CN102670366A - Automatic abutting and control system for bed and chair integrated robot - Google Patents

Abstract

The invention discloses an automatic abutting and control system for a bed and chair integrated robot, which comprises a bed and chair conversion mechanism, a bed body structure and a control system. The bed and chair conversion mechanism can be moved into or moved out of a bed body; the bed and chair conversion mechanism comprises an integrated frame, a parallel mechanism, a linkage mechanism and an omnibearing chassis; the integrated frame also comprises a seat frame, a curved leg frame, a back plate frame, a leg plate frame and a foot plate frame; the relative motion among the frames is implemented by the linkage mechanism formed by a plurality of electric push rods so as to implement the bed and chair conversion function; the bottom of the seat frame is connected with the omnibearing chassis by the parallel mechanism; the left-and-right lateral overturning and the back-and-forth inclination, lifting and descending of the integral frame can be simultaneously implemented by the parallel mechanism; and the omnibearing movement of the bed and chair conversion mechanism is implemented by the omnibearing chassis. According to the invention, the full-automatic conversion, separation and combination between a bed and a chair can be implemented by the control system; the automatic abutting and control system has the more perfect bed and chair conversion function and a turn-over function; the safety and the comfort are greatly promoted; and the automatic abutting and control system has simple structure.

Description

A kind of chair integrated robot automatic butt and control system

Technical field

The present invention relates to the caring instrument field, specifically, is a kind of possess simultaneously a function of standing up and an integrated robot of chair translation function.

Background technology

Mostly existing nursing bed is on the bed body, to be provided with mobilizable bed board, and the help patient sits up or changes prone position, but function is comparatively simple.Portioned product combines the function of nursing bed with the function of wheelchair, improved the ability to act of user, but most of intelligent product degree is lower, uses also to receive certain restriction.Also there is product to realize the simple auxiliary function of standing up; With the generation that reduces decubital ulcer and improve the breath state of user in sleep, and alleviate nursing staff's working strength, but because structural limitations; Its range of activity of standing up bed board is very little; Stand up axis and be positioned at bed surface central authorities, stand up the equal imperfection of function, can't really change patient's sleeping position.And the product that present above-mentioned two functions of no-trump still combine occurs.Therefore; The elderly and the disabled of long-term bed need a kind ofly can realize routine care bed function; And combine bed chair translation function and stand up function, possess the multiple degrees of freedom of higher automatization level and intelligent level simultaneously, nursing bed system of modular robot.

Existing application number is 201110023285.7 patent " a kind of chair is incorporate multifunction nursing bed " though can satisfy bed chair translation function simultaneously and stand up function, and is this multifunction nursing bed, during conversion between bed, chair; Easily be not to use the person to produce the downslide of health; And comfortableness is relatively poor, and safety is not high, and structure and complicacy thereof; Cost of manufacture is very high, is difficult for realizing.

Summary of the invention

To above-mentioned weak point, bed chair integrated robot provided by the invention can be realized conversion and separating and combining between a chair, and possesses translation function between comparatively perfect bed, chair, and stands up function, and safety and comfortableness promote greatly, and simple in structure.

A kind of chair integrated robot automatic butt and control system is characterized in that: comprise bed chair shifter movably, the bed body and the control system that fix on the ground.

Said bed chair shifter comprises general frame, parallel institution, link gear and omnidirectional chassis; Wherein, general frame is a modular bed surface structure, comprises seat frame, bent lower limb framework, backboard framework, lower limb plate framework and sole framework; Wherein, the link gear of being made up of electric pushrod A, electric pushrod B, long connecting rod A, long connecting rod B, fork, roller is installed on the general frame; Through the relative motion between link gear control seat frame, bent lower limb framework, backboard framework, lower limb plate framework and sole framework; Seat frame bottom links to each other with the omnidirectional chassis through parallel institution.

Said seat frame is a double-layer structure up and down, and interlayer passes through the connecting rod relative fixed under seat frame upper strata and the seat frame; Rear portion, seat frame upper strata side is hinged with backboard framework, bent lower limb framework respectively through hinge; Wherein, bent lower limb framework is positioned at side the place ahead, rear portion, seat frame upper strata, and is positioned at the inside on seat frame upper strata; The backboard framework is positioned at side rear, rear portion, seat frame upper strata; The anterior side in seat frame upper strata is connected with the lower limb plate framework through hinge, the anterior side connecting pin of lower limb plate framework plate framework.

Relative motion between above-mentioned backboard framework and seat frame is through electric pushrod A control, and body end and the seat frame lower floor of electric pushrod A are hinged, and push rod end and the backboard framework of electric pushrod A are hinged.

Said bent lower limb framework overlap joint with gripper shoe that the seat frame upper strata is fixedly connected on; Behind bent lower limb framework and the gripper shoe overlap joint, bent lower limb framework and plane, place, seat frame upper strata coplane; Between the center of side a longeron is installed before and after the bent lower limb framework; Be provided with fork under the longeron, an end and the seat frame lower floor of fork are hinged, and the other end is hinged with roller; The fork middle part is connected with long connecting rod A one end hinge, and the long connecting rod A other end is connected with the backboard frame hinge through backboard cruciform bracing B;

Relative motion between lower limb plate framework and seat frame is through electric pushrod B control, and the body end of electric pushrod B is connected with seat frame lower floor hinge, and the push rod end of electric pushrod B is connected with lower limb plate framework hinge.

The rear portion side of said sole framework is connected with the anterior crossbeam hinge of lower limb plate framework through hinge, vertically is connected with the sole connecting rod on the sole framework; The end of long connecting rod B is connected with the sole connecting rod link, and the other end of long connecting rod B is hinged on: on the seat vertical beam that is connected between the anterior crossbeam of seat frame upper strata and seat frame lower floor.

Said parallel institution is made up of four electric pushrod C; The motor side of four electric pushrod C is all hinged through universal coupling and upper strata installation frame; The push rod end of four electric pushrod C is hinged through universal coupling and seat frame lower floor respectively, and the line between four universal couplings in the line between four universal couplings on the installation frame of upper strata and the seat frame lower floor all becomes rectangle.

Described bed body is the rectangular configuration of tubular, on the side of bed body, is designed with opening, is designed with bed surface on the bed body end face, and a bed chair shifter that has on the bed surface with open communication is provided with mouth.

Said control system is used for realizing that the control and the bed chair shifter 1 of the moving of a chair shifter, each electric pushrod control with the automatic butt between the bed body; Comprise controller, stick, key panel, laser radar, crash sensor, motor driver, push rod driver and push rod driver, and marking plate A, marking plate B, marking plate C.

Wherein, stick is used for the x of bed chair shifter, y axle input variable are sent to controller, the x that controller sends stick, the speed v that y axle input variable converts four drive motors to _r, v _l, v _f, v _b:

$\left\{\begin{array}{c}{v}_r=k_{1}x+k_{2}y\\ v_l=-k_{1}x+k_{2}y\\ v_f=k_{2}y\\ v_b=k_{2}y\end{array}\right.---\left(1\right)$

Wherein, v _r, v _l, v _f, v _bBe respectively the drive motors speed that is positioned at left, right, front and rear; k ₁, k ₂Be proportionality constant; Thus; Four drive motors are sent to four motor drivers that are used for driving four drive motors respectively respectively through controller; Thereby control the speed of each drive motors respectively through four motor drivers, realize advancing, retreat and turning of bed chair shifter.

