EP3373878B1

EP3373878B1 - Robotic mobile and modifiable bed with verticalization

Info

Publication number: EP3373878B1
Application number: EP15813244.9A
Authority: EP
Inventors: Petra Haladova; Pavel Halada; Daniel POLAK; Tomas Svoboda
Original assignee: Robotsystem SRO
Current assignee: Robotsystem SRO
Priority date: 2015-11-10
Filing date: 2015-11-13
Publication date: 2019-05-22
Anticipated expiration: 2035-11-13
Also published as: CZ306563B6; CZ2015801A3; EP3373878A1; WO2017080534A1; KR20180094887A

Description

Technical field

The invention relates to a transport universal robotic adjustable device with the function of a wide range of adjustable positions, easy maneuverability, and high variability of the control options.

Description of the prior art

Currently there is a number of transport and convertible devices developed especially for immobile and motion handicapped persons. However, the overall style and construction of these systems is only purpose-built, with a minimal universality. Usually they are either a wheelchair without the option of convertibility or device that allows setting to the horizontal plain in order to create a surface for lying, but only on a pre-selected place within a circumferential frame, making up the partial surfaces of the area for lying.
The following invention applications are examples of those that are closest to the suggested solution: US 2012/016093 A1 of June 5, 2012 , EP 2 581 072 A1 of April 17, 2013 , EP 2 583 650 A1 of April 24, 2013 , EP 2 583 651 A1 of April 24, 2013.
The above mentioned inventions are built on the principle that the chair extends from a basic structure of the bed. These collapsible structures of the bed - chair do not allow the height adjustability of the bed and chair system; and do not allow achieving the standard size parameters of a bed.
In the variant when the basic bed structure detaches its part and extends as a wheelchair, the basic bed structure stays divided in its midst over the entire length. Mattresses or upholstery is divided at the point where the user always lies.
The above mentioned solutions are not controlled via robotic elements so that the wheelbase between the front and rear axle changes automatically when changing from lying to sitting position or vice versa, thus causing an automatic shortening or lengthening of the movable chair base, and thus adjusting to current demands on the stability of the entire device.
The width of current devices - wheelchairs - is generally constant, an option of width modifiability of the loading area cannot be used to extend the width of the loading area for a lying position, and to reduce it operatively for a sitting position, thus ensuring both comfortable bed, and passage through narrower spaces - for example through the door.
Currently, there is also a solution that is registered in the patent application PV 2013-859 and PCT/CZ2013/000150 .
It is a robotic mobile and modifiable bed which consists of an omnidirectional and a modifiable area equipped with a positioning system that enables its controlled adjustment. The device features an option of conversion of modifiable area to a position of bed, as well as to a position of chair, and other intermediate positions between the two extreme positions.
However, the device does not feature an angular verticalization and the related accessories needed for rehabilitation and other processes.
Furthermore, its chassis construction is not adapted so that the layout maximizes the effective use of space for partial technologies. The lowest position of the loading area is not well designed for the needs of disabled users and manipulation with the patient.
The device is not adapted for possible use by people higher than average.
At the same time it contains a large number of elements for example including cord systems, which increase the probability of failure (rupture, etc.). Due to structural design, the sides and individual segments have limits in achieved speed and strength of the tilting mechanism of the side rails WO2015067225 discloses a robotic mobile and modifiable wheelchair including all the technical features of the preamble of claim 1.

