CN104523388A - Multifunctional nursing bed and wheelchair conversion system and method - Google Patents
Multifunctional nursing bed and wheelchair conversion system and method Download PDFInfo
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- CN104523388A CN104523388A CN201510015494.5A CN201510015494A CN104523388A CN 104523388 A CN104523388 A CN 104523388A CN 201510015494 A CN201510015494 A CN 201510015494A CN 104523388 A CN104523388 A CN 104523388A
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- 230000000474 nursing effect Effects 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 17
- 238000000926 separation method Methods 0.000 claims abstract description 10
- 239000011159 matrix material Substances 0.000 claims description 64
- 239000000758 substrate Substances 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 6
- 210000003141 lower extremity Anatomy 0.000 description 4
- 206010048909 Boredom Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
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Abstract
The invention relates to a nursing bed and wheelchair conversion system. The nursing bed and wheel chair conversion system comprises a wheelchair (7) and a nursing bed base body (6). A trolley (8) is arranged at the lower portion of the wheelchair (7). The lower portion of the nursing bed base body (6) is provided with a groove (5). The trolley is clamped in the groove (5), and then a wheelchair supporting part (1) is laid flat, so the wheelchair (7) and the nursing bed base body (6) are combined into a multifunctional nursing bed. The invention further relates to a nursing bed and wheelchair conversion method. The conversion method comprises a combination method and a separation method. According to the nursing bed and wheelchair conversion system and method, a patient can be moved from the multifunctional nursing bed to the wheelchair just by himself/herself without the help of others, so that free movement is achieved, and nursing of the patient is facilitated.
Description
Technical field
Patent of the present invention relates to a kind of nursing bed, a kind of method referring more particularly to nursing bed and wheelchair converting system and be separated and combine.
Background technology
Along with Chinese population aging is more and more serious, paying close attention to senior health and fitness becomes a current large problem.When old people is sick can't take care of oneself need nursing time, multifunction nursing bedly can bring patient very large help, if on current basis, that can do is more intelligent, life of elderly person will be given finer, reduce the difficulty of nursery work simultaneously.
Multifunction nursing bed to engage with wheelchair is integrated or is separated, patient can be allowed to walk out ward comparatively easily relieve boredom, how to allow multifunction nursing bed engage with wheelchair one more intelligent, and multifunction nursing bed to engage when being integrated position with wheelchair more accurate, thus do not affect engaged by two parts after multifunction nursing bed back lifting, the function such as bend one's legs.
Summary of the invention
Be difficult to only rely on self move on wheelchair from sick bed to solve current patient, or the technical deficiency being difficult to only to rely on self to be from the wheelchair transformed into sick bed exists, and provide a kind of multifunction nursing bed with wheelchair converting system, and operate this converting system and realize the method that patient exchanges between wheelchair and nursing bed.
In order to realize above-mentioned technical purpose, technical scheme provided by the invention is as follows:
A kind of multifunction nursing bed with wheelchair converting system, wherein, converting system comprises wheelchair and nursing bed matrix, described wheelchair bottom is provided with dolly, described nursing bed matrix underpart is provided with groove, described dolly snaps in groove, then tile wheelchair support portion, wheelchair and nursing bed matrix merge into one multifunction nursing bed.
A kind of technical scheme that the present invention preferably implements is, multifunction nursing bedly also includes positioning navigation module, and described positioning navigation module is made up of the location navigation transmitter module be arranged on wheelchair and the location navigation receiver module be arranged on nursing bed matrix.
A kind of technical scheme that the present invention preferably implements is, wheelchair also comprises handguard, is arranged on the wheelchair control handle of handguard, be arranged on the wheel seat base below dolly, location navigation transmitter module, position accurate adjustment module, wheelchair controller, wherein, described wheelchair control handle control dolly carries out orientation and moves, and described wheelchair controller controls dolly and moves.
A kind of technical scheme that the present invention preferably implements is, wheel seat base bottom is provided with Mecanum wheel, and described Mecanum wheel is used for realizing wheelchair all-around mobile.
A kind of technical scheme that the present invention preferably implements is, described position accurate adjustment module is by being at least made up of three microswitch, wherein, two microswitch are had at least to be arranged on the side of dolly, a microswitch is had at least to be arranged on the front end of dolly, described microswitch is connected with wheelchair controller, and implements to control by wheelchair controller.
