuator control units 66.

Industrial applicability

The robotic mobile and modifiable bed with verticalization is a universal robotic positioning system with a large range of possible modifiable surface positions, which has a wide range of positions within the transition between three positions, ie sitting position, where the robotic mobile and modifiable bed has a chair shape, and horizontal position and the position of the angular verticalization. The device is also height-adjustable with the ability of omnidirectional movement using manual and remote control, including the possibility of using automated movements. The universality of the device also lies in the variability of possible usable environments - the device is designed for both classic indoor environments and medical facilities, as well as for outdoor environments.

The proposed transport universal robotic positioning system can be used, for example, for seniors, immobile people or patients in medical processes. It is therefore systemically usable in healthcare.

Claims (10)

PATENT CLAIMS A robotic mobile and modifiable bed (1) comprising a mobile omnidirectional chassis (6) and a modifiable surface (3) provided with a positioning system (2) that allows its controlled adjustment, the omnidirectional chassis (6) comprising a central frame (7). , in the upper parts of which there are linear guides (8) of the chassis, on which the front extension frame (9) and the rear extension frame (9 ') are suspended, in each of which a fixed axle (11) is mounted by means of damping elements, consisting of a connecting part (12), in the lateral ends of which omnidirectional wheels (14) are fixedly mounted, the front extension frame (9) and the rear extension frame (9 ') being pivotally connected by linear drives, the end positions of the extension frame (9) ) of the front and extension frame (9 ') of the rear, the stops (16) of the extension frame are limited, while in the extension frame (9) of the front and extension frame (9') the rear are located control units (17) of chassis drives - rotary omnidirectional wheel drives ( 14), being in the center frame (7), on the sides in its lower part, batteries (19) are placed, while in the front-rear part, on the sliding frame (9) front and sliding frame (9 ') rear, and on the sides of the central frame (7) they are fixed circumferential bumper elements (20), the side circumferential bumper elements (20) being fixedly attached to the center frame (7) and the front-rear circumferential bumper elements (20) being part of the front extension frame (9) and the rear extension frame (9 '), a longitudinally and axially divided central cover (21) is attached to the central frame (7) and two parts of the front cover (22) are reared on the sliding frame (9) by the front and sliding frame (9 '), the lower part of the modifiable surface (3) being positioning system (2) consisting of subassembly segments and longitudinal lines, which are formed by a head segment (30), a back segment (31), a thigh segment (29), a calf segment (32) and a foot segment (33), each of segments (30, 31, 29 and 32) is fitted with sidewalls (34), forming in the longitudinal direction all The segments of the angled center line (35) and all the sidewalls (34) form two longitudinal side lines (36), the changes of positions between the individual segments of the centerline (35) and thus of the respective sidewalls (34) in the transverse direction being realized by means of breaks. wherein the surface of the modifiable surface (3) is coated with an upholstery (64), the surface of the upholstery (64) being at the outer edges with a slope into the central region of the modifiable surface (3), characterized in that the modifiable surface (3) ) can be positioned in the angular verticalization position (5) by means of a structural arrangement of the positioning system (2) and the omnidirectional chassis (6), the chassis (6) comprising a front extension frame (9) and a rear extension frame (9 ') which are pivotable. the chassis extension drives (15) are interconnected with the center frame (7), a battery charger (18) being mounted in the rear extension frame (9 '), and swinging baskets in the longitudinal axis of the center frame (7) of the omnidirectional chassis (6) swing basket (23) with eccentric axis and swing basket ( 24) with an eccentric axis and side pins, to which the basket drives (25) are attached on both sides, wherein the swing basket (23) with an eccentric axis and the swing basket (24) with an eccentric axis and side pins are pivoted on opposite sides in swing bearings (26) of the central frame, wherein at the bottoms of the swing basket (23) with an eccentric axis and the swing basket (24) with an eccentric axis and side pins, the heels of the telescopic columns (27) are fixed, which are pivotally mounted in the thigh segment (29). , wherein the thigh segment (29), the two retractable telescopic columns (27) together with the swing basket (23) with the eccentric axis and the swing basket (24) with the eccentric axis and the side pins, form a four-joint mechanism controlled by drives (25) mounted on its sides. baskets and by changing the stroke of the telescopic columns (27), while in the omnidirectional wheels (14), which are part of the fixed axle (11) of the omnidirectional chassis (6), their rotary drives are mounted, the omnidirectional wheels (14) being provided with brake discs. jejic The solenoid brakes (13) are fixed in the circuit and are rigidly connected to the side ends of the connecting part (12), the mutually adjoining segments and sidewalls (34) with respect to segments which are part of a positioning system (2) consisting of subassemblies and longitudinal lines; are pivotally connected by means of alternating (41) hinges and hinge pins (42), - the sides (34) of the head segment (30), the back segment (31) and the calf segment (32) are tilted downwards, the hinge pins (42) being