Summary of the invention

The above mentioned disadvantages are largely eliminated by the Robotic mobiie and modifiable bed with verticalization consisting of a mobile omnidirectional chassis and a modifiable area equipped with a positioning system that enables its controlled adjustment; while the omnidirectional chassis contains a central frame in which sides in the upper part there are linear chassis conductors on which a front extensible frame and a rear extensible frame are suspended; while in each of them there is via silent-blocks a fixed axle arranged consisting of a connecting part in which side endings there are omnidirectional wheels placed firmly; while the front extensible frame and a rear extensible frame are connected pivotally through linear drives; while the end positions of the front extensible frame and a rear extensible frame are limited by extensible frame stops; while control units of chassis drives - rotary actuators of omnidirectional wheels - are arranged in the front extensible frame and the rear extensible frame; while batteries are arranged in the central frame on the sides at the bottom; while circumferential bumper elements are firmly arranged in the sagittal section, on the front extensible frame and rear extensible frame, and on the sides of the central frame; when the side circumferential bumper elements are firmly attached to the central frame, and the sagittal circumferential bumper elements are parts of the front extensible frame and rear extensible frame; while longitudinally and axially divided central cover is attached to the central frame, and two parts of the front cover are attached on the front extensible frame and rear extensible frame; while the lower part of the modifiable area is a positioning system consisting of subassembly segments and longitudinal lines which are formed by head segment, back segment, femoral segment, calf segment and foot segment; while each of the segments is equipped with side rails; while in the longitudinal direction all segments form a refracted central line, and all side rails form two longitudinal lateral lines; while position changes between the segments of the central line, and hence the respective side rails in the transverse direction are implemented via faults; while the surface modifiable area is coated with upholstery; where each surface of the upholstery is on the outer edges with gradient to the central part of the modifiable area; while the modifiable area is adjustable to the position of angular verticalization using the structural configuration and positioning system of the omnidirectional chassis; while part of the chassis is the front extensible frame and rear extensible frame which are connected pivotally through the drives of chassis extension with central frame; while a battery charger is arranged in the rear extensible frame; while in the longitudinal axis of the central frame of the omnidirectional chassis, there are placed swinging baskets - a swinging basket with eccentric axis and a swinging basket with eccentric axis and side pins - to which basket drives are attached on both sides, when the swinging basket with eccentric axis and swinging basket with eccentric axis and side pins are arranged pivotally on opposite sides of the swinging bearing of the central frame; while in the bottoms of the swinging basket with eccentric axis and swinging basket with eccentric axis and side pins there are firmly placed feet of extensible telescopic columns which are arranged firmly in the femoral segment; while the femoral segment, two extensible telescopic columns, and swinging basket with eccentric axis and swinging basket with eccentric axis and side pins form a four-joint mechanism controlled via basket drives on its sides and lift change of the extensible telescopic columns; while in the omnidirectional wheels which are part of the fixed axle omnidirectional chassis, there are their rotary drives placed; while the omnidirectional wheels are equipped with brake discs into which perimeter the electromagnetic brake extend firmly connected with side endings of the connecting part; while mutually consecutive segments and side rails towards segments, which are part of the positioning system consisting of subassembly segments and longitudinal lines, are pivotally connected through staggered suspensions and suspension bolts; while the side rails of the head segment, back segment and calf segment fold down; while the suspension bolts are connected pivotally via staggered suspensions fixedly connected with segments of the central line; while pivotally attached suspension bolts are controlled via side rail drives which are placed pivotally in the segments of the central line, and which are supplemented by four-joint mechanisms to enlarge the range of the lift; while each side rail drive is pivotally connected on the side of recess with a handle of side rail mechanism placed pivotally in the relevant segment; while the side rail is pivotally mounted in the respective segment on the opposite side; while the four-joint mechanism is also supplemented by a rod of side rail mechanism that is connected pivotally with relevant side rail; while side rails of the femoral segment fold upward thereby forming an armrest; while each of the side rails of the femoral segment is a pitman of the four-joint mechanism and it is carried spatially by three handles; while one pair of formed handles of the side rail mechanism of the femoral segment is free, and the third handle of the side rail mechanism of the femoral segment is controlled via side rail drive; while the position changes between the segments of the central line and thus the relevant side rails in transverse direction are realized by faults; while a fault between the femoral segment and the calf segment are done through the staggered suspension with suspension bolt controlled by calf segment drives pivotally mounted in the femoral segment and calf segment; while a fault between the calf segment and the foot segment is formed by the staggered suspension with suspension bolt controlled by foot segment drive pivotally mounted on the calf segment and acting on the double handle of the foot segment mechanism; where the rod of foot segment mechanism is a rocker, and the foot segment is a mechanism handle which pivots about a pivot axis formed by extensions of the calf segment extending to the space of the foot segment; while the foot segment is mounted pivotally in the extensions of the calf segment; while a fault between the head segment and the back segment is formed by arc guided rods which are firmly connected with the head segment and which extend to handle with pulleys which is a part of the back segment; while the movement is provided by a head segment drive pivotally mounted in the head segment and the back segment; while a fault between the back segment and the femoral segment is provided by bottom arc guided rods which are firmly connected with the back segment and which extend to handle with bottom pulleys which is a part of the femoral segment; while the movement is provided by back segment drives pivotally mounted in the back segment; while a counterpart is controlled via the four-joint mechanism in which a handle of back segment mechanism is arranged pivotally in the back segment, and through a rod of back segment mechanism the second handle of the four-joint mechanism is controlled which is the femoral segment; while the virtual axis of the four-joint mechanism is formed by the middle of the bottom arc guided rod; while holes for adjustable connection of the headrest are in the upper portion of the head segment.
Furthermore, it is advantageous when the angular position of verticalization ranges to 75°; while the side rails of the head segment, back segment and calf segment fold downward by 180°; while the side rails of the femoral segment fold upward by 90°.
Furthermore, it is advantageous when the control units of chassis drives - linear actuators are arranged in the front extensible frame and the rear extensible frame.
Furthermore, it is advantageous when the extensible telescopic columns are placed in the femoral segment through bolts with plates firmly connected with heads of telescopic columns; while the bolts with plates are arranged pivotally in the femoral segment.
Furthermore, it is advantageous when a part of the headrest is a plug fork which then extends to holes of the head segment where screws with suspended ball are mounted enabling positioning of the headrest at shaped recesses of the plug fork.
Furthermore, it is advantageous when in both side rails of the femoral segment in armrest there are arranged plug holders for controller which can be placed on the folding board on the back of the head segment; while foot segment rests are arranged on the bottom surface of the foot segment.
Furthermore, it is advantageous when lock handles of two-point clamping belts are firmly anchored on the lateral edges of segments; while there are two pairs of the lock handles with the deployment of two clamping belts at the back segment, and one pair of the lock handles with the deployment of one clamping belt at the femoral segment.
Furthermore, it is advantageous when upholstery thickness towards the middle of the modifiable area increases into the central part of the segments from the end areas of head segment, foot segment and side rails.
Furthermore, it is advantageous when the mechanism drives of the positioning system, modifiable area, the drives of chassis extension and the basket drives are linear.
Furthermore, it is advantageous when control units of linear actuators are in the segments of the central line.
Advantages of the proposed device as compared with the existing systems

