Bed and chair integrated robot

Abstract

The invention discloses a bed-chair integrated robot, which belongs to the field of nursing and comprises a bed frame, a back lifting device, a turning device and a leg bending and lifting device. Through the arrangement of the left turning-over disc and the right turning-over disc which can rotate around the turning-over shaft and the arrangement of the turning-over driving piece, the turning-over driving piece can drive the left turning-over disc or the right turning-over disc to be turned up, and therefore turning-over operation is achieved. The back lifting device not only can independently carry out back lifting operation, but also can enable the left back lifting frame (right back lifting frame) to be driven by the left turning-over disc (right turning-over disc) to carry out turning-over operation together. And the leg bending and lifting device can realize posture transformation of leg bending and leg lifting. Compared with the prior art, the difficulty and burden of manual nursing are reduced, and the overall structural design is more reasonable and simpler.

Description

Technical Field

[0001] The invention relates to the field of nursing, and in particular to a bed-chair integrated robot. Background Art

[0005] For elderly people with limited mobility, from the perspective of rehabilitation, they cannot maintain a certain posture for a long time and need to change postures frequently. To address this problem, there are currently devices that assist users in changing postures, such as bed-chair robots, such as a bed-chair integrated multi-purpose transport and nursing robot for paralyzed patients disclosed in publication number CN116712263A.

[0006] However, the device disclosed in the patent has some defects, such as the inability to provide auxiliary turning function when the patient is lying flat. It also needs to be assisted by a caregiver and a turning pad, that is, the caregiver first turns the patient to the side, and then uses the turning pad to pad the patient's side to keep the patient in the turned state, which not only brings a greater nursing burden to the nursing work, but also because the size of the turning pad is usually small, only part of the patient's body is supported, and most of the body is suspended, which makes it difficult for the patient to keep turning. Summary of the invention

[0007] In view of the problem that the bed-chair robot in the prior art cannot provide the auxiliary turning function, an object of the present invention is to provide a bed-chair integrated robot so as to at least partially solve the above problem.

[0008] To achieve the above object, the technical solution of the present invention is:

[0009] A bed-chair integrated robot comprises a bed frame and a back-lifting device, a turning device and a leg-lifting device arranged in sequence from the front to the back;

[0010] The turning device comprises a seat plate, a left turning plate, a right turning plate and a turning driving member; the tail end of the seat plate is pivotally connected to the bed frame, and a standing driving member is connected between the seat plate and the bed frame; the left turning plate and the right turning plate are rotatably connected to the seat plate through a turning shaft, and the turning driving member is used to drive the left turning plate or the right turning plate to rotate around the turning shaft;

[0011] The back-lifting device comprises a back-lifting frame, a left back-lifting frame, a right back-lifting frame and a back-lifting driving member; the rear end of the back-lifting frame is pivotally connected to the front end of the seat plate, and the back-lifting driving member is connected between the back-lifting frame and the seat plate; the left back-lifting frame and the right back-lifting frame are rotatably connected to the back-lifting frame through a back-lifting shaft;

[0012] A linkage structure is provided between the left turning plate and the left back-starting frame, and between the right turning plate and the right back-starting frame, so that when the rotation axis of the turning shaft is in line with the rotation axis of the back-starting shaft, the left back-starting frame can be turned synchronously with the left turning plate, and the right back-starting frame can be turned synchronously with the right turning plate;

[0013] The leg-lifting device comprises a foot support, a leg support and a leg-lifting driving member; the foot support is connected to the bed frame through a parallelogram linkage mechanism; the leg support is fixed to the parallelogram linkage mechanism, and the leg-lifting driving member is connected between the leg support and the bed frame;

[0014] Among them, the rotation axis of the seat plate relative to the bed frame, the rotation axis of the back lifting frame relative to the seat plate, and the rotation axis of the parallelogram linkage mechanism are all horizontal and parallel to each other; the turning axis and the back lifting axis are both arranged along the central axis of the bed frame in the fore-and-aft direction.