Said key panel sends the control signal of motor push rod A to controller; Through controller the control signal of the electric pushrod A that receives is sent to the push rod driver A that is installed on the chair shifter; Through elongation and the shortening of push rod driver A control electric pushrod A, realize lifting or putting down of backboard framework thus; In like manner; Send motor push rod B control signal through key panel to controller; Through controller the control signal of the electric pushrod B that receives is sent to push rod driver A; Through elongation and the shortening of push rod driver A control electric pushrod B, realize lifting or putting down of lower limb plate framework and sole framework thus; Send electric pushrod C control signal through key panel to controller; Through controller the control signal of the electric pushrod C that receives is sent to push rod driver B; Through elongation and the shortening of push rod driver B control electric pushrod C, realize the control of the inclination of direction all around of bed chair shifter thus.

Said laser radar and marking plate A, marking plate B and marking plate C; Be used for realizing docking between a chair shifter and bed body; Wherein, marking plate A is positioned at a bed surface below, body front side, and marking plate B is positioned at a body rear side bed surface below; Marking plate C is positioned at a body split shed institute to side bed surface below, and marking plate A, marking plate B, marking plate C are parallel with residing bed body side surface respectively; Laser radar is installed in the chair shifter on the seat frame, is positioned at seat frame one side; The laser radar position is made as initial point O; Pointing to bed chair shifter dead astern direction is X-direction; Point to the bed body and with the vertical direction of X axle be the Y coordinate direction; Through three marking plate A of laser radar real time scan, marking plate B, marking plate C, obtain each the coordinate points (x on the marking plate A with respect to coordinate system XY ₁, y ₁), each a series of coordinate points (x on the marking plate B with respect to coordinate system XY ₂, y ₂) and marking plate C on each a series of coordinate points (x with respect to coordinate system XY ₃, y ₃), send to controller, handle through controller, be specially:

I, difference match marking plate A, marking plate B and the linear equation y of marking plate C under the XY coordinate system ₁=a ₁+ b ₁X, y ₂=a ₂+ b ₂X, y ₃=a ₃+ b ₃X, accomplish through following formula:

$\left\{\begin{array}{c}{b}_i=\frac{\stackrel{\‾}{x_i{y}_i}-\stackrel{\‾}{x_i}\stackrel{\‾}{y_i}}{\stackrel{\‾}{{x_i}^2}-{\stackrel{\‾}{x_i}}^2}\\ a_i={\stackrel{\‾}{y}}_i-b{\stackrel{\‾}{x}}_i\end{array}\right.---\left(1\right)$

Wherein, a _iBe the intercept of straight line on the Y axle, b _iBe collinear slope; I=1,2,3;

II, the marking plate A according to after the match, marking plate B and the linear equation of marking plate C under the XY coordinate system obtain three collinear tiltangles _iAnd straight line apart from initial point apart from d _i:

$\left\{\begin{array}{c}{\mathrm{\θ}}_i=\arctan \left(b_i\right)\×\frac{180}{\mathrm{\π}}\\ d_i=\frac{a_i}{\sqrt{1+b_i^2}}\end{array}\right.---\left(2\right)$

Coordinate (the x of mid point P under the XY coordinate system of III, acquisition marking plate B _P, y _P), reach the drift angle α of marking plate B with respect to bed chair shifter:

$\left\{\begin{array}{c}{x}_P=\frac{1}{2}(d_1-d_3)\\ y_P={\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">d</figure-callout>}}_2\\ \mathrm{\&alpha;}=\frac{1}{3}({\mathrm{\&theta;}}_1+{\mathrm{\&theta;}}_2+{\mathrm{\&theta;}}_3-180)\end{array}\right.---\left(3\right)$

Wherein, d ₁Be the distance of laser radar place zero O to marking plate A, d ₂Be the distance of laser radar place place zero O to marking plate C; d ₃Be the distance of laser radar place zero O to marking plate B; θ ₁, θ ₂, θ ₃Be respectively the inclination angle of the linear equation of marking plate A, B, C in the XY coordinate system.

IV, order bed chair shifter and a body when docking completion status, the P point coordinates be (x ' _P, y ' _P), marking plate B is α ' with respect to the drift angle of bed chair shifter, then obtains the speed v of four drive motors of a chair shifter according to formula (4) through controller _r, v _l, v _f, v _b:

$\left\{\begin{array}{c}{v}_r=k_y(y_P-{y^{\&prime;}}_P)+k_{\mathrm{\&alpha;}}(\mathrm{\&alpha;}-{\mathrm{\&alpha;}}^{\&prime;})\\ v_l=k_y(y_P-{y^{\&prime;}}_P)-k_{\mathrm{\&alpha;}}(\mathrm{\&alpha;}-{\mathrm{\&alpha;}}^{\&prime;})\\ v_b=k_x(x_P-{x^{\&prime;}}_P)+k_{\mathrm{\&alpha;}}(\mathrm{\&alpha;}-{\mathrm{\&alpha;}}^{\&prime;})\\ v_f=k_x(x_P-{x^{\&prime;}}_P)-k_{\mathrm{\&alpha;}}(\mathrm{\&alpha;}-{\mathrm{\&alpha;}}^{\&prime;})\end{array}\right.---\left(4\right)$

Thus, make four drivers control the work of four drive motors respectively, just can realize docking between a chair shifter and bed body by the rotating speed in the formula (4).

The seat frame left surface is equipped with crash sensor in the said bed chair shifter; When seat frame left surface in the bed chair shifter after a body contacts with bed; Send collision alarm through crash sensor to controller, after controller receives control signal, control four drive motors stop motions.

The invention has the advantages that:

1, bed chair integrated robot of the present invention can be realized conversion and separating and combining between a chair;

2, bed chair integrated robot of the present invention, in the process that backboard lifts, bent lower limb plate is not done any action earlier, and it is that oneself is more comfortable that user can let backboard slightly lift in bed; Surpass 45 when spending when backboard lifts angle, bent lower limb plate begins action, finally when backboard lifts fully; Bent lower limb plate upwarps 10 degree; Avoid the user situation that health glides in the process of sitting up, safety is promoted greatly, also improved the comfortableness under the seat state simultaneously;

2, bed chair integrated robot of the present invention; Relative motion between backboard and bent lower limb plate can be used a motor-driven through link gear, and the relative motion between lower limb plate and sole is passed through link gear equally by a motor-driven, when the lower limb plate falls; Sole remains parallel with seat; For the foot of user provides support, reduced manufacturing cost thus greatly, and simple in structure;

3, bed chair integrated robot of the present invention through four post parallel institutions of under-seat, can be realized turning on one's side the function that front and back tilt and go up and down about care device carries out simultaneously;

4, bed chair integrated robot of the present invention can realize that bed chair shifter omnidirectional moves through the omnidirectional chassis;

Description of drawings

Fig. 1 is a bed chair integrated robot overall structure sketch map of the present invention;

Fig. 2 is bed chair shifter overall structure sketch map among the present invention;

Fig. 3 is connected sketch map between general frame and link gear;

Fig. 4 moves downward structural representation to the utmost point in limited time for the lower limb plate framework;

Fig. 5 is that backboard framework, bent lower limb framework, lower limb plate framework and sole framework all are in general frame structural representation when setting level state;

Fig. 6 is the structural representation after bent lower limb framework lifts;

Fig. 7 is omnidirectional's chassis structure schematic diagram in top down perspective;

Fig. 8 be upper strata, omnidirectional chassis installation frame with the lower floor installation frame between bindiny mechanism's sketch map and damping spring be connected sketch map;

Fig. 9 is a type of drive sketch map between drive motors and travelling gear;

Figure 10 is the parallel institution structural representation;

Parallel institution state diagram when Figure 11 turns forward for general frame;

Parallel institution state diagram when Figure 12 recedes for general frame;

Parallel institution state diagram when Figure 13 rises for general frame straight up;

Figure 14 is laser radar, crash sensor and marking plate A, marking plate B, marking plate C installation site sketch map;

Figure 15 is bed body and bed chair shifter docking operation sketch map.