It features a function of angular verticalization and the related accessories needed for rehabilitation and other processes
It has adapted construction of the chassis so that the layout maximizes the effective use of space for partial technologies (e.g. drives are arranged in the omnidirectional wheels, not in the connecting part etc.).
The system removes a gluteal line, when its function is taken by extensible telescopic columns firmly arranged to the femoral line and in the central chassis frame, creating four-joint mechanism controlled in the chassis. This arrangement replaces the linear extension within the gluteal line which is necessary for entering of the patient to the chair modification, and enables to lower the lowest position of the loading area, and furthermore it allows creating of modification of the loading area to the angular verticalization. The loading area is therefore adequately sized for the needs of disabled users and manipulation of the patient (the possibility of achieving a comparable height of loading area of normal beds and the loading area of the robotic mobile and modifiable bed with verticalization).
It is adapted for possible use by people higher than average, when the head segment may be supplemented with an adjustable headrest slidably restrained by plug fork into the upper edge of the center line of the head line.
The head segment can be positioned rearward to a certain extent - the user can lean his or her head back.
Side rails and individual segments use four-joint mechanisms with an accelerating effect on lift enlargement - compared to the existing devices, there was improvement of kinematic processes, movement speed increase and hardening made.

Thus apart from the possible combinations of positions of bed - chair, our proposed device features a position of verticalization with an angle up to 75° which increases the range of possible movements, and thus rehabilitation and other processes. It offers a combination of functional features providing comfort to users at home, as well as in institutional care (wide range of possible movements; change from a full valid bed to chair able to pass a standard door width /80 cm/; the possibility of lowering the loading area at the height of a standard bed; extension of the loading area through adjustable headrest etc.).
Technically, our proposed device is simplified in comparison to existing systems, while improving functional properties, when there is for example simplification and consolidation of the entire folding mechanism of the side rails.

Description of Drawings

The attached sheets show figures and legend.
The figure for annotation shows two axonometric views of the modifiable chair (a,b) and a side view of the angular verticalization (c).