[0015] In some preferred embodiments, the turning device also includes a turning assembly, which is rotatably connected to the seat plate via a fixed axis, and the fixed axis is parallel to the turning axis; the turning assembly has a left support portion and a right support portion, and when the turning assembly rotates under the drive of the turning drive member, the left support portion provides power to the left turning plate or the right support portion provides power to the right turning plate to flip around the turning axis.

[0016] In some preferred embodiments, when the angle between the left turning plate and the right turning plate is 180°, the left supporting portion and the right supporting portion of the turning assembly can respectively contact one side of the bottom surface of the left turning plate and the right turning plate.

[0017] In some preferred embodiments, the turning assembly further comprises a load-bearing portion for connecting to the turning drive member.

[0018] In some preferred embodiments, the linkage structure includes a clamping block provided on the left turning plate and the right turning plate, and a clamping slot provided on the left back frame and the right back frame.

[0019] In some preferred embodiments, rollers are installed on both the left supporting portion and the right supporting portion.

[0020] In some preferred embodiments, a support frame or support wheels are provided on one side of the bottom surface of the foot support.

[0021] In some preferred embodiments, a two-toilet device is further included, which includes a seat cushion, a seat cushion support and a seat cushion driving member; the seat cushion support is rotatably connected relative to the bed frame around a horizontal axis, and the seat cushion driving member is connected between the bed frame and the seat cushion support to drive the seat cushion support to rotate around the horizontal axis; the seat cushion is fixed on the seat cushion support, and the seat plate and the left turning plate and the right turning plate are provided with notches that are compatible with the seat cushion.

[0022] In some preferred embodiments, when the seat cushion moves to a horizontal position, the seat cushion is flush with the notches on the left turning plate and the right turning plate.

[0023] In some preferred embodiments, an armrest device is installed on the back lifting frame, and the armrest device includes an armrest support, an armrest body, a self-locking motor and a rocker; the armrest support is fixed on the back lifting frame, the root of the armrest body is rotatably connected to the armrest support through a rotating shaft, the self-locking motor is fixed to the device body or the armrest support, and the motor shaft of the self-locking motor is mechanically connected to the rotating shaft, and the rocker is installed at the tip of the armrest body.

[0024] By adopting the above technical solution, the beneficial effect of the present invention is that: the present invention can drive the left turning disc or the right turning disc to turn upward through the turning driving member through the left turning disc and the right turning disc that can rotate around the turning axis, thereby realizing the turning operation. In addition, the back-lifting device can not only perform the back-lifting operation alone, but also enable the left back-lifting frame (right back-lifting frame) to perform the turning operation together with the left turning disc (right turning disc) driven. Compared with the prior art, the present invention not only reduces the difficulty and burden of manual care, but also has a more reasonable and simpler overall structural design. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the bed-chair integrated robot of the present invention being used as a bed and in a raised-back shape.

[0026] Figure 2 This is a schematic diagram of the bed-chair integrated robot of the present invention when used as a chair.

[0027] Figure 3 It is a schematic diagram of the structure of the turning over device and the back-lifting device in the present invention when they are in a lying position.

[0028] Figure 4 It is a structural schematic diagram of the turning device and the back-lifting device in the present invention when the back is lifted.

[0029] Figure 5 It is a schematic structural diagram of the turning device and the back-lifting device in the present invention when turning over.

[0030] Figure 6 It is a schematic diagram of the connection between the back frame and the seat plate in the present invention.

[0031] Figure 7 The figure is a schematic diagram of the turning structure of the turning device in the present invention.

[0032] Figure 8 It is a schematic diagram of the linkage structure of the turning device and the back-lifting device in the present invention.

[0033] Fig. 9 It is a schematic diagram of the linkage structure of the back-lifting device in the present invention when the back is lifted.

[0034] Fig.10 It is a schematic diagram of the structure of the turning over, back lifting and leg lifting device in the present invention.

[0035] Fig.11 It is a schematic diagram of the structure of the defecation device in the present invention.

[0036] Fig.12 It is a structural schematic diagram of the handrail device in the present invention.