A kind of technical scheme that the present invention preferably implements is, wherein, is also provided with three switch actuating grooves in the groove of nursing bed matrix, described switch actuating groove is arranged on the front end of groove, and corresponding with microswitch, described switch actuating groove is arranged on the side of groove, and corresponding with microswitch.
A kind of technical scheme that the present invention preferably implements is, wherein, positioning navigation module can adopt the one in ultrasonic sensor or infrared sensor or laser sensor, be connected with wheelchair controller by described positioning navigation module, wheelchair all-around mobile is realized by controlling dolly, and the dolly that can realize wheelchair bottom enters in the groove of nursing bed matrix, the assembling realizing wheelchair and nursing bed matrix is located.
The present invention also provides a kind of multifunction nursing bed conversion method with wheelchair, and its technical scheme adopted is as follows: conversion method comprises separation and combined method, and it is as follows that described separation method comprises step:
The first step, when needs nursing bed matrix is separated with wheelchair, the separate button switch on operation wheelchair joystick;
The switch activated dolly of second step, separate button, dolly drives wheelchair slowly to depart from the groove of nursing bed matrix underpart;
3rd step, slowly exit the groove of nursing bed matrix underpart, wheelchair and nursing bed Matrix separation when dolly;
4th step, adjustment wheelchair support portion, make wheelchair support portion be folded into wheelchair profile.
The present invention also provides a kind of multifunction nursing bed conversion method with wheelchair, and its technical scheme adopted is as follows: conversion method comprises separation and combined method, and it is as follows that described combined method comprises step:
The first step, when needs nursing bed matrix and wheelchair combine, the combination button switch on operation wheelchair joystick;
Second step, positioning navigation module automatic connection with agv controller communicates, and is moved, make dolly start to enter nursing bed groove of substrate by agv controller pilot trolley;
3rd step, when dolly starts the groove entering nursing bed matrix underpart, when microswitch correspondence on dolly is touched with the switch actuating groove in nursing bed groove of substrate, microswitch can produce a switching signal when touching, and issue agv controller, positioning navigation module stops being connected with agv controller communicating, microswitch starts to be connected with agv controller and communicates, dolly all-around mobile is controlled by wheelchair control handle and agv controller, until when the microswitch on dolly is all touched with switch actuating groove and touches, and agv controller receive whole microswitch touch produce switching signal time, dolly stops mobile, multifunction nursing bed combination completes.
Technique effect of the present invention is: by providing a kind of multifunction nursing bed with wheelchair converting system, realizing patient under the help not by other people, and by means of only self, oneself being transferred on wheelchair from multifunction nursing bed, thus realize movable freely.Patient also by multifunction nursing bed with wheelchair converting system, and when not by external force, and by means of only self oneself from the wheelchair move to multifunction nursing bed on.Thus greatly facilitate the nursery work of patient, also facilitate acting on one's own of patient.
Accompanying drawing explanation
Fig. 1 multifunction nursing bedly forms structural representation with wheelchair.
Flow chart when Fig. 2 is multifunction nursing bed combination.
When Fig. 3 is multifunction nursing bed conjunction, base enters groove simplified schematic diagram.
Fig. 4 is 402 microswitch accurate adjustment modes in position when first touching.
Fig. 5 is 403 microswitch accurate adjustment modes in position when first touching.
Fig. 6 is 402,403 microswitch accurate adjustment modes in position when touching.
Fig. 7 schemes after the multifunction nursing bed combination of position accurate adjustment.
Fig. 8 is back lifting and bent lower limb figure after multifunction nursing bed combination after carrying out position accurate adjustment.
Fig. 9 is not for carrying out back lifting and bent lower limb figure after the multifunction nursing bed combination of position accurate adjustment.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, multifunction nursing bed combination system of the present invention and method being described in detail, in the hope of more clearly understanding architectural feature of the present invention and use procedure, but can not limiting the scope of the invention with this.
Fig. 1 is the monomer structure schematic diagram of nursing bed matrix 6 and wheelchair 7, as shown in Figure 1, multifunction nursing bedly comprise nursing bed matrix 6 and wheelchair 7, groove 5 is provided with in the middle of the bottom of nursing bed matrix 6, the groove 5 of nursing bed matrix 6 bottom is provided with at least three switch actuating grooves (501,502,503), wherein, switch actuating groove (502,503) is arranged on the side of the groove 5 of nursing bed matrix 6 bottom, and switch actuating groove 501 is arranged on front end or the rear end of the groove 5 of nursing bed matrix 6 bottom.