FIG. 1: Two axonometric views of the modifiable chair (1a,1b) and a side view of the angular verticalization (1c)
FIG. 2: Axonometric views of the omnidirectional chassis, where on the top view there is the chassis with extensible frames in extended position (2b), and on the bottom view there is the chassis with extensible frames in retracted position (2a)
FIG. 3: Top axonometric views of the modifiable area in the bed shape while on the top drawing there is the omnidirectional chassis with retracted extensible frames (3a), and on the bottom drawing there are the extensible frames extended to increase the overall stability (3b)
FIG. 4: In the upper part, there is a bottom view of the omnidirectional chassis with extended extensible frames; there is apparent pull-out system of the frame, fixing system of extensible telescopic columns and positioning system (4a). On the lower figures from the left there is a top view of the robotic mobile and modifiable bed with uncovered upholstery of the femoral segment, where a clamping belt with lock handles is apparent; further there is the chassis with covering through front covers but without the central cover; the omnidirectional chassis is in the position with extended extensible frames, circumferential bumper elements an batteries (4b) are apparent there. Another view is a detail of the clamping belt with lock handle (4d). The last image is an axonometric view of the robotic mobile and modifiable bed without the front cover, but with the central cover (4c) noticeable.
FIG. 5: A side rectangular view of the robotic mobile and modifiable bed, with the modifiable area and the omnidirectional chassis with extended extensible frames and covering through front and central covers
FIG. 6: A side rectangular view and a cross-section of the modifiable area with positioning system, extensible telescopic columns and their control via basket linear actuators through the swinging basket with eccentric axis and the swinging basket with eccentric axis and side pins. In both images there are apparent all mechanisms of transverse segment faults of the central line (6a,6b).
FIG. 7: A bottom axonometric view of the modifiable area with positioning system extensible telescopic columns and their control via basket linear actuators through the swinging basket with eccentric axis and the swinging basket with eccentric axis and side pins. There are apparent mechanisms of transverse segment faults of the central line, and mechanisms of relevant faults of side rails.
FIG. 8: A rectangular longitudinal cross-section of the modifiable chair, where a system of extension and positioning of the telescopic columns with their control via linear actuators is apparent; further there are faults of segments with their control via positioning mechanisms, including their drives as part of the positioning system (8a). The second view from left is a longitudinal cross-section of angular verticalization, where the function of the positioning system (8b) is apparent.
FIG. 9: A rear axonometric view of the modifiable area in a position of the angular verticalization; the figure shows all positioning mechanisms forming the positioning system.
FIG. 10: In the upper left part there is a detail of connection of the lock handle prepared for attaching a clamping belt. In the bottom left part there is a cross-section of handle of the extensible telescopic column, where pivotal arrangement in the femoral segment via bolt with plate (10b) is apparent. On the third detail on the right there is a cross-section of pivotal attachment of the side rail in the staggered suspension with suspension bolt as a connection element, further there is apparent the four-joint mechanism for increasing the lift of a side rail operated via linear actuator of side rails (10c).
FIG. 11: At the top of the figure, there is apparent the attachment of a side rail of the femoral segment with its positioning of the four-joint mechanism (11a). In the bottom part there is the positioning of the foot segment through the mechanism for the increasing of the lift of pivotal movement; while the foot segment is pivotally arranged in the double handle of the foot segment mechanism (11b).
FIG. 12: A side view of the modifiable chair with its circumferential bumper elements, central and frontal covers. On the side there is staggered suspension of side rails apparent outside side rails of the femoral segment, where is the arrangement and positioning of the four-joint mechanism. The controller is mounted on the folding board representing its location to control modifiable chair via operator (12a). The view is complemented by a detail of arrangement of the folding board of the controller handle (12b).