[0037] In the figure: 1-bed frame, 2-castor; 100 turning device, 101-seat plate, 102-left turning plate, 103-right turning plate, 104-turning assembly, 1041-left support part, 1042-right support part, 1043-load-bearing part, 105-turning drive member, 106-standing hinge shaft, 107-standing drive member, 108-turning shaft, 109-fixed shaft, 110-roller; 200-back lifting device, 201-back lifting frame, 202-left back lifting frame, 203-right back lifting frame, 204-back lifting drive member, 205-back lifting hinge Axis, 206-back lifting axis, 207-block, 208-slot, 209-elastic part; 300-leg lifting device, 301-foot support, 302-leg support, 303-leg lifting drive, 304-parallelogram linkage, 305-support wheel; 400-convenience device, 401-seat cushion, 402-seat cushion support, 403-seat cushion drive, 404-convenience shaft, 405-swing arm; 500-armrest device, 501-armrest support, 502-armrest body, 503-self-locking motor, 504-rocker, 505-armrest shaft. DETAILED DESCRIPTION

[0038] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] It should be noted that, in the description of the present invention, the directions or positional relationships indicated by the terms "up", "down", "left", "right", "front", "back", etc. are descriptions of the structure of the present invention based on the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0040] The "first" and "second" in this technical solution are only used to distinguish the names of the same or similar structures, or corresponding structures with similar functions, and are not an arrangement of the importance of these structures, nor do they have a ranking, comparison of size, or other meanings.

[0041] In addition, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a connection between the two structures. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood based on the overall idea of ​​the present invention and the specific context of the present solution.

[0042] Example 1

[0043] A bed-chair integrated robot, such as Figure 1-2 As shown, the bed frame 1 includes a back-lifting device 100, a turning device 200 and a leg-lifting device 300 which are arranged in sequence from the front to the back.

[0044] The bed frame 1 is roughly in the form of a three-dimensional rectangular frame structure, and casters 2 are installed at the four corners of the bottom surface of the bed frame 1, such as universal casters with a locking function.

[0045] like Figure 3-9 As shown, the turning device 100 specifically includes a seat plate 101 , a left turning plate 102 , a right turning plate 103 , a turning assembly 104 and a turning driving member 105 .

[0046] The seat pan 101 is in the form of a flat rectangular frame. The seat pan 101 is located on the top surface of the bed frame 1, and the rear end of the seat pan 101 is connected to the top surface of the bed frame 1 through a standing hinge shaft 106. For example, the standing hinge shaft 106 is fixed to the seat pan 101 in a horizontal state, and the standing hinge shaft 106 is also perpendicular to the fore-and-aft direction of the bed frame 1, and the rear end of the seat pan 101 is correspondingly fixed with a sleeve used in conjunction with the standing hinge shaft 106. In addition, a standing drive 107 is also connected between the seat pan 101 and the bed frame 1. The standing drive 107 can be configured as a cylinder, a hydraulic cylinder, or an electric cylinder. In this way, the seat pan 101 can be driven to flip relative to the bed frame 1 through the telescopic movement of the standing drive 107, so that the arrangement angle of the seat pan 101 relative to the bed frame 1 changes. This angle refers to the angle between the top surface of the seat pan 101 and the horizontal plane where the top surface of the bed frame 1 is located. When the angle is 0°, the seat pan 101 is arranged horizontally and its bottom surface is completely supported by the top surface of the bed frame 1. At this time, the standing drive member 107 is usually in a retracted state. When the standing drive member 107 is extended, the seat pan 101 rotates around the standing axis 32, that is, the above-mentioned angle increases accordingly.