As shown in Figure 1, wheelchair 7 comprises support component 1 and dolly 8, and the little motor vehicle drive system be arranged in dolly 8, wherein, dolly 8 is provided with position accurate adjustment module 4, and position accurate adjustment module 4 is made up of at least three microswitch (401,402,403), microswitch 401 is arranged on front end or the rear end of dolly, and can corresponding with switch actuating groove 501, microswitch (402,403) is arranged on the side of dolly, and can corresponding with switch actuating groove (502,503).
Positioning navigation module 2 is also provided with on multifunction nursing bed, wherein, positioning navigation module 2 comprises the location navigation receiver module 202 be arranged on nursing bed matrix 6 and the location navigation transmitter module 201 be arranged on wheelchair, positioning navigation module 2 can adopt the one in ultrasonic sensor or infrared sensor or laser sensor, be connected with wheelchair controller 10 by described positioning navigation module 2, wheelchair 7 all-around mobile is realized by controlling dolly 8, and the dolly 8 that can realize wheelchair 7 bottom enters in the groove 5 of nursing bed matrix 6, realize wheelchair 7 to locate with the assembling of nursing bed matrix 6.
With reference to shown in Fig. 1, the handguard 100 of wheelchair 7 is also arranged wheelchair control handle 101 and agv controller 10, agv controller 10 and wheelchair control handle 101 carry out communication with position accurate adjustment module 4 and positioning navigation module 2 respectively, and the command information of receiving position accurate adjustment module 4 and positioning navigation module 2.
With reference to shown in Fig. 1, the bottom of wheelchair 7 is provided with dolly 8, drives wheelchair 7 to move by dolly 8, and the lower end of dolly is provided with base 3, and the lower end of base is provided with Mecanum wheel 9, by Mecanum wheel 9 for realizing wheelchair 7 all-around mobile.
Three switch actuating grooves (501,502,503) are corresponding with three microswitch (401,402,403) in the position accurate adjustment module 4 on wheelchair 7 respectively, and three microswitch (401,402,403) can enter three switch actuating grooves (501,502,503) corresponding with it respectively.
Wheelchair 7 also comprises support portion 1, and wherein, wheelchair 7 support portion 1 can be folded into the support shape of wheelchair, also can be laid into the tabular that nursing bed matrix 6 is the same.When wheelchair 7 is combined with nursing bed matrix 6, support portion 1 and nursing bed matrix 6 be laid into one multifunction nursing bed, when wheelchair 7 is separated with nursing bed matrix 6, wheelchair support portion 1 is folded into the profile of wheelchair 7.
Conversion method principle when multifunction nursing bed separation and combination is that, when multifunction nursing bed separation, its step comprised is:
The first step, when needs nursing bed matrix 6 is separated with wheelchair 7, the separate button switch on operation wheelchair joystick 101;
The switch activated dolly 8 of second step, separate button, dolly 8 drives wheelchair 7 slowly to depart from the groove 5 of nursing bed matrix 6 bottom;
3rd step, when dolly 8 slowly exits the groove 5 of nursing bed matrix 6 bottom, wheelchair 7 is separated with nursing bed matrix 6;
4th step, adjustment wheelchair 7 support portion 1, make wheelchair support portion 1 be folded into wheelchair profile.
When multifunction nursing bed combination, its step comprised is:
The first step, when needs nursing bed matrix 6 combines with wheelchair 7, the combination button switch on operation wheelchair joystick 101;
Second step, positioning navigation module 2 automatic connection with agv controller 10 communicates, and is moved, make dolly 8 start to enter nursing bed matrix 6 groove by agv controller 10 pilot trolley 8;
3rd step, when dolly 8 starts the groove 5 entering nursing bed matrix 6 bottom, microswitch (401 on dolly 8, 402, 403) correspondence and the switch actuating groove (501 in nursing bed groove of substrate 5, 502, 503) when touching, microswitch (401, 402, 403) switching signal can be produced when touching, and issue agv controller 10, positioning navigation module 2 stops being connected with agv controller 10 communicating, microswitch (401, 402, 403) start to be connected with agv controller 10 and communicate, dolly all-around mobile is controlled by wheelchair control handle 101 and agv controller 10, until the microswitch (401 on dolly, 402, 403) all with switch actuating groove (501, 502, 503) when touching and touch, and agv controller 10 receives whole microswitch (401, 402, 403) when touching the switching signal produced, dolly stops mobile, multifunction nursing bed combination completes.