An example of the invention version

A robotic mobile and modifiable bed 1 for controlled adjustment of a positioning system 2 of a modifiable area 3 with the possibility of conversion of the modifiable area 3 to planar surface, modifiable chair 4 and angular verticalization 5, consist of a mobile omnidirectional chassis 6 on which the modifiable area 3 is arranged.
The basic subassembly of the mobile omnidirectional chassis 6 is a central frame 7 in which sides in the upper part there are two linear chassis conductors 8. In each pair of the linear chassis conductors 8 there is in the anteroposterior direction suspended a front extensible frame 9 and a rear extensible frame 9'; while in each of them there is through silent blocks 10 placed a fixed axle 11 consisting of a connecting part 12 in which endings there are through an interlock omnidirectional wheels 14 placed in which their rotary actuators are mounted; while the omnidirectional wheels 14 are equipped with brake discs to which perimeter electromagnetic brakes 13 extend firmly connected with side endings of the connecting part 12.
The front extensible frame 9 and the rear extensible frame 9' are pivotally connected by linear actuators 15 of the chassis extension with the central frame 7; while the end positions of the front extensible frame 9 and the rear extensible frame 9' are limited by extensible frame stops 16 of the extensible frame.
In the front extensible frame 9 and the rear extensible frame 9' there are arranged control units 17 of chassis drives - rotary actuators of the omnidirectional wheels 14 and linear actuators; while a battery charger 19 is placed in the rear extensible frame 9'. Batteries 19 are placed on sides in the lower part of the central frame 7.
Circumferential bumper elements 20 are firmly arranged in the sagittal section at the front extensible frame 9 and the rear extensible frame 9' and on the sides of the central frame 7, when the circumferential bumper elements 20 are firmly attached to the central frame 7 and the sagittal circumferential bumper elements 20 are a part of the front extensible frame 9 and the rear extensible frame 9'. Below them, there is a longitudinally and axially divided central cover 21 connected to the central frame 7, and two parts of the front cover 22 are attached to the front extensible frame 9 and the rear extensible frame 9'.
In the longitudinal axis line of the central frame 7, there are two swinging baskets - a swinging basket 23 with eccentric axis, and a swinging basket 24 with eccentric axis and side pins; while at the swinging basket 23 with eccentric axis, the eccentric axis is driven by two linear basket drives 25, when the swinging basket 23 with eccentric axis and the swinging basket 24 with eccentric axis and side pins are arranged pivotally on the opposite sides in the swinging bearings 28 of the central frame. In bottoms of the swinging basket 23 with eccentric axis, and the swinging basket 24, there are firmly mounted feet of the extensible telescopic columns 27, and their heads are firmly connected with bolts 28 with plates; while the bolts 28 with plates are placed pivotally in the femoral segment 29 so that the femoral segment 29, two extensible telescopic columns 27 and the swinging basket 23 with eccentric axis, and the swinging basket 24 and side bolts form a four-joint mechanism controlled via linear basket actuators 25 mounted on its sides and via lift change of the extensible telescopic columns 27.
Another major subassembly is the positioning system 2 which is a bottom part of the modifiable area 3, consisting of the following two basic frame subassembly segments and longitudinal lines: head segment 30, back segment 31, femoral segment 29, calf segment 32, and foot segment 33. Each of these segments except the foot segment 33 is equipped with two side rails 34; while in the longitudinal direction all segments form a retracted central line 35, and all side rails 34 form two longitudinal side lines 36.
Both side rails 34 of the femoral segment 29 in the upper position when folding upwards serve also as armrests 37; while each side rail 34 of the femoral segment 29 is a pitman of the four-joint mechanism and it is carried spatially by three handles. One pair of the formed handles of mechanism of femoral segment side rails is free and the third handle 39 of the mechanism of femoral segment is operated via a linear side rail actuator 40. The side rails of all remaining segments - head segment 30, back segment 31 and calf segment 32 - rotate downward, when the suspension bolts 42 are pivotally connected through staggered suspensions 41 firmly interconnected with the segments of the central line 35, when the pivotally tied suspension bolts 42 are operated through linear side rail actuators 40 which are always pivotally arranged in the segments of the central line 35 and complemented by four-joint mechanisms to increase the lift range.
Each linear side rail actuator 40 is on the side of recess pivotally connected to the handle 43 of side rail mechanism placed on the side rail 34, when the side rail 34 is pivotally arranged in relevant segment on the opposite side; while the four-joint mechanism is also complemented by a rod 44 of side rail mechanism 41 which is pivotally connected with relevant side rail 34.
The same is applied for a fault between the femoral segment 29 and the calf segment 32 which fold as the side rail 34 asunder; then the calf segment 32 towards the femoral segment 34 downwards, and it is operated through two linear calf segment drives 45 pivotally mounted on the femoral segment 29.
Faults between segments of the central line are as follows:
The simplest controlled fault is between the femoral segment 29 and the calf segment 32, when there is staggered suspension 41 with the suspension bolts 42 operated through two calf segment drives 45 pivotally mounted on the femoral segment 29 and directly controlling the calf segment 32 where there is again a pivotal arrangement. Following fault between the calf segment 32 and the foot segment 33 is formed by the staggered suspension 41 with the suspension bolts 42 controlled by a linear foot segment drive 46 pivotally arranged on the calf segment 32 and acting on a double handle 48 of foot segment mechanism, where a rocker is a rod 47 of foot segment mechanism and the foot segment 33 is again a mechanism handle which pivots around a pivot axis formed by the two extensions 49 of the calf segment extending into the space of the foot segment 33.
Remaining faults: head segment 30 - back segment 31 and back segment 31 - femoral segment 29 have similar arrangement; while the fault: head segment 30 - back segment 31 is simpler and it is directly controlled trough linear head segment drive 50 pivotally mounted in the back segment 31, when it controls directly the head segment 30 in which it is placed. The fault is realized by two holders 51 with pulleys firmly mounted in the back segment 31 to which arc guided rods 52 firmly connected with the head segment 30 extend. Fault: back segment 31 - femoral segment 29 is made as a fault between the head segment 30 and the back segment 31 except that it is carried out by bottom arc guided rods 52' which are rigidly connected to the back segment 31 and extend into the holder 51' with lower pulleys; while it is operated through the two linear back segment drives 53 arranged pivotally in the back segment 31, and the counterpart is controlled via the four-joint mechanism, in which a handle 54 of back segment mechanism is arranged pivotally in the back segment 31; and through a mechanism rod 55 of the back segment, the second handle of the four-joint mechanism is controlled, which is the femoral segment 29; while the last virtual axis of the four-joint mechanism is formed by the middle of the bottom arc guided rod 52'.
To the upper edge of the head segment 30, there can be adjustably attached a headrest 56 through a plug fork 57 which is its part. The plug fork 57 then extends into the openings in the head segment 30 in which screws 58 with suspended balls are stored allowing the positioning of headrest 56 on shaped recesses of the plug fork 57.
In both side rails 34 of the femoral segment 29 in armrests 37 there are arranged plug holders 59 for a controller 60 which can by placed also on a folding board 61 mounted on the rear part of the head segment 30.
Lock handles 62 of two-point clamping belts 63 area firmly anchored on the side edges of segments. There are two pairs of lock handles 62 with the possibility of deployment of two clamping belts 63 at the back segment 31, and there is one pair of lock handles 62 with the possibility of deployment of one clamping belt 63 at the femoral segment 29.
The surface of all parts of the positioning system 2 of the modifiable area 3 is coated with upholstery 64; while the surface of upholstery 64 on the outer edge is gradient downward to the central area of the modifiable area 3; moreover, the thickness of upholstery 64 is gradient toward the middle of the modifiable area 3 also to the middle sections of the segments from the end areas of the head segment 30, the foot segment 33 and the side rails 34.
On the bottom of the foot segment 33, there are foot segment rests 65 for use in modification of the modifiable chair 4, or the angular verticalization 5 with the possibility of achieving an inclination of 75°.
Control units 66 of the linear actuators are arranged in segments of the central line 35.