[0047] The left turning plate 102 and the right turning plate 103 are both in a flat plate or a flat grid frame structure, and both can be rotatably connected to the top of the seat plate 101. For example, a turning shaft 108 is fixedly installed on the top of the seat plate 101, and a shaft sleeve used in conjunction with the turning shaft 108 is fixed on the left turning plate 102 and the right turning plate 103, so that the left turning plate 102 and the right turning plate 103 can turn around the axis of the turning shaft 108. The turning shaft 108 is arranged along the central axis of the head and tail direction of the bed frame 1, that is, when the seat plate 101 is horizontal, the turning shaft 108 is also horizontal, and the left turning plate 102 and the right turning plate 103 can be supported by the seat plate 101, so that the left turning plate 102 and the right turning plate 103 can be roughly in the same horizontal plane when not turning.

[0048] The turning assembly 104 is roughly located on one side below the left turning plate 102 and the right turning plate 103, for example, arranged in the hollow frame of the seat plate 101 and the bed frame 1, and because the seat plate 101 and the bed frame 1 are both frame structures with hollow holes, there is a basis for not affecting the movement of the turning assembly 104. The turning assembly 104 is configured as a three-spoke structure, and one end of the three spokes is connected to each other and forms the spoke body of the turning assembly 104. A fixed shaft 109 is also fixedly installed on the seat plate 101 (or on the bed frame 1), and the fixed shaft 109 is parallel to the turning shaft 108. The spoke body of the turning assembly 104 is provided with an axis hole adapted to the fixed shaft 109, so that the turning assembly 104 can rotate relative to the seat plate 101 around the axis of the fixed shaft 109.

[0049] The three spokes of the turning assembly 104 are respectively called the left support part 1041, the right support part 1042 and the load-bearing part 1043, wherein the angle between the load-bearing part 1043 and the left support part 1041 is approximately equal to the angle between the load-bearing part 1043 and the right support part 1042, and when the left turning plate 102 and the right turning plate 103 are both placed flat (that is, the angle between the top surface of the left turning plate 102 and the top surface of the right turning plate 103 is 180°), the left support part 1041 and the right support part 1042 can respectively contact one side of the bottom surface of the left turning plate 102 and the right turning plate 103.

[0050] The turning-over driving member 105 is configured as a push rod, such as an electric push rod, one end of which is hinged to the seat plate 101, and the other end is hinged to the load-bearing part 1043 in the turning-over assembly 104. It is easy to understand that the shape of the seat plate 101 can be reasonably arranged according to the on-site conditions, and the seat plate 101 can be an integral structure or a split structure. In this way, through the telescopic action of the turning-over driving member 105, the turning-over assembly 104 can be driven to rotate around the axis of the fixed shaft 109, so that the left support part 1041 and the right support part 1042 undergo synchronous "rising" and "falling" movements, wherein the "rising" one drives the corresponding turning-over plate to flip upward, so that the corresponding side of the patient's body is driven to turn sideways.

[0051] The free ends of the left support part 1041 and the right support part 1042 are both equipped with rollers 110, so that when turning over, the circumferential surface of the rollers 110 contacts the bottom surface of the corresponding turning plate, thereby reducing friction and reducing the workload of the turning drive 105. In addition, a buffer layer made of a flexible or elastic material, such as silica gel or rubber, can be provided on the circumferential surface of the rollers 110, so that the vibration of the turning plate when it is lifted and turned by the supporting force can be reduced, thereby improving comfort.

[0052] The bottom side of the left turning disc 102 and the right turning disc 103 can also be provided with a raceway compatible with the roller 110. The setting of the raceway can ensure that the roller 110 moves in a specified path, thereby preventing the turning component 104 from axial shaking during rotation and also helping to increase the service life of the turning component 104.

[0053] like Figure 3-9 As shown, the lifting device 200 specifically includes a lifting frame 201 , a left lifting frame 202 , a right lifting frame 203 and a lifting driving member 204 .