Among the figure:

1-bed chair shifter 2-bed body 3-control system 101-general frame

102-parallel institution 103-link gear 104-omnidirectional chassis 1011-seat frame

The bent lower limb framework of 1012-1013-backboard framework 1014-lower limb plate framework 1015-sole framework

101a-gripper shoe 101b-longeron 101c-sole connecting rod 101d-seat vertical beam

The long connecting rod A of 1021-electric pushrod C 1031-electric pushrod A 1032-electric pushrod B 1033-

The long connecting rod B of 1034-1035-fork 1036-roller 1041-upper strata rectangle is installed

Framework

It is the wheel 1045-of installing plate 1044-omnidirectional drive motors that 1042-lower floor rectangle is installed the 1043-axle

Framework

The 1046-damping spring 1047-wheel seat 1048-of omnidirectional wheel shaft 1049-travelling gear A

1050-travelling gear B 201-opening 202-bed surface 203-bed chair shifter

Mouth is set

301-controller 302-stick 303-key panel 304-laser radar

305-crash sensor 306-motor driver 307-push rod driver A 308-push rod driver B

309-marking plate A 310-marking plate B 311-marking plate C

The specific embodiment

Below in conjunction with accompanying drawing and embodiment the present invention is elaborated.

The present invention provides a chair integrated robot, and is as shown in Figure 1, comprises movably bed chair shifter 1, the bed body 2 and the control system 3 that fix on the ground.Bed body 2 inside are used for placing bed chair shifter 1.Control system 3 is used for realizing the control of bed chair integrated machine sick bed of the present invention.

Said bed chair shifter 1 comprises general frame 101, parallel institution 102, link gear 103 and omnidirectional chassis 104, like Fig. 2, shown in Figure 3.Wherein, general frame 101 is a modular bed surface structure, comprises seat frame 1011, bent lower limb framework 1012, backboard framework 1013, lower limb plate framework 1014 and sole framework 1015.Seat frame 1011, bent lower limb framework 1012, backboard framework 1013, lower limb plate framework 1014 and sole framework 1015 are the aluminium alloy rectangular frame structure.Wherein, The link gear of being made up of electric pushrod A1031, electric pushrod B1032, long connecting rod A1033, long connecting rod B1034, fork 1035, roller 1,036 103 is installed on the general frame 101; As shown in Figure 3, through the relative motion of 1015 of link gear 102 control seat frames 1011, bent lower limb framework 1012, backboard framework 1013, lower limb plate framework 1014 and sole frameworks.Seat frame 1011 bottoms link to each other with omnidirectional chassis 104 through parallel institution 102.Omnidirectional chassis 104 is used for controlling the whole motion of a chair shifter 1, and the inclination of general frame 101 on forward and backward, left and right four direction of parallel institution 102 control bed chair shifters 1 makes that a chair shifter 1 is attainable to stand up action.

Said seat frame 1011 is a double-layer structure up and down, and as shown in Figure 3,1011 times interlayers of seat frame 1011 upper stratas and seat frame pass through the connecting rod relative fixed.Rear portion, seat frame 1011 upper strata side is hinged with backboard framework 1013, bent lower limb framework 1012 respectively through hinge; Wherein, bent lower limb framework 1012 is positioned at side the place ahead, rear portion, seat frame 1011 upper strata, and is positioned at the inside on seat frame 1011 upper stratas; Backboard framework 1013 is positioned at side rear, rear portion, seat frame 1011 upper strata.The anterior side in seat frame 1011 upper stratas is connected lower limb plate framework 1014 anterior side connecting pin plate frameworks 1015 through hinge with lower limb plate framework 1014.Said seat frame 1011 upper stratas, backboard framework 1013, bent lower limb framework 1012, lower limb plate framework 1014 all are coated with flexible material with sole framework 1015 upper surfaces, form seat face, backboard face, bent lower limb face, lower limb plate face and sole face thus.

The relative motion that above-mentioned backboard framework 1013 and seat frame are 1011 is through electric pushrod A1031 control; Body end and seat frame 1011 lower floors of electric pushrod A1031 are hinged; Push rod end and the backboard framework 1013 of electric pushrod A1031 are hinged; The push rod end of electric pushrod A1031 and backboard framework 1013 hinged places make backboard framework 1013 can receive better thrust and pulling force that electric pushrod A1031 push rod end applies near the hinged place of backboard framework 1013 with seat frame 1011 upper stratas thus.When the push rod end of electric pushrod A1031 foreshortens to the limit (being that distance is minimum between body end and the push rod end of electric pushrod A1031), backboard framework 1013 and plane, place, seat frame 1011 upper stratas coplane.When the push rod end of electric pushrod A1031 extends; Push rod end through electric pushrod A1031 promotes backboard framework 1013; Making backboard framework 1013 serves as that axle is rotated counterclockwise with backboard framework 1013 with seat frame 1011 hinge places; When the push rod end of electric pushrod A1031 was stretched to the limit (being that distance is maximum between body end and the push rod end of electric pushrod A1031), backboard framework 1013 was 75 ° with the angle of horizontal plane.