Function

The principle of the robotic mobile and modifiable bed 1 is constituted by its possible transformations from the plane modifiable area 3 to the omnidirectional and height-adjustable modifiable chair 4, or to the angular verticalization 5 using positioning system 2, all with its omnidirectional mobility.
Omnidirectional movement of the robotic mobile and modifiable bed 1 is made possible by the omnidirectional chassis 6, which base is a central frame 7 in which upper part there are in the front-rear direction linear chassis conductors 8 on which extensible frames are suspended - front extensible frame 9 and rear extensible frame 9', while on each of them there is through silentblocks arranged a fixed axle 11 which base is a connecting part 12 in which side endings there are omnidirectional wheels 14 arranged through a shaped connection. The omnidirectional wheels 14 are equipped with brake discs into which perimeter there extend electromagnetic brakes 13 firmly connected with the side ending of the connecting part 12. The electromagnetic brakes 13 enable safety brake at each stop of the mobile omnidirectional chassis 6 as a parking brake, or an emergency brake in case of failure of supply batteries 19.
In the case of conversion of the modifiable chair 4 to a modifiable area 3, it is necessary to increase the wheelbase of fixed axles 11 for stability. This is possible via two drives 15 of chassis extension, pivotally connecting each of extensible frames - front extensible frame 9 and rear extensible frame 9' - with the central frame 7 and their locking in end positions at symmetrical extension is provided by rubber extensible frame stops 16.
In the space of the front extensible frame 9 and rear extensible frame 9', there are placed control units 17 of chassis drives - rotary actuators of omnidirectional wheels 14 and linear actuators. User-convenient battery charger 18 is arranged in the bottom, central surface of the rear extensible frame 9', and supply batteries of the electrical system of chassis are placed on the side surfaces of the central frame 7. Important details are circumferential bumper elements 20, when the circumferential bumper elements 20 are firmly mounted on the central frame 7 and front-rear circumferential bumper elements 20 are part of the extensible frames - front extensible frame 9 and rear extensible frame 9'.
Safety and aesthetic covering formed by longitudinally and axially divided central cover 21 attached to the central frame 7, and two parts of the front cover 22 mounted on the front extensible frame 9 and the rear extensible frame 9'. The covering is dimensionally designed so that it is functional even at maximum extension of the front extensible frame 9 and the rear extensible frame 9'.
The modifiable area 3 in horizontal position designed for lying needs to be height controlled, its conversion to a modifiable chair 4 designed for sitting needs to be height and anterior-posterior controlled, and the same is applied for the angular verticalization 5; when for this purpose, there are in the longitudinal axis of the central frame 7 of the mobile omnidirectional chassis 7 the extensible telescopic columns 27 which are firmly mounted in the swinging basket 23 with eccentric axis and in the swinging basket 24 with eccentric axis and side pins; while only the swinging basket 24 with eccentric axis and side pins is driven by the linear basket drives 25, when the swinging basket 23 with eccentric axis and in the swinging basket 24 with eccentric axis and side pins are firmly arranged in the swinging bearings 26 of the central frame. In heads of the extensible telescopic columns 27 there are bolts 28 with plates firmly arranged, which are pivotally placed in the femoral segment 29, thus the femoral segment 29 closes the four-joint mechanism formed from said parts and the mechanism allows the required height and sagittal movements of the modifiable area 3.
Functional arrangement in form of modifiable chair 4 and angular verticalization 5 results from conversion of the modifiable area 3, i.e. transition variability of the modifiable area 3 to the modifiable chair 4 or angular verticalization 5 and vice versa is possible via transverse and longitudinal division using the positioning system 2.
The modifiable area 3 is transversely divided into individual segments, which are: head segment 30, back segment 31, femoral segment 29, calf segment 32 and foot segment 33, while each segment except the foot segment 33 is equipped with side rails 34.
The modifiable area 3 is longitudinally divided into central line 35 consisting of all segments, and two opposite longitudinal side lines 36 consisting of side rails 34; while the longitudinal side line is shorter than the central line 35 because the foot segment is not equipped with side rails 34.
Neighboring mutually consecutive segments - head segment 30, back segment 31, femoral segment 29, calf segment 32, foot segment 33 - and side rails 34 towards them are pivotally connected via staggered suspensions 41 and suspension bolts 42, allowing modification of shapes of the positioning system 2 of the robotic mobile and modifiable bed 1. All side rails 34 folds downward by about 180°, except the side rails 34 of the femoral segment 29 which fold upwards.
Movement of the side rails 34, except the side rails 34 of the femoral segment 29, is done through the side rail actuator 40 which to enlarge the lift, operates through four-joint mechanism accelerating the movement of side rail 34.
The linear side rail actuator 40 acts on the handle 43 of side rail mechanism pivotally arranged in the relevant segment, and further through a rod 44 of side rail mechanism fulfilling the function of the rocker of mechanism, acting on the side rail 34 pivotally arranged in the relevant segment which fulfills the function of the handle of the mechanism.