[0054] The back-lifting frame 201 is also in a planar rectangular frame structure. The rear end of the back-lifting frame 201 is rotatably connected to the head end of the seat plate 101 through the back-lifting hinge shaft 205. The back-lifting driving member 204 can be configured as a cylinder, a hydraulic cylinder or an electric cylinder, preferably an electric push rod, one end of which is hinged to the seat plate 101 and the other end is hinged to the back-lifting frame 201. The axis of the back-lifting hinge shaft 205 is arranged roughly horizontally and parallel to the standing hinge shaft 106. The back-lifting frame 201 can be driven to rotate around the back-lifting hinge shaft 205 through the telescopic movement of the back-lifting driving member 204, thereby changing the angle between the back-lifting frame 201 and the seat plate 101. This angle refers to the angle between the top surface of the back-lifting frame 201 and the top surface of the seat plate 101, and the maximum angle is 180°. At this time, the back-lifting driving member 204 is usually in a retracted state. When the back-lifting driving member 204 is extended, the back-lifting frame 201 is flipped relative to the seat plate 101, that is, the angle between the two is correspondingly reduced, and the back-lifting operation is realized. Usually, a limit block is fixed at a position slightly below the head end of the seat plate 101. When the bottom surface of the back-lifting frame 201 contacts the limit block, the maximum angle of 180° is reached, so that the limit block is used to prevent the flip angle of the back-lifting frame 201 relative to the seat plate 101 from continuing to expand, thereby avoiding situations that are not conducive to use.

[0055] A lifting shaft 206 is also fixed to the top of the lifting frame 201, and the lifting shaft 206 is fixedly arranged roughly along the central axis of the head-to-tail direction of the bed frame 1. The left back frame 202 and the right back frame 203 are fixed with shaft sleeves used in conjunction with the lifting shaft 206. This arrangement allows the left back frame 202 and the right back frame 203 to be flipped around the axis of the lifting shaft 206, and the left back frame 202 and the right back frame 203 can both be supported by the top of the lifting frame 201, so that the left back frame 202 and the right back frame 203 can be roughly in the same plane when not flipped.

[0056] When the angle between the top surface of the back-lifting frame 201 and the top surface of the seat plate 101 is 180° and both are horizontal, the axis of the turning shaft 108 is in the same straight line as the axis of the back-lifting shaft 206. In actual use, by configuring the thickness parameters of each back-lifting frame and each turning plate, the top surfaces of the left back-lifting frame 202, the right back-lifting frame 203, the left turning plate 102, and the right turning plate 103 can be roughly in the same horizontal plane, so as to better support the patient.

[0057] A linkage structure is provided between the left turning plate 102 and the left back frame 202, and between the right turning plate 103 and the right back frame 203, so that when the rotation axis of the turning shaft 108 is colinear with the rotation axis of the back-lifting shaft 206, the left back frame 202 can be turned synchronously with the left turning plate 102, and the right back frame 203 can be turned synchronously with the right turning plate 103.

[0058] For example, the linkage structure includes a block 207 disposed on the left turning plate 102 and the right turning plate 103, and a slot 208 disposed on the left back frame 202 and the right back frame 203. Thus, when the left turning plate 102 turns upward under the lifting force of the left support portion 1041 in the turning assembly 104, the block 207 on the left turning plate 102 is just stuck in the slot 208 of the left back frame 202, thereby driving the left back frame 202 to turn synchronously around the back axis 206; similarly, the right turning plate 103 can also drive the right back frame 203 to turn synchronously when the turning assembly 104 rotates in the opposite direction.

[0059] The flipping movement of the back-lifting frame 201 around the axis of the back-lifting hinge shaft 205 may be affected by the block 207, and therefore the block 207 is further configured to be installed in a sliding manner on the left flip disk 102 and the right flip disk 103, and each block 207 is configured with an elastic member 209 (such as a spring), and the elastic member 209 is used to provide an elastic force for the block 207 to move toward the side where the back-lifting device is located, that is, when the back-lifting device is not performing the back-lifting operation, the block 207 is inserted into the corresponding card slot 208 under the elastic force of the elastic member 209, thereby supporting the synchronous flipping of the left flip disk 102 and the left back-lifting frame 202, and the right flip disk 103 and the right back-lifting frame 203, such as Figure 8 When the back-lifting device is performing the back-lifting operation, the block 207 can be moved away under the pressure of the left back-lifting frame 202 (and the right back-lifting frame 203), so that the back-lifting device will not be stuck. Fig. 9 shown.