pivotally connected by means of alternating hinges (41) firmly connected to the segments. (35) centerline, wherein the pivoting hinge pins (42) are actuated by sidewall drives (40) that are pivotally mounted in centerline segments (35) and are complemented by four-joint mechanisms for increasing the stroke range, each sidewall drive (40) is pivotally connected on the engagement side to the crank (43) of the sidewall mechanism pivotally mounted in the respective segment, the sidewall (34) being pivotally mounted in the respective segment on the opposite side, said four-joint mechanism being complemented by a sidewall mechanism rod (44) pivotally connected to a respective sidewall (34), the sidewalls (34) of the thigh segment (29) being tilted upwards, thereby simultaneously forming an armrest (37), each of the sidewalls (34) of the thigh segment (29) is a brick of the four-joint mechanism and is supported by three cranks, one pair of shaped cranks (38) of the thigh segment side mechanism is free and the third crank (39) of the thigh segment mechanism is controlled by a side drive (40), the position changes between the segments of the center line (35) and thus of the respective sidewalls (34) in the transverse direction are realized by means of breaks, the break between the thigh segment (29) and the calf segment (32) being realized by means of an alternating hinge (41) with a hinge pin (42). actuated by the calf segment drives (45) pivotally mounted in the thigh segment (29) and the calf segment (32), the break between the calf segment (32) and the foot segment (33) being an alternating hinge (41) with a drive-operated hinge pins (42). (46) a foot segment, pivotally mounted on the calf segment (32) and acting on a double crank (48) of the foot segment mechanism, wherein the rocker arm is a rod (47) of the foot segment mechanism and The calf segment (33) is a crank of this mechanism which rotates about an axis of rotation formed by the calf segment extensions (49) penetrating the space of the foot segment (33), the foot segment (33) being pivotally mounted in the calf segment extensions (49). the break between the head segment (30) and the back segment (31) is effected by arcuate guide rods (52) which are firmly connected to the head segment (30) and engage in a pulley holder (51) which is part of the back segment (31). , the movement being provided by a head segment drive (50) pivotally mounted in the head segment (30) and the back segment (31), the break between the back segment (31) and the thigh segment (29) being effected by arcuate guide rods (52 '). lower, which are firmly connected to the back segment (31) and engage in a holder (51 ') with lower rollers, which is part of the thigh segment (29), the movement being provided by back segment drives (53) pivotally mounted in the back segment. (31), the counterpart being actuated via a four-joint mechanism, in which the crank (54) of the back segment mechanism is pivoted in the back segment (31) and via the rod (55) of the back segment mechanism, the second crank of the four-joint mechanism is actuated, which is the thigh segment (29), the last virtual axis of the four-joint mechanism forming the center of the arcuate guide rod (52 ') at the bottom, while in the upper part of the head segment (30) there are openings for adjustable connection of the headrest (56). Robotic mobile and modifiable bed (1) according to claim 1, characterized in that the position of the angular verticalization (5) is up to 75 °, the sides (34) of the head segment (30), the back segment (31) and the calf segment (32) are tilted downwards by 180 °, while the sides (34) of the thigh segment (29) are tilted upwards by 90 °. - 13 CZ 306563 B6 Robotic mobile and modifiable bed (1) according to claim 1, characterized in that control units (17) of chassis-linear drives are arranged in the front extension frame (9) and the rear extension frame (9 '). Robotic mobile and modifiable bed (1) according to claim 1, characterized in that the extendable telescopic columns (27) are mounted in the thigh segment (29) by means of pins (28) with plates firmly connected to the heads of the telescopic columns (27). , wherein these pins (28) with plates are pivotally mounted in the thigh segment (29). Robotic mobile and modifiable bed (1) according to claim 1, characterized in that the headrest (56) comprises a plug-in fork (57), which then engages in holes in the head segment (30) in which the screws ( 58) with a spring-loaded ball enabling the positioning of the headrest (56) on the shaped recesses of the plug-in fork (57). Robotic mobile and modifiable bed (1) according to Claim 1, characterized in that plug-in holders (59) for the actuator (60) are arranged in the two sides (34) of the thigh segment (29) in the armrests (37). it can also be placed on a tilting plate (61) situated on the rear side of the head segment (30), while the supports (65) of the foot segment are located on the lower surface of the foot segment (33). Robotic mobile and modifiable bed (1) according to claim 1, characterized in that the locking lugs (62) of the two-point clamping straps (63) are firmly anchored on the side edges of the segments, two pairs of locking lugs at the back segment (31) (62) with the possibility of fitting two clamping straps (63), and in the thigh segment (29) there is one pair of locking clips (62) with the possibility of fitting one clamping strap (63). Robotic mobile and modifiable bed (1) according to claim 1, characterized in that in the central parts of the segments from the end regions of the head segment (30), the foot segment (33) and the sidewalls (34) the padding thickness towards the center of the modifiable surface (3) increases. 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 loading surface (3), the drives of the chassis extension (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 arranged in the centerline segments (35).