Fig. 2 is nursing bed matrix 6 operational flowchart when combining with wheelchair 7, and with reference to shown in Fig. 2, operating procedure is as follows:
The first step, when wheelchair 7 and nursing bed matrix 6 are in released state, the wheelchair control handle 101 on operation wheelchair 7 handguard 100, and provide the combined command of wheelchair 7 and nursing bed matrix 6.
Second step, positioning navigation module 201 on wheelchair 7 and navigation receiver module 202 are started working automatically, navigation receiver module 202 in nursing bed matrix 6 groove 5 and the positioning navigation module 201 on wheelchair 7 dolly 8 transmission of information mutually, simultaneously, positioning navigation module 201 and navigation receiver module 202 are connected with the agv controller 10 in dolly 3 and communicate, control trolley base 3 by the agv controller 10 on base 3 to move by certain route, make dolly 8 start to enter in the groove 5 of nursing bed matrix 6.Groove 5 size is larger than dolly 8 base 3 size, enters in groove 5 more easily to allow dolly 8.
3rd step, when the base 3 of dolly 8 enters in groove 5 process, microswitch 402,403 on base 3 can be touched because meeting 502 of groove 5, and when microswitch 402,403, one of them touches, then dolly 8 positioning navigation module 2 stops being connected with agv controller 10 on base 3 communicating.
4th step, dolly 8 position accurate adjustment module 4 is connected with agv controller 10 on base 3 and communicates, position accurate adjustment module 4 operation principle: by microswitch 401, 402, 403 to be connected with agv controller 10 on base 3 and to communicate, when any one microswitch is touched, microswitch can produce a switching signal, and the agv controller 10 issued on base 3, agv controller 10 on base 3 controls dolly 8 base 3 all-around mobile, until the microswitch 401 on base 3, 402, 403 all with groove of substrate 501, 502 are touched and microswitch (401, 402, 403) all generation switching signal during touching has been issued the agv controller 10 on base 3, dolly 8 base 3 is then stopped to move.501,502 laminatings of dolly 8 base 3 and groove of substrate are alignd, and multifunction nursing bed merging terminates.
When Fig. 3 is multifunction nursing bed conjunction, base enters groove simplified schematic diagram, with reference to shown in Fig. 3, when the medial surface groove 502 of microswitch (402,403) with groove 5 touches, when microswitch 401 is touched with the medial surface groove 501 of groove 5, then positioning navigation module 2 stops being connected with agv controller 10 on base 3 communicating.
Fig. 4 is that microswitch 402 first touches simplified schematic diagram, when microswitch 402 first touches the switch actuating groove 502 of groove 5, positioning navigation module 2 stops being connected with agv controller 10 on base 3 communicating, slight travelling car 8 makes microswitch 403 touch the switch actuating groove 503 of groove 5 more counterclockwise again, when microswitch 403 touches the switch actuating groove 503 of groove 5, slight reach dolly makes microswitch 401 touch the switch actuating groove 501 of groove 5 again, namely completes the combination of dolly on wheelchair 7 and nursing bed matrix 6.
Fig. 5 is that microswitch 403 first touches simplified schematic diagram, when microswitch 403 first touches the switch actuating groove 503 of groove 5, positioning navigation module 2 stops being connected with agv controller 10 on base 3 communicating, slight travelling car 8 makes microswitch 402 touch the switch actuating groove 502 of groove 5 more clockwise again, when microswitch 402 touches the switch actuating groove 502 of groove 5, slight reach dolly makes microswitch 401 touch the switch actuating groove 501 of groove 5 again, namely completes the combination of dolly on wheelchair 7 and nursing bed matrix 6.
Fig. 6 is that microswitch 402,403 touches simplified schematic diagram simultaneously, when microswitch 402,403 touches the switch actuating groove 502,503 of groove 5 respectively simultaneously, positioning navigation module 2 stops being connected with agv controller 10 on base 3 communicating, the dolly that slightly moves forward again makes microswitch 401 touch the switch actuating groove 501 of groove 5 again, namely completes the combination of dolly on wheelchair 7 and nursing bed matrix 6.