[0060] like Fig.10 As shown, the leg curling and raising device 300 includes a foot support 301 , a leg support 302 and a leg curling and raising driving member 303 .

[0061] The foot support 301 is also roughly planar in structure, and can be configured in a plate or frame shape according to the actual application scenario. The foot support 301 is arranged horizontally, and the foot support 301 is arranged on one side of the tail of the bed frame 1 and is arranged at a certain distance. The head end of the foot support 301 is connected to the tail end of the bed frame 1 through a parallelogram linkage mechanism 304. The rotation axis of the parallelogram linkage mechanism 304 is parallel to the standing hinge axis 106, and the parallelogram linkage mechanism 304 is usually configured in two, and is arranged on both sides of the foot support 301 along the width direction of the bed frame 1.

[0062] The leg brace 302 is fixedly mounted on the parallelogram linkage 304. For example, the two sides of the leg brace 302 in the width direction are respectively fixedly connected to two parallelogram linkages 304 (the linkage on the upper side), so that when the parallelogram linkage 304 moves, the leg brace 302 changes its tilt angle accordingly, thereby supporting the legs. It is easy to understand that the two sides of the leg brace 302 in the width direction can also be directly used as components of the two parallelogram linkages 304 (i.e., the two ends of the leg brace 302 in the width direction are respectively used as a linkage), and of course, the foot brace 301 and the bed frame 1 can also be used as the other two components of the parallelogram linkage 304, i.e., the parallelogram linkage 304 can actually have only one linkage component, and accordingly, the leg brace 302 is also pivotally connected to the bed frame 1 through the above-mentioned standing hinge shaft 106.

[0063] The bent leg raising driving member 303 can be configured as a cylinder, a hydraulic cylinder or an electric cylinder, preferably an electric push rod. The two ends of the bent leg raising driving member 303 are respectively connected to the bottom side of the leg support 302 and the bed frame 1 through a pin or a shaft, so that the parallelogram linkage mechanism 304 can be driven to move through the telescopic movement of the bent leg raising driving member 303, thereby changing the inclination angle of the leg support 302 while keeping the foot support 301 horizontal. It is easy to understand that since the leg support 302 is fixedly connected to the parallelogram linkage mechanism 304, the two ends of the bent leg raising driving member 303 can also be respectively connected to the bed frame 1 and the parallelogram linkage mechanism 304 (the linkage member).

[0064] Thus, when the bent-leg-lifting driving member 303 is in the extended state, the foot support 301 will remain in the horizontal state while turning upwards, until the foot support 301 turns to the same height position as the seat pan 101 (the seat pan 101 remains horizontal), and the leg support 302 is connected between the foot support 301 and the seat pan 101, and the leg support 302 is also in the same horizontal plane as the foot support 301, so that the user can lie flat or sit with legs straight. When the bent-leg-lifting driving member 303 begins to contract, the foot support 301 will remain in the horizontal state while turning downwards, and the front end of the corresponding leg support 302 will tilt downwards, and the user's leg posture will change from the straight leg state to the bent leg state, and during the leg posture change process, the foot support 301 will always remain horizontal.

[0065] A support wheel 305 is provided on one side of the bottom surface of the foot support 301, so that after the foot support 301 is lowered, the support wheel 305 can support the foot support 301, thereby preventing the foot support 301 from tipping over when it is under heavy pressure. It is easy to understand that in the bent leg state, the support wheel 305 usually does not touch the ground, for example, the support wheel 305 is a few millimeters to tens of millimeters away from the ground. When the device tilts, the support wheel 305 touches the ground, thereby playing a supporting role and preventing tipping over. It is easy to understand that a support frame can also be used to replace the support wheel 305.

[0066] Example 2

[0067] On the basis of the first embodiment, the bed-chair integrated robot provided in this embodiment further includes a defecation device 400, such as Fig.11 As shown, the toilet device 400 specifically includes a seat cushion 401 , a seat cushion support 402 and a seat cushion drive 403 .