Side rails 34 of the femoral segment 29, after folding up by 90°, naturally form on their upper edge, on each side, the armrest 37.
Movement of this side rail 34 is done through the four-joint mechanism creating approximate virtual axis on the surfaces of upholstery 64 of the said parts. The four-joint mechanism is driven by linear side rail actuator 40 acting on the handle 39 of mechanism of femoral segment side rails, further following element is the mechanism of side rail 34 of the femoral segment 29 in function of a rocker of this mechanism, and said side rail 34 is carried by formed handles 38 of mechanism of femoral segment side rails; while staggered suspensions 41 with suspension bolts 42 are not used.
The simplest arrangement is the pivotal linkage by 90° downwards between the calf segment 32 and the femoral segment 29, where there is only a pivotal linkage through the suspension bolts 42 and staggered suspensions 41 between the said segments, and the movement is done through a pair of calf segment drives 45, pivotally suspended on both said segments.
Another subsequent linkage is the pivotal movement of the foot segment 33 toward the calf segment by 90° upwards. The movement here is done through a calf segment drive 46 that is pivotally arranged in the calf segment 32. The four-joint mechanism is used there to increase the lift, into which two double handles 48 of foot segment mechanism there extend a foot segment drive 46, and this movement is transmitted via a pair of rods of foot segment mechanism, fulfilling the function of a rocker of the four-joint mechanism, on the foot segment 33 arranged pivotally in the calf segment extensions 49.
On the opposite side of the modifiable area 3, there is a movement pivotal linkage +15 upwards, -10° downwards of the head segment 30 toward the back segment 31 which is implemented by two arc guided rods 52 with the middle at the interface intersection of surfaces of the head segment 30 and the back segment 31. Each arc guided rod 52 is firmly connected with the head segment 30 and extends to the holder 51 with pulleys which are part of the back segment 31. The movement is done through a head segment drive 50, pivotally arranged in the head segment 30 and the back segment 31.
The last lateral movement linkage is a pivotal movement of the back segment 31 by 90° upwards toward the femoral segment 29, which is done through two bottom arc guided rods 52' with the middle in the interface intersection of surfaces of the back segment 31 and the femoral segment 29. Each bottom arc guided rod 52' is firmly connected with the back segment 31 and extends to the holder 51' with bottom pulleys which is a part of the femoral segment 29. The movement is done through two linear back segment drives 53, pivotally arranged in the back segment 31 onto the femoral segment 29. There is used the four-joint mechanism to increase the lift, when the linear back segment drives 53 act on the handle 54 of back segment mechanism pivotally attached in the back segment 31, furthermore, the movement is transmitted through two rods 55 of back segment mechanism in function of a rocker of the four-joint mechanism, when the rods 55 of back segment mechanism act on the femoral segment thereby pushing the back segment 31, and there is a fault in the last virtual joint of the four-joint mechanism which is the middle of the bottom arc guided rod 52'.
If necessary, especially for taller users, it is possible to adjustably attach a headrest 56 to the upper edge of the head segment 30, when a plug fork 57 of the head rest 56 can be mounted into the holes in the upper part of the head segment 30; while positioning of the headrest 56 can be done through two screws 58 with suspended ball firmly mounted in the head segment 30.
All movements of the positioning system 2 of the robotic mobile and modifiable bed 1 and its mobile omnidirectional chassis 6 are controlled via the controller 60 that the sequence of some operations may be programmed to facilitate the control procedure and is carried out electronically. Therefore, the servo amplifiers of linear actuators are outside omnidirectional mobile chassis 6 and also in the central line 35.
On the surface of the armrest 37, on both sides of the side rails 34 of the femoral segment, there is a plug holder 59, into which a controlled is mounted; while it is possible to use it on right or left side. The controller can be placed on the folding board 64 which is arranged on the head segment 30 whereby it is possible to control the positioning system 2 of the robotic mobile and modifiable bed 1 by operating-right-handed and left-handed person.
All parts of the modifiable area 3 are covered with suitable upholstery 64 from the user's point of view, and from the outer edges they are slightly gradient downward to the central line 35.
In case of transition from the position of modifiable area 3 to the position of modifiable chair 4, or the position of angular verticalization 5, it is necessary that this department is moved forward. Said movement is made possible by pivotally mounted extensible telescopic columns 27 controlled via linear basket drives 25. Here are some movements during controlling of the modifiable area 3 by user electronically limited so as to avoid collisions. When setting up the angular verticalization 5, a foot segment rest 65 is applied, and there are two clamping belts 63 used, applied in the lock handles 62; while two pairs of the lock handles 62 are firmly attached in edge parts of the back segment 31 and one pair of the lock handles 62 is firmly attached in edge parts of the calf segment 32.
The control units of drives 66 are arranged in segments of the central line 35, thereby minimizing the length of wiring from the linear drives of the positioning system 2 of the modifiable area 3 to the respective control units 66 of linear drives.