Said bent lower limb framework 1012 overlap joints with gripper shoe 101a that seat frame 1011 upper stratas are fixedly connected on, be that bent lower limb framework 1012 provides mechanical support through gripper shoe 101a, avoid bent lower limb framework 1012 to continue to move downward.After bent lower limb framework 1012 overlaps with gripper shoe 101a, bent lower limb framework 1012 and plane, place, seat frame 1011 upper stratas coplane.Between the center of bent lower limb framework 1012 front and back sides the longeron 101b with certain width is installed.Be provided with fork 1035 under the longeron 101b, an end and seat frame 1011 lower floors of fork 1035 are hinged, and the other end is hinged with roller 1036.Fork 1035 middle parts are connected with long connecting rod A1033 one end hinge; The long connecting rod A1033 other end is connected with backboard framework 1013 hinges through backboard framework 1013 crossbeam B; The hinged place of long connecting rod A1033 and backboard framework 1013 makes long connecting rod A1033 can receive better pulling force and thrust that backboard framework 1013 applies near the hinged place of backboard framework 1013 with seat frame 1011 upper stratas thus.In the said structure, when backboard framework 1013 was in level, roller 1036 did not contact with bent lower limb framework 1012, has the gap, and this moment, bent lower limb framework 1012 kept level under the mechanical support of seat frame 1011 upper backup pad 101a.When backboard framework 1013 moves counterclockwise (when backboard framework 1013 lifts under the promotion of the push rod end of electric pushrod A1031 gradually); The long connecting rod A1033 of backboard framework 1013 pullings; The pulling force that makes fork 1035 receive long connecting rod A1033 moves (being that fork 1035 lifts gradually) clockwise, thereby roller 1036 is upwards lifted.When backboard framework 1013 and horizontal plane angle are 45 °, roller 1036 be raised up to just with bent lower limb framework 1012 on longeron 101c lower surface contact, bent lower limb framework 1012 was thrown away and was in level this moment.When backboard framework 1013 continues motion counterclockwise; Long connecting rod A1033 pulling fork 1035 continues to do clockwise motion; This moment, roller 1036 meetings continued upwards to lift; And longeron 101c on roll; Roll on longeron 101c bottom surface through roller 1036 thus, promote and jack-up leg plate framework 1014 bent lower limb frameworks 1012, making lower limb plate framework 1014 bent lower limb frameworks 1012 serves as axle turn clockwise (being that lower limb plate framework 1014 bent lower limb frameworks 1012 lift gradually) with bent lower limb framework 1012 and seat frame 1011 hinged places.Through said structure, when user was operated angle that backboard framework 1013 lifts in bed less than 45 °, any action can not take place in bent lower limb framework 1012, makes the user shank can not receive the interference of bent lower limb framework 1012 thus, and the comfort level of user is increased.When backboard framework 1013 lifted angle and spends greater than 45, user can produce certain downslide, and since this moment the lifting of bent lower limb framework 1012, effectively prevented the downslide situation of human body.When backboard framework 1013 and horizontal plane angle were 75 °, bent lower limb framework 1012 was 10 ° with horizontal plane angle.Through the mutual interlock of 1013 of bent lower limb framework 1012 and backboard frameworks, user can obtain the more comfortable state that sits up.

The relative motion that above-mentioned lower limb plate framework 1014 and seat frame are 1011 is through electric pushrod B1032 control; The body end of electric pushrod B1032 is connected with seat frame 1011 lower floor's hinges; The push rod end of electric pushrod B1032 is connected with lower limb plate framework 1014 hinges; The push rod end of electric pushrod B1032 and the hinged place of lower limb plate framework 1014 are near the hinged place of lower limb plate framework 1014 with seat frame 1011 upper stratas, better thrust and pulling force that the push rod end that makes lower limb plate framework 1014 can receive electric pushrod B1032 thus applies.Pass through said structure; When the push rod end of electric pushrod B1032 is in elongation; Making lower limb plate framework 1014 serves as that axle turns clockwise with lower limb plate framework 1014 and seat frame 1011 hinged places; When the push rod end of electric pushrod B1032 is in when being stretched to the limit (being that distance is maximum between body end and the push rod end of electric pushrod A1031); Lower limb plate framework 1014 is 10 ° with the angle of horizontal plane, can avoid carrying out relative interference and the collision phenomenon that bed chair shifter 1 possibly run into 2 butt joints of bed body or when separating through upwards lifting of lower limb plate framework 1014 thus.When the push rod end of electric pushrod B1032 shortened, making lower limb plate framework 1014 served as that axle is rotated counterclockwise with lower limb plate framework 1014 and seat frame 1011 hinged places.When the push rod end of electric pushrod B1032 foreshortens to the limit (being that distance is minimum between body end and the push rod end of electric pushrod A1031); Lower limb plate framework 1014 is-70 ° with the angle of horizontal plane; As shown in Figure 4, backboard framework 1013 cooperation lower limb plate frameworks 1014 upwards lift and make user be the state of sitting up thus.

The rear portion side of said sole framework 1015 is connected with the anterior crossbeam hinge of lower limb plate framework 1014 through hinge, vertically is connected with sole connecting rod 101c on the sole framework 1015.The end of long connecting rod B1034 is connected with sole connecting rod 101c hinge, and the other end of long connecting rod B1034 is hinged on: on the seat vertical beam 101d that is connected between the anterior crossbeam of seat frame 1011 upper stratas and seat frame 1011 lower floors.Wherein, Vertical line between the hinged place of the hinged place of the vertical line between the hinge place of the hinged place of long connecting rod B1034 and sole framework 1015 connecting rods, lower limb plate framework 1014 and sole framework 1015 and long connecting rod B1034 and seat frame 1011, lower limb plate framework 1014 and 1011 of seat frames remains parallel, and two sides of lower limb plate framework 1014 all remain parallel with long connecting rod B1034.Like Fig. 3, Fig. 4, shown in Figure 5; Under the effect of long connecting rod B1034; When no matter angle was any size between lower limb plate framework 1014 and horizontal plane, plane, sole framework 1015 place belonged to the plane with seat frame 1011 upper stratas with seat frame 1011 lower floors and remains parallel.When lower limb plate framework 1014 moves to surperficially when equal with seat frame 1011, sole framework 1015 is also equal with seat frame 1011 surfaces.When lower limb plate framework 1014 moved to extreme position counterclockwise, sole framework 1015 still belonged to plane parallel with seat frame 1011 upper stratas and seat frame 1011 lower floors.Sole framework 1015 is used for providing support for the step of user, has increased the comfortableness of bed chair shifter 1.

When the bed state; Bed chair shifter 1 is positioned at a body 2 inside, bed body 2 and bed chair shifter 1 relative fixed, and backboard framework 1013, bent lower limb framework 1012, lower limb plate framework 1014 and sole framework 1015 all are in the state of setting level; As shown in Figure 5, this state can be realized the repertoire as bed.Under this state, user can be operated backboard framework 1013 and upwards lift certain angle, and makes bent lower limb framework 1012 actions when angle is unlikely during less than 45 °, can realize thus playing back of the body function separately, and is as shown in Figure 3.

When user carried out a bed chair conversion operations, may command backboard framework 1013 moved to the wheelchair state with lower limb plate framework 1014 simultaneously, realized sitting up function.This moment, bent lower limb framework 1012 lifted; As shown in Figure 6, sole framework 1015 remains equal with seat frame 1011, does not avoid the use of person's situation that health glides in the process of sitting up effectively; And, safety and comfortableness that user sits up have been improved for the foot of user provides support.

Said omnidirectional chassis 104 is a kind of omnidirectional wheel chassis of high capacity; Be double-layer structure up and down; As shown in Figure 7, comprise that upper strata installation frame 1041, lower floor's installation frame 1042, four axles are installing plate 1043, four omnidirectional's 1044, four drive motors 1045 of wheel and four damping springs 1046.Wherein, 1042 of upper strata installation frame 1041 and lower floor installation frames are connected through the connector relative fixed.Four axles are that installing plate 1043 all is connected with lower floor installation frame 1042 hinges, and are positioned at lower floor's installation frame 1042 inboards, have farthest reduced the volume on omnidirectional chassis 104 thus.Each axle is that installing plate 1043 upper surfaces are connected with upper strata installation frame 1041 hinges through a high rigidity damping spring 1046 respectively, and is as shown in Figure 8.Each axle is to be fixed with omnidirectional's wheel seat 1047 on installing plate 1043 bottom surfaces, is connected with 1044, four omnidirectional's wheels 1044 of omnidirectional's wheel through wheel shaft 1048 on omnidirectional's wheel seat 1047 and is the cross layout.Four axles are that installing plate 1043 bottom surfaces are fixed with a drive motors 1045 respectively; The axle system of four drive motors 1045 is the N biasing with respect to the axle of four omnidirectional's wheels 1044; The type of drive that each drive motors 1045 and omnidirectional's wheel are 1044 is: fixed cover is connected to travelling gear A1049 on the output shaft of each drive motors 1045; On each wheel shaft 1048, be socketed with travelling gear B1050; Travelling gear A1049 and travelling gear B1050 engagement make 1044 on each drive motors 1045 and each omnidirectional wheel pass through gear transmission power thus, and be as shown in Figure 9.Said omnidirectional wheel 1044 is diameter 203mm, takes turns wide 77mm, and the single-wheel load is 90 ° of omnidirectional's wheels 1044 of 120kg; Drive motors 1045 is a brush direct current motor, and output is 200W.