[0068] The cushion support 402 is configured as a flat plate or a plane frame structure, which is located in the hollow frame of the bed frame 1. One end of the cushion support 402 is fixed with a two-axis shaft 404, which is fixed to the bed frame 1 in a horizontal state, and the two-axis shaft 404 is also perpendicular to the head and tail direction of the bed frame 1. For example, bearings are fixed to both axial ends of the two-axis shaft 404, and the bearings are installed on the bearing seats, and the bearing seats are fixed to the bed frame 1 by screws. In this way, the cushion support 402 can rotate relative to the bed frame 1 around the horizontal axis.

[0069] The seat cushion 401 is also configured as a flat plate or a plane frame structure, and the bottom surface of the seat cushion 401 is fixedly connected to the seat cushion support 402 .

[0070] A notch for defecation is provided at the center of the seat pan 101, and the notch is adapted to the seat cushion 401. Correspondingly, a notch for defecation is also provided at the middle of the side where the left turning pan 102 and the right turning pan 103 are close to each other, and the two notches can be spliced ​​into a notch adapted to the seat cushion 401. In this way, when the seat cushion support 402 rotates around the two-feeding shaft 404 and drives the seat cushion 401 to rotate to a horizontal state, the seat cushion 401 is just located in the notch between the left turning pan 102 and the right turning pan 103, and the top surface of the seat cushion 401 is roughly flush with the top surfaces of the left turning pan 102 and the right turning pan 103.

[0071] The cushion driving component 403 can be configured as a cylinder, a hydraulic cylinder or an electric cylinder, preferably an electric push rod, one end of which is hinged to the bed frame 1 and the other end is hinged to the swing arm 405, and the swing arm 405 is provided with an axial hole compatible with the second shaft 404, and the swing arm 405 is fixedly connected to the second shaft 404 by a key, or the two are welded and fixed to each other.

[0072] With such arrangement, when the seat drive 403 performs telescopic movement, the toilet shaft 404 can be driven to rotate around its own axis through the swing arm 405, and then the seat cushion 401 can be driven to flip over through the seat support 402. When the seat cushion 401 flips downward and away from the seat pan 101, the gap used for defecation is released. At the same time, as the seat cushion 401 continues to flip downward and makes room under the gap, the nursing staff can place the toilet under the gap for the patient to use. After use, the toilet can be removed and the seat cushion 401 can be restored to the position to block the gap, so that the top surfaces of the left turning pan 102 and the right turning pan 103 are flat, thereby making it convenient for the patient to lie or sit.

[0073] Example 3

[0074] On the basis of Embodiment 1, the bed-chair integrated robot provided in this embodiment further includes an armrest device 500. Fig.12 As shown, the armrest device 500 includes an armrest support 501 , an armrest body 502 , a self-locking motor 503 and a rocker 504 .

[0075] The armrest support 501 is fixed to the back frame 201 by screws or bolts, and the armrest support 501 is rotatably connected with an armrest shaft 505, which is specifically installed on the armrest support 501 through a bearing. The root of the armrest body 502 is provided with an axial hole adapted to the armrest shaft 505, and the axial hole at the root of the armrest body 502 is fixedly connected to the armrest shaft 505 by a key.

[0076] The motor seat of the self-locking motor 503 is fixed on the handrail support 501 by screws or bolts, and can also be fixed on the backrest 201. The motor shaft of the self-locking motor 503 is mechanically connected to the handrail shaft 505, for example, the motor shaft of the self-locking motor 503 is connected to the handrail shaft 505 through a coupling 7.

[0077] The rocker 504 is mounted on the tip of the armrest body 502. By shaking the rocker 504 in the forward, backward, left, right and other directions, the nursing device can be controlled to move in the forward, backward, left, right and other directions.

[0078] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.