Fig. 7 is that wheelchair 7 combines structural representation with nursing bed matrix 6, with reference to shown in Fig. 7, after wheelchair 7 and nursing bed matrix 6 combine, put down the support zone 1 of wheelchair 7, and together with the support component split of nursing bed matrix 6, constitute one multifunction nursing bed.
Fig. 8 is that wheelchair and nursing bed matrix merge the multifunction nursing bed back lifting after carrying out accurate adjustment and bent lower limb figure, accurate adjustment has been carried out when nursing bed matrix 6 merges with wheelchair 7, the support zone slitless connection of nursing bed matrix 6 and wheelchair 7 can be realized, provide one comfortable multifunction nursing bed.
Fig. 9 be do not carry out position accurate adjustment wheelchair and nursing bed matrix merge after multifunction nursing bed back lifting and bent lower limb figure, accurate adjustment is not carried out when nursing bed matrix 6 merges with wheelchair 7, the support zone slitless connection of nursing bed matrix 6 and wheelchair 7 can not be realized, multifunction nursing bed support zone out-of-flatness can be caused, and affect the rest of patient, very large discomfort can be brought to patient.
The above embodiment only have expressed embodiments of the present invention, and it describes comparatively detailed, as long as those skilled in the art is after viewing embodiments of the invention, under not departing from the prerequisite of the present invention's design, the change made all belongs to protection scope of the present invention.But embodiment as herein described can not be interpreted as and limit protection scope of the present invention.
Claims (7)
1. one kind multifunction nursing bed with wheelchair converting system, it is characterized in that, described converting system comprises wheelchair (7) and nursing bed matrix (6), described wheelchair (7) bottom is provided with dolly (8), described nursing bed matrix (6) bottom is provided with groove (5), described dolly snaps in groove (5), wheelchair support portion (1) of then tiling, wheelchair (7) and nursing bed matrix (6) merge into one multifunction nursing bed; Describedly multifunction nursing bedly also include positioning navigation module (2), described positioning navigation module (2) is made up of the location navigation transmitter module (201) be arranged on wheelchair (7) and the location navigation receiver module (202) be arranged on nursing bed matrix (6); Described wheelchair also comprises handguard (100), is arranged on the wheelchair control handle (101) of handguard (100), be arranged on the wheel seat base (3) below dolly (8), location navigation transmitter module (201), position accurate adjustment module (4), agv controller (10), wherein, described wheelchair control handle (101) control dolly carries out orientation and moves, and described wheelchair controller (10) controls dolly and moves.
2. one according to claim 1 is multifunction nursing bed with wheelchair converting system, it is characterized in that, described positioning navigation module (2) can adopt the one in ultrasonic sensor or infrared sensor or laser sensor, be connected with agv controller (10) by described positioning navigation module (2), wheelchair (7) all-around mobile is realized by controlling dolly (8), and the dolly (8) that can realize wheelchair (7) bottom enters in the groove (5) of nursing bed matrix (6), realize wheelchair (7) and locate with the assembling of nursing bed matrix (6).
3. one according to claim 1 is multifunction nursing bed with wheelchair converting system, and it is characterized in that, described wheelchair (7) base (3) bottom is provided with Mecanum wheel (9), and described Mecanum wheel (9) is for realizing wheelchair (7) all-around mobile.
4. according to claim 1 multifunction nursing bed with wheelchair converting system, it is characterized in that, described position accurate adjustment module (4) is by being at least made up of three microswitch (401,402,403), wherein, two microswitch (402,403) are had at least to be arranged on the side of dolly (8), a microswitch (401) is had at least to be arranged on the front end of dolly (8), described microswitch (401,402,403) is connected with agv controller (10), and implements to control by agv controller (10).
5. according to claim 4 multifunction nursing bed with wheelchair converting system, it is characterized in that, three switch actuating grooves (501,502,503) are also provided with in the groove (5) of described nursing bed matrix (6), described switch actuating groove (501) is arranged on the front end of groove (5), and it is corresponding with microswitch (401), described switch actuating groove (502,503) is arranged on the side of groove (5), and corresponding with microswitch (402,403).