When making on the upper strata through said structure that installation frame 1041 receives downward pressure; With lower floor installation frame 1042 each hinged axles be that installing plate 1043 is stressed and rotate along the hinged place; Thereby each omnidirectional wheel 1044 can be moved up and down receiving when impacting on 104 vertical direction of omnidirectional chassis; And each omnidirectional wheel 1044 is vertical with omnidirectional chassis 104 all the time in moving process, has realized the independent damping of each omnidirectional's wheel 1044, is guaranteeing that each omnidirectional takes turns under the prerequisite of 1044 performances; Realized the general omnidirectional not available obstacle climbing ability in chassis, and alleviated the vibration on omnidirectional chassis 104 and the phenomenon of noise through four damping springs 1046.

Said omnidirectional chassis 104 1011 times interlayers of installation frame 1041 and seat frame at the middle and upper levels links to each other through parallel institution 102.Parallel institution 102 is made up of four electric pushrod C1021; Shown in figure 10; The motor side of four electric pushrod C1021 is all hinged through universal coupling and upper strata installation frame 1041; The push rod end of four electric pushrod C1021 is hinged through universal coupling and seat frame 1011 lower floors respectively; Line between four universal couplings in the line between four universal couplings on the upper strata installation frame 1041 and seat frame 1011 lower floors all becomes rectangle, and whole bed chair shifter 1 can be connected through four electric pushrod C1021 with omnidirectional chassis 104 thus.In said structure; In order to make a chair shifter 1 when receiving external force, can keep stable; Therefore need make rectangular area that the line between four universal couplings in seat frame 1011 lower floors forms greater than the formed rectangle of line between four universal couplings on the upper strata rectangle installation frame 1041, and each electric pushrod C1021 and seat frame hinged place are positioned at outside each electric pushrod C1021 and rectangle installation frame 1041 hinged places, upper strata.

Described bed body 2 is the rectangle steel shelf structure of tubular; As shown in Figure 1, on the side of bed body 2, be designed with opening 201, be designed with bed surface 202 on the bed body end face; Have the bed chair shifter that is communicated with opening 201 on the bed surface 202 mouth 203 is set, be used for placement space being provided for bed chair shifter 1.The length of said opening 201 is arranged in a length of chair shifter 1 chair mechanism 1011 and bed chair shifter 1 entire length (when promptly chair shifter 1 integral body is set level state; Sole framework 1015 front side edge and backboard framework 1013 trailing flank spacings) between; Make a chair shifter 1 thus when the seat state; Can enter in the body 2 by opening 201 places; And a circumferential location of realizing bed body 2 inner flat bed chair shifters 1 through the side of bed body 2, the stability of bed chair shifter 1 when improving as bed state.When bed chair shifter 1 was positioned at a body 2 inside and is in flat, the upper surface (above-mentioned sole face, lower limb plate face, seat face and backboard face) of bed chair shifter 1 engaged with body 2 upper surface, forms a complete bed surface.Can add manual drawing and pulling type dress guardrail around the above-mentioned bed body 2 as required.

When bed state and wheelchair state, the push rod end that user can be operated four electric pushrod C1021 in the parallel institution 102 elongates or shortens, and the bed surface when being implemented in a bed state goes up and down; Before and after tilt with about rich functions such as stand up; Satisfy nursing, treatment, multiple requirements such as anti-decubital ulcer.Its concrete operations are following: under the original state, four electric pushrod C1021 all are in former length (promptly the flexible end of four electric pushrod C1021 and body end distance are from minimum), and this moment, general frame 101 kept parallel with omnidirectional chassis 104.As two electric pushrod C1021 that are positioned at the place ahead or when being positioned at two electric pushrod C1021 elongation at rear; Because the length ratio of four electric pushrod C1021 changes; The general frame 101 that drives bed chair shifter 1 thus recedes or turns forward with respect to omnidirectional chassis 104, like Figure 11, shown in 12.When two electric pushrod C1021 that are positioned at the place ahead or two electric pushrod C1021 being positioned at the rear are stretched to extreme position synchronously (the flexible end of electric pushrod C1021 and body end distance are from maximum), the general frame 101 relative omnidirectional chassis 104 of bed chair shifter 1 recede 45 ° or turn forward 45 °.If this moment, a chair shifter 1 was in a state, can realize the function that bed surface recedes or turns forward; If bed chair shifter 1 is in the wheelchair state, can realize the function that wheelchair recedes or turns forward.In like manner; When two electric pushrod C1021 that are positioned at the left side or two electric pushrod C1021 being positioned at the right side extend synchronously; Because the length ratio of four electric pushrod C1021 changes, the general frame 101 that drives bed chair shifter 1 thus is tilted to the right or is tilted to the left with respect to omnidirectional chassis 104.When two electric pushrod C1021 that are positioned at the left side or two electric pushrod C1021 being positioned at the right side were stretched to extreme position, the general frame 101 relative omnidirectional chassis 104 of bed chair shifter 1 were tilted to the right 60 ° or be tilted to the left 60 °; If a this moment bed chair shifter 1 is in a state, can realize that bed surface is tilted to the right or is tilted to the left, reach user or the function of standing up to the right left.When four electric pushrod C1021 extended synchronously, because the length of four electric pushrod C1021 does not change than, the general frame 101 that drives bed chair shifter 1 rises straight up, and was shown in figure 13.When electric pushrod C1021 was stretched to the extreme position state, the general frame 101 of seat frame 1011 shifters upwards rose 100mm with respect to omnidirectional chassis 104; If this moment, a chair shifter 1 was in a state, can realize the function that bed surface rises; If bed chair shifter 1 is in the wheelchair state, can realize the function that wheelchair rises.

Said control system 3 is used for realizing that the control and the bed chair shifter 1 of the moving of a chair shifter 1, each electric pushrod control with the automatic butt of 2 of bed bodies; Comprise controller 301, stick 302, key panel 303, laser radar 304, crash sensor 305, motor driver 306, push rod driver 307 and push rod driver 308, and marking plate A309, marking plate B310, marking plate C311.