Claims

1. A bed-chair integrated robot, characterized in that: It comprises a bed frame and a back-lifting device, a turning device and a leg-lifting device which are arranged in sequence from the front to the back; The turning device comprises a seat plate, a left turning plate, a right turning plate and a turning driving member; the tail end of the seat plate is pivotally connected to the bed frame, and a standing driving member is connected between the seat plate and the bed frame; the left turning plate and the right turning plate are rotatably connected to the seat plate through a turning shaft, and the turning driving member is used to drive the left turning plate or the right turning plate to rotate around the turning shaft; The back-lifting device comprises a back-lifting frame, a left back-lifting frame, a right back-lifting frame and a back-lifting driving member; the rear end of the back-lifting frame is pivotally connected to the front end of the seat plate, and the back-lifting driving member is connected between the back-lifting frame and the seat plate; the left back-lifting frame and the right back-lifting frame are rotatably connected to the back-lifting frame through a back-lifting shaft; A linkage structure is provided between the left turning plate and the left back-starting frame, and between the right turning plate and the right back-starting frame, so that when the rotation axis of the turning shaft is in line with the rotation axis of the back-starting shaft, the left back-starting frame can be turned synchronously with the left turning plate, and the right back-starting frame can be turned synchronously with the right turning plate; The leg-lifting device comprises a foot support, a leg support and a leg-lifting driving member; the foot support is connected to the bed frame through a parallelogram linkage mechanism; the leg support is fixed to the parallelogram linkage mechanism, and the leg-lifting driving member is connected between the leg support and the bed frame; Among them, the rotation axis of the seat plate relative to the bed frame, the rotation axis of the back lifting frame relative to the seat plate, and the rotation axis of the parallelogram linkage mechanism are all horizontal and parallel to each other; the turning axis and the back lifting axis are both arranged along the central axis of the bed frame in the fore-and-aft direction.

2. The bed-chair integrated robot according to claim 1, characterized in that: The turning device also includes a turning assembly, which is rotatably connected to the seat plate via a fixed axis, and the fixed axis is parallel to the turning axis; the turning assembly has a left support portion and a right support portion, and when the turning assembly rotates under the drive of the turning drive member, the left support portion provides power to the left turning plate or the right support portion provides power to the right turning plate to turn around the turning axis.

3. The bed-chair integrated robot according to claim 2, characterized in that: When the included angle between the left turning plate and the right turning plate is 180°, the left supporting part and the right supporting part of the turning assembly can respectively contact one side of the bottom surface of the left turning plate and the right turning plate.

4. The bed-chair integrated robot according to claim 2, characterized in that: The turning assembly also includes a load-bearing portion for connecting with the turning drive member.

5. The bed-chair integrated robot according to claim 1, characterized in that: The linkage structure includes a clamping block arranged on the left turning plate and the right turning plate, and a clamping slot arranged on the left back frame and the right back frame.

6. The bed-chair integrated robot according to claim 1, characterized in that: Rollers are installed on the left supporting part and the right supporting part.

7. The bed-chair integrated robot according to claim 1, characterized in that: A support frame or a support wheel is provided on one side of the bottom surface of the foot support.

8. The bed-chair integrated robot according to claim 1, characterized in that: It also includes a two-toilet device, which includes a cushion, a cushion support and a cushion drive; the cushion support is rotatably connected relative to the bed frame around a horizontal axis, and the cushion drive is connected between the bed frame and the cushion support to drive the cushion support to rotate around the horizontal axis; the cushion is fixed on the cushion support, and the seat plate and the left turning plate and the right turning plate are provided with notches that are compatible with the cushion.

9. The bed-chair integrated robot according to claim 8, characterized in that: When the seat cushion moves to a horizontal position, the seat cushion is flush with the notches on the left turning plate and the right turning plate.

10. The bed-chair integrated robot according to claim 1, characterized in that: An armrest device is installed on the back lifting frame, and the armrest device includes an armrest support, an armrest body, a self-locking motor and a rocker; the armrest support is fixed on the back lifting frame, the root of the armrest body is rotatably connected to the armrest support through a rotating shaft, the self-locking motor is fixed to the device body or the armrest support, and the motor shaft of the self-locking motor is mechanically connected to the rotating shaft, and the rocker is installed at the tip of the armrest body.

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