6. use a conversion method for the multifunction nursing bed and wheelchair described in any one of claim 1-5, it is characterized in that, described conversion method comprises separation method and combined method, and it is as follows that described separation conversion method comprises step:
The first step, when needs nursing bed matrix (6) is separated with wheelchair (7), the separate button switch in operation wheelchair joystick (101);
The switch activated dolly of second step, separate button (8), dolly (8) drives wheelchair (7) slowly to depart from the groove (5) of nursing bed matrix (6) bottom;
3rd step, when dolly (8) slowly exits the groove (5) of nursing bed matrix (6) bottom, wheelchair (7) is separated with nursing bed matrix (6);
4th step, adjustment wheelchair (7) support portion (1), make wheelchair support portion (1) be folded into wheelchair profile.
7. use a conversion method for the multifunction nursing bed and wheelchair described in any one of claim 1-5, it is characterized in that, described conversion method comprises separation method and combined method, and it is as follows that described Combination conversion method comprises step:
The first step, when needs nursing bed matrix (6) combines with wheelchair (7), the combination button switch in operation wheelchair joystick (101);
Second step, positioning navigation module (2) automatic connection with agv controller (10) communicates, mobile by agv controller (10) pilot trolley (8), makes dolly (8) start to enter nursing bed matrix (6) groove;
3rd step, when dolly (8) starts groove (5) entering nursing bed matrix (6) bottom, microswitch (401 on dolly (8), 402, 403) correspondence and the switch actuating groove (501 in nursing bed groove of substrate (5), 502, 503) when touching, microswitch (401, 402, 403) switching signal can be produced when touching, and issue agv controller (10), positioning navigation module (2) stops being connected with agv controller (10) communicating, microswitch (401, 402, 403) start to be connected with agv controller (10) and communicate, dolly all-around mobile is controlled by wheelchair control handle (101) and agv controller (10), until the microswitch (401 on dolly, 402, 403) all with switch actuating groove (501, 502, 503) when touching and touch, and agv controller (10) receives whole microswitch (401, 402, 403) when touching the switching signal produced, dolly stops mobile, multifunction nursing bed combination completes.
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| CN201510015494.5A CN104523388B (en) | 2015-01-13 | 2015-01-13 | Multifunctional nursing bed and wheelchair conversion system and method |
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| CN201510015494.5A CN104523388B (en) | 2015-01-13 | 2015-01-13 | Multifunctional nursing bed and wheelchair conversion system and method |
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| CN106880449B (en) * | 2015-12-16 | 2019-01-25 | 安徽三联机器人科技有限公司 | A kind of robot nursing bed synchronization system and method |
| CN106880449A (en) * | 2015-12-16 | 2017-06-23 | 安徽三联机器人科技有限公司 | A kind of robot care bed synchronization system and method |
| CN106880454A (en) * | 2015-12-16 | 2017-06-23 | 安徽三联机器人科技有限公司 | A kind of robot care bed control system and method |
| CN106880454B (en) * | 2015-12-16 | 2019-01-01 | 安徽三联机器人科技有限公司 | A kind of robot nursing bed control system and method |
| CN105853099A (en) * | 2016-04-28 | 2016-08-17 | 北京博创兴盛科技有限公司 | Integrated nursing bed |
| CN107536678A (en) * | 2016-06-24 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | A kind of wheelchair and bed to connected control system |
| CN108214507A (en) * | 2017-12-28 | 2018-06-29 | 安徽三联机器人科技有限公司 | A kind of magnetic navigation care bed goes out Input System and goes out storage method |
| CN110151421A (en) * | 2018-03-14 | 2019-08-23 | 赵月云 | A kind of nursing bed with forwarding function |
| CN111345950A (en) * | 2018-12-24 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Bed and wheelchair butt joint method based on diagonal gear train and intelligent bed and chair integrated equipment |
| CN111107819A (en) * | 2019-10-18 | 2020-05-05 | 广东博智林智能技术有限公司 | Wheelchair, nursing bed control method and control device and wheelchair |
| CN110974572A (en) * | 2019-12-06 | 2020-04-10 | 上海交通大学 | Wheelchair-bed integrated nursing robot system and operation method |
| CN111920608A (en) * | 2020-07-24 | 2020-11-13 | 重庆大学 | Hospital of family is with separable removal regulation nursing bed |
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