Wherein, stick 302 is used for the x of bed chair shifter 1, y axle input variable are sent to controller 301, the x that controller 301 sends stick 302, the speed v that y axle input variable converts four drive motors 1045 to _r, v _l, v _f, v _b:

$\left\{\begin{array}{c}{v}_r=k_{1}x+k_{2}y\\ v_l=-k_{1}x+k_{2}y\\ v_f=k_{2}y\\ v_b=k_{2}y\end{array}\right.---\left(1\right)$

Wherein, v _r, v _l, v _f, v _bBe respectively the drive motors speed that is positioned at left, right, front and rear; k ₁, k ₂Be proportionality constant.

Thus; Four drive motors 1045 are sent to four motor drivers 306 that are used for driving four drive motors respectively respectively through controller 301; Thereby control the speed of each drive motors 1045 respectively through four motor drivers 306, realize advancing, retreat and turning of bed chair shifter 1.

Said key panel 303 is used for realizing the control of electric pushrod A1031, electric pushrod B1032, four electric pushrod C1021, realizes the control that the backboard framework 1013 in the wheelchair shifter 1 lifts and puts down, lower limb plate framework 1014 together lifts and puts down with sole framework 1015 and the direction all around of bed chair shifter 1 tilts thus.Be specially: the control signal (elongation of electric pushrod A1031 and shortening signal) of sending motor push rod A1031 through key panel 303 to controller 301; Through controller 301 control signal of the electric pushrod A 1031 that receives is sent to the push rod driver A307 that is installed on the chair shifter 1; Through elongation and the shortening of push rod driver A307 control electric pushrod A1031, realize lifting or putting down of backboard framework 1013 thus; In like manner; Send motor push rod B1032 control signal (elongation of electric pushrod B1032 and shortening signal) through key panel 303 to controller 301; Through controller 301 control signal of the electric pushrod B 1032 that receives is sent to push rod driver A307; Through elongation and the shortening of push rod driver A307 control electric pushrod B1032, realize lifting or putting down of lower limb plate framework 1014 and sole framework 1015 thus; Send electric pushrod C1021 control signals (two electric pushrod C1021 that are positioned at front side, rear side, left side, right side extend or the signal of left end simultaneously) through key panel 303 to controller 301; Through controller 301 control signal of the electric pushrod C1021 that receives is sent to push rod driver B308; Through elongation and the shortening of push rod driver 308B control electric pushrod C1021, realize the control of the inclination of direction all around of bed chair shifter 1 thus.

Comprise in the above-mentioned driving key panel 303 that backboard lifts that button, backboard put down that button, sole lift that button, sole put down button, the button that leans forward, layback button, left-leaning button, Right deviation body button and cancellation heeling condition body button; Through pressing different key, make chair interpreter 1 structure accomplish corresponding action.

Said laser radar 304 and marking plate A309, marking plate B310 and three marking plates of marking plate C311; Be used for realizing docking of a chair shifter 1 and 2 of bed bodies; Wherein, marking plate A309 is positioned at a body 2 front side bed surfaces 202 belows, and marking plate B310 is positioned at a body 2 rear side bed surfaces 202 belows; Marking plate C311 is positioned at 201 of a body 2 split sheds to a side bed surface 202 belows, marking plate A309, marking plate B310, marking plate C311 respectively with residing bed body 2 parallel sided; Laser radar 304 is installed in the chair shifter 1 on the seat frame 1011, is positioned at seat frame 1,011 one sides.Laser radar 304 positions are made as initial point O; Pointing to bed chair shifter 1 dead astern direction is X-direction; Point to bed body 2 and with the vertical direction of X axle be the Y coordinate direction; Through three marking plate A309 of laser radar 304 real time scans, marking plate B310, marking plate C311, obtain each the coordinate points (x on the marking plate A309 with respect to coordinate system XY ₁, y ₁), each a series of coordinate points (x on the marking plate B310 with respect to coordinate system XY ₂, y ₂) and marking plate C311 on each a series of coordinate points (x with respect to coordinate system XY ₃, y ₃), send to controller 301, handle through controller 301, be specially:

I, difference match marking plate A309, marking plate B310 and the linear equation y of marking plate C311 under the XY coordinate system ₁=a ₁+ b ₁X, y ₂=a ₂+ b ₂X, y ₃=a ₃+ b ₃X, accomplish through following formula:

$\left\{\begin{array}{c}{b}_i=\frac{\stackrel{\&OverBar;}{x_i{y}_i}-\stackrel{\&OverBar;}{x_i}\stackrel{\&OverBar;}{y_i}}{\stackrel{\&OverBar;}{{{\mathrm{<figure-callout\; id="2"\; label="x\; i"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">x</figure-callout>}}_i}^2}-{\stackrel{\&OverBar;}{x_i}}^2}\\ a_i={\stackrel{\&OverBar;}{y}}_i-b{\stackrel{\&OverBar;}{x}}_i\end{array}\right.---\left(1\right)$

Wherein, a _iBe the intercept of straight line on the Y axle, b _iBe collinear slope; I=1,2,3.

II, the marking plate A309 according to after the match, marking plate B310 and the linear equation of marking plate C311 under the XY coordinate system obtain three collinear tiltangles _iAnd straight line apart from initial point apart from d _i:

$\left\{\begin{array}{c}{\mathrm{\&theta;}}_i=\arctan \left(b_i\right)\&times;\frac{180}{\mathrm{\&pi;}}\\ d_i=\frac{a_i}{\sqrt{1+b_i^2}}\end{array}\right.---\left(2\right)$

Coordinate (the x of mid point P under the XY coordinate system of III, acquisition marking plate B310 _P, y _P), reach the drift angle α (when marking plate B310 with X axle parallel, α=0) of marking plate B310 with respect to bed chair shifter 1:

$\left\{\begin{array}{c}{x}_P=\frac{1}{2}(d_1-d_3)\\ y_P={\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">d</figure-callout>}}_2\\ \mathrm{\&alpha;}=\frac{1}{3}({\mathrm{\&theta;}}_1+{\mathrm{\&theta;}}_2+{\mathrm{\&theta;}}_3-180)\end{array}\right.---\left(3\right)$

Wherein, d ₁Be the distance of laser radar place zero O to marking plate A309, d ₂Be the distance of laser radar place place zero O to marking plate C310; d ₃Be the distance of laser radar place zero O to marking plate B311; θ ₁, θ ₂, θ ₃Be respectively the inclination angle of the linear equation of marking plate A309, B310, C311 in the XY coordinate system.

IV, an order bed chair shifter 1 are positioned at a body inside, when being integrally formed structure (promptly bed chair shifter 1 is docking completion status with a body 2) with bed body 2, the P point coordinates be (x ' _P, y ' _P), marking plate B310 is α ' with respect to the drift angle of bed chair shifter 1, then obtains the speed v of four drive motors 1045 of a chair shifter 1 according to formula (4) through controller _r, v _l, v _f, v _b:

$\left\{\begin{array}{c}{v}_r=k_y(y_P-{y^{\&prime;}}_P)+k_{\mathrm{\&alpha;}}(\mathrm{\&alpha;}-{\mathrm{\&alpha;}}^{\&prime;})\\ v_l=k_y(y_P-{y^{\&prime;}}_P)-k_{\mathrm{\&alpha;}}(\mathrm{\&alpha;}-{\mathrm{\&alpha;}}^{\&prime;})\\ v_b=k_x(x_P-{x^{\&prime;}}_P)+k_{\mathrm{\&alpha;}}(\mathrm{\&alpha;}-{\mathrm{\&alpha;}}^{\&prime;})\\ v_f=k_x(x_P-{x^{\&prime;}}_P)-k_{\mathrm{\&alpha;}}(\mathrm{\&alpha;}-{\mathrm{\&alpha;}}^{\&prime;})\end{array}\right.---\left(4\right)$

Thus, make four drivers 306 control the work of four drive motors 1045 respectively, just can realize docking of a chair shifter 1 and 2 of bed bodies by the rotating speed in the formula (4).

In above-mentioned docking operation; When seat frame 1011 left surfaces in the bed chair shifter 1 after a body contacts with bed; Crash sensor 309 through being installed on the seat frame 1011 sends collision alarm to controller 301; After controller 301 receives control signal, control four drive motors 1045 stop motions, accomplish docking operation.

Claims (10)

1. bed chair integrated robot automatic butt and control system is characterized in that: comprise bed chair shifter movably, the bed body and the control system that fix on the ground;

Said bed chair shifter comprises general frame, parallel institution, link gear and omnidirectional chassis; Wherein, general frame is a modular bed surface structure, comprises seat frame, bent lower limb framework, backboard framework, lower limb plate framework and sole framework; Wherein, the link gear of being made up of electric pushrod A, electric pushrod B, long connecting rod A, long connecting rod B, fork, roller is installed on the general frame; Through the relative motion between link gear control seat frame, bent lower limb framework, backboard framework, lower limb plate framework and sole framework; Seat frame bottom links to each other with the omnidirectional chassis through parallel institution;

Said seat frame is a double-layer structure up and down, and interlayer passes through the connecting rod relative fixed under seat frame upper strata and the seat frame; Rear portion, seat frame upper strata side is hinged with backboard framework, bent lower limb framework respectively through hinge; Wherein, bent lower limb framework is positioned at side the place ahead, rear portion, seat frame upper strata, and is positioned at the inside on seat frame upper strata; The backboard framework is positioned at side rear, rear portion, seat frame upper strata; The anterior side in seat frame upper strata is connected with the lower limb plate framework through hinge, the anterior side connecting pin of lower limb plate framework plate framework;

Relative motion between above-mentioned backboard framework and seat frame is through electric pushrod A control, and body end and the seat frame lower floor of electric pushrod A are hinged, and push rod end and the backboard framework of electric pushrod A are hinged;

Said bent lower limb framework overlap joint with gripper shoe that the seat frame upper strata is fixedly connected on; Behind bent lower limb framework and the gripper shoe overlap joint, bent lower limb framework and plane, place, seat frame upper strata coplane; Between the center of side a longeron is installed before and after the bent lower limb framework; Be provided with fork under the longeron, an end and the seat frame lower floor of fork are hinged, and the other end is hinged with roller; The fork middle part is connected with long connecting rod A one end hinge, and the long connecting rod A other end is connected with the backboard frame hinge through backboard cruciform bracing B;

Relative motion between lower limb plate framework and seat frame is through electric pushrod B control, and the body end of electric pushrod B is connected with seat frame lower floor hinge, and the push rod end of electric pushrod B is connected with lower limb plate framework hinge;

The rear portion side of said sole framework is connected with the anterior crossbeam hinge of lower limb plate framework through hinge, vertically is connected with the sole connecting rod on the sole framework; The end of long connecting rod B is connected with the sole connecting rod link, and the other end of long connecting rod B is hinged on: on the seat vertical beam that is connected between the anterior crossbeam of seat frame upper strata and seat frame lower floor;

Said parallel institution is made up of four electric pushrod C; The motor side of four electric pushrod C is all hinged through universal coupling and upper strata installation frame; The push rod end of four electric pushrod C is hinged through universal coupling and seat frame lower floor respectively, and the line between four universal couplings in the line between four universal couplings on the installation frame of upper strata and the seat frame lower floor all becomes rectangle;

Described bed body is the rectangular configuration of tubular, on the side of bed body, is designed with opening, is designed with bed surface on the bed body end face, and a bed chair shifter that has on the bed surface with open communication is provided with mouth;

Said control system is used for realizing that the control and the bed chair shifter 1 of the moving of a chair shifter, each electric pushrod control with the automatic butt between the bed body; Comprise controller, stick, key panel, laser radar, crash sensor, motor driver, push rod driver and push rod driver, and marking plate A, marking plate B, marking plate C;

Wherein, stick is used for the x of bed chair shifter, y axle input variable are sent to controller, the x that controller sends stick, the speed v that y axle input variable converts four drive motors to _r, v _l, v _f, v _b:

$\left\{\begin{array}{c}{v}_r=k_{1}x+k_{2}y\\ v_l=-k_{1}x+k_{2}y\\ v_f=k_{2}y\\ v_b=k_{2}y\end{array}\right.---\left(1\right)$

Wherein, v _r, v _l, v _f, v _bBe respectively the drive motors speed that is positioned at left, right, front and rear; k ₁, k ₂Be proportionality constant;

Thus; Four drive motors are sent to four motor drivers that are used for driving four drive motors respectively respectively through controller; Thereby control the speed of each drive motors respectively through four motor drivers, realize advancing, retreat and turning of bed chair shifter;

Said key panel sends the control signal of motor push rod A to controller; Through controller the control signal of the electric pushrod A that receives is sent to the push rod driver A that is installed on the chair shifter; Through elongation and the shortening of push rod driver A control electric pushrod A, realize lifting or putting down of backboard framework thus; In like manner; Send motor push rod B control signal through key panel to controller; Through controller the control signal of the electric pushrod B that receives is sent to push rod driver A; Through elongation and the shortening of push rod driver A control electric pushrod B, realize lifting or putting down of lower limb plate framework and sole framework thus; Send electric pushrod C control signal through key panel to controller; Through controller the control signal of the electric pushrod C that receives is sent to push rod driver B; Through elongation and the shortening of push rod driver B control electric pushrod C, realize the control of the inclination of direction all around of bed chair shifter thus;

Said laser radar and marking plate A, marking plate B and marking plate C; Be used for realizing docking between a chair shifter and bed body; Wherein, marking plate A is positioned at a bed surface below, body front side, and marking plate B is positioned at a body rear side bed surface below; Marking plate C is positioned at a body split shed institute to side bed surface below, and marking plate A, marking plate B, marking plate C are parallel with residing bed body side surface respectively; Laser radar is installed in the chair shifter on the seat frame, is positioned at seat frame one side; The laser radar position is made as initial point O; Pointing to bed chair shifter dead astern direction is X-direction; Point to the bed body and with the vertical direction of X axle be the Y coordinate direction; Through three marking plate A of laser radar real time scan, marking plate B, marking plate C, obtain each the coordinate points (x on the marking plate A with respect to coordinate system XY ₁, y ₁), each a series of coordinate points (x on the marking plate B with respect to coordinate system XY ₂, y ₂) and marking plate C on each a series of coordinate points (x with respect to coordinate system XY ₃, y ₃), send to controller, handle through controller, be specially:

I, difference match marking plate A, marking plate B and the linear equation y of marking plate C under the XY coordinate system ₁=a ₁+ b ₁X, y ₂=a ₂+ b ₂X, y ₃=a ₃+ b ₃X, accomplish through following formula:

$\left\{\begin{array}{c}{b}_i=\frac{\stackrel{\&OverBar;}{x_i{y}_i}-\stackrel{\&OverBar;}{x_i}\stackrel{\&OverBar;}{y_i}}{\stackrel{\&OverBar;}{{x_i}^2}-{\stackrel{\&OverBar;}{x_i}}^2}\\ a_i={\stackrel{\&OverBar;}{y}}_i-b{\stackrel{\&OverBar;}{x}}_i\end{array}\right.---\left(1\right)$

Wherein, a _iBe the intercept of straight line on the Y axle, b _iBe collinear slope; I=1,2,3;

II, the marking plate A according to after the match, marking plate B and the linear equation of marking plate C under the XY coordinate system obtain three collinear tiltangles _iAnd straight line apart from initial point apart from d _i:

$\left\{\begin{array}{c}{\mathrm{\&theta;}}_i=\arctan \left(b_i\right)\&times;\frac{180}{\mathrm{\&pi;}}\\ d_i=\frac{a_i}{\sqrt{1+b_i^2}}\end{array}\right.---\left(2\right)$

Coordinate (the x of mid point P under the XY coordinate system of III, acquisition marking plate B _P, y _P), reach the drift angle α of marking plate B with respect to bed chair shifter:

$\left\{\begin{array}{c}{x}_P=\frac{1}{2}(d_1-d_3)\\ y_P=d_2\\ \mathrm{\&alpha;}=\frac{1}{3}({\mathrm{\&theta;}}_1+{\mathrm{\&theta;}}_2+{\mathrm{\&theta;}}_3-180)\end{array}\right.---\left(3\right)$

Wherein, d ₁Be the distance of laser radar place zero O to marking plate A, d ₂Be the distance of laser radar place place zero O to marking plate C; d ₃Be the distance of laser radar place zero O to marking plate B; θ ₁, θ ₂, θ ₃Be respectively the inclination angle of the linear equation of marking plate A, B, C in the XY coordinate system;

IV, order bed chair shifter and a body when docking completion status, the P point coordinates be (x ' _P, y ' _P), marking plate B is α ' with respect to the drift angle of bed chair shifter, then obtains the speed v of four drive motors of a chair shifter according to formula (4) through controller _r, v _l, v _f, v _b:

$\left\{\begin{array}{c}{v}_r=k_y(y_P-{y^{\&prime;}}_P)+k_{\mathrm{\&alpha;}}(\mathrm{\&alpha;}-{\mathrm{\&alpha;}}^{\&prime;})\\ v_l=k_y(y_P-{y^{\&prime;}}_P)-k_{\mathrm{\&alpha;}}(\mathrm{\&alpha;}-{\mathrm{\&alpha;}}^{\&prime;})\\ v_b=k_x(x_P-{x^{\&prime;}}_P)+k_{\mathrm{\&alpha;}}(\mathrm{\&alpha;}-{\mathrm{\&alpha;}}^{\&prime;})\\ v_f=k_x(x_P-{x^{\&prime;}}_P)-k_{\mathrm{\&alpha;}}(\mathrm{\&alpha;}-{\mathrm{\&alpha;}}^{\&prime;})\end{array}\right.---\left(4\right)$

Thus, make four drivers control the work of four drive motors respectively, just can realize docking between a chair shifter and bed body by the rotating speed in the formula (4);

The seat frame left surface is equipped with crash sensor in the said bed chair shifter; When seat frame left surface in the bed chair shifter after a body contacts with bed; Send collision alarm through crash sensor to controller, after controller receives control signal, control four drive motors stop motions.

2. a kind of chair integrated robot automatic butt and control system according to claim 1, it is characterized in that: the push rod end of said electric pushrod A and backboard framework hinged place are near the hinged place on backboard framework and seat frame upper strata; The push rod end of said electric pushrod B and the hinged place of lower limb plate framework are near the hinged place on lower limb plate framework and seat frame upper strata.

3. a kind of chair integrated robot automatic butt and control system according to claim 1 is characterized in that: when the push rod end of said electric pushrod A foreshortens to the limit, and backboard framework and plane, place, seat frame upper strata coplane; When the push rod end of electric pushrod A was stretched to the limit, the angle of backboard framework and horizontal plane was 75 °.

4. a kind of chair integrated robot automatic butt and control system according to claim 1, it is characterized in that: when said backboard framework is in level, have the gap between roller and bent lower limb framework, this moment, bent lower limb framework was in level.

5. a kind of chair integrated robot automatic butt and control system according to claim 1; It is characterized in that: when said backboard framework and horizontal plane angle are 45 °; Roller contacts with longeron lower surface on the bent lower limb framework, and this moment, bent lower limb framework was in level; When backboard framework and horizontal plane angle were 75 °, bent lower limb framework and horizontal plane angle were 10 °.

6. a kind of chair integrated robot automatic butt and control system according to claim 1, it is characterized in that: the push rod end of said electric pushrod B is in when being stretched to the limit, and the angle of lower limb plate framework and horizontal plane is 10 °; When the push rod end of electric pushrod B foreshortened to the limit, the angle of lower limb plate framework and horizontal plane was-70 °.

7. a kind of chair integrated robot automatic butt and control system according to claim 1, it is characterized in that: the hinged place of said long connecting rod A and backboard framework is near the hinged place on backboard framework and seat frame upper strata.

8. a kind of chair integrated robot automatic butt and control system according to claim 1; It is characterized in that: the vertical line between the hinged place between the hinged place of the vertical line between the hinge place of the hinged place of said long connecting rod B and sole frame link, lower limb plate framework and sole framework and long connecting rod B and seat frame, lower limb plate framework and seat frame remains parallel, and two sides of lower limb plate framework all remain parallel with long connecting rod B.

9. a kind of chair integrated robot automatic butt and control system according to claim 1; It is characterized in that: said omnidirectional chassis is the omnidirectional wheel chassis of high capacity; Be double-layer structure up and down, comprise that upper strata installation frame, lower floor's installation frame, four axles are installing plate, four omnidirectional's wheels, four drive motors and four damping springs; Wherein, be connected through the connector relative fixed between upper strata installation frame and lower floor installation frame; Four axles are that installing plate all is connected with lower floor installation frame hinge, and it is inboard to be positioned at lower floor's installation frame; Each axle is that the installing plate upper surface is connected with upper strata installation frame hinge through a high rigidity damping spring respectively; Each axle is to be fixed with omnidirectional's wheel seat on the installing plate bottom surface, is connected with omnidirectional's wheel through wheel shaft on omnidirectional's wheel seat, and four omnidirectional's wheels are cross and arrange; Four axles are that the installing plate bottom surface is fixed with a drive motors respectively; The axle system of four drive motors is the N biasing with respect to the axle of four omnidirectional's wheels; Type of drive between each drive motors and omnidirectional's wheel is: fixed cover is connected to travelling gear A on the output shaft of each drive motors; On each wheel shaft, be socketed with travelling gear B, travelling gear A and travelling gear B engagement.

10. a kind of chair integrated robot automatic butt and control system according to claim 1; It is characterized in that: the rectangular area that the line between four universal couplings in the said seat frame lower floor forms is greater than the formed rectangle of line between four universal couplings on the rectangle installation frame of upper strata, and each electric pushrod C and seat frame hinged place are positioned at outside each electric pushrod C and the rectangle installation frame hinged place, upper strata.

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