Industrial Use

The robotic mobile and modifiable bed with verticalization is a universal robotic positioning system with a wide range of possible positions of the modifiable area which features a wide range of positions within the transition between three positions i.e. sitting position when the robotic mobile and modifiable bed has the shape of chair, horizontal position and position of the angular verticalization. Furthermore, the device is height-adjustable with the possibility of omnidirectional motion, using both manual and remote control including the option of using the automated motions. Universality of the unit also lies in the variability of different environments - it is designed both for a classical indoor environment and medical facilities and for outdoor environment.
The suggested transport universal robotic positioning system can be used for example for elderly people, immobile persons or patients in therapeutic processes. Therefore, it is usable in health care.

List of the positions used

1) robotic mobile and modifiable bed
2) positioning system
3) modifiable area
4) modifiable chair
5) angular verbalization
6) omnidirectional chassis
7) central frame
8) linear chassis conductor
9) front extensible frame 9') rear extensible frame
10) silent block
11) fixed axle
12) connecting part
13) electromagnetic brake
14) omnidirectional wheel
15) drive of chassis extension
16) extensible frame stop
17) control units of chassis drives
18) battery charger
19) battery
20) circumferential bumper elements
21) central cover
22) front cover
23) swinging basket with eccentric axis
24) swinging basket with eccentric axis and side pins
25) basket drive
26) swinging bearing of the central frame
27) extensible telescopic column
28) bolt with plate
29) femoral segment
30) head segment
31) back segment
32) calf segment
33) foot segment
34) side rail
35) central line
36) longitudinal side line
37) armrest
38) formed handle of mechanism of femoral segment side rails
39) handle of mechanism of femoral segment side rails
40) side rail actuator
41) staggered suspension
42) suspension bolt
43) handle of side rail mechanism
44) rod of side rail mechanism
45) calf segment drive
46) foot segment drive
47) rod of foot segment mechanism
48) double handle of foot segment mechanism
49) calf segment extension
50) head segment drive
51) holder with pulleys, 51') bottom holder with pulleys
52) arc guided rod, 52') bottom arc guided rod
53) back segment drive
54) handle of back segment mechanism
55) rod of back segment mechanism
56) headrest
57) plug fork
58) screw with suspended ball
59) plug holder
60) controller
61) folding board
62) lock handle
63) clamping belt
64) upholstery
65) foot segment rest
66) control unit of drives

Claims

A robotic mobile and modifiable bed (1) consisting of a mobile omnidirectional chassis (6) and a modifiable area (3) equipped with a positioning system (2) which enables its controlled conversion; while the omnidirectional chassis (6) consists of a central frame (7) in which sides in the upper part there are linear chassis conductors (8), on which there is suspended a front extensible frame (9) and a rear extensible frame (9'); while in each of them there is through silent blocks placed a fixed axle (11) consisting of a connecting part (12) in which endings there are through an interlock omnidirectional wheels (14) placed; while the front extensible frame (9) and the rear extensible frame (9') are pivotally connected by linear actuators (15); while the front extensible frame (9) and the rear extensible frame (9') are limited by extensible frame stops (16) of the extensible frame; while in the front extensible frame (9) and the rear extensible frame (9') there are arranged control units (17) of chassis drives - rotary actuators of the omnidirectional wheels (14); while batteries (19) are placed on sides in the lower part of the central frame (7); while circumferential bumper elements (20) are firmly arranged in the sagittal section at the front extensible frame (9) and the rear extensible frame (9') and on the sides of the central frame (7), when the circumferential bumper elements (20) are firmly attached to the central frame (7) and the sagittal circumferential bumper elements (20) are a part of the front extensible frame (9) and the rear extensible frame (9'); while a longitudinally and axially divided central cover (21) is attached to the central frame 7, and two parts of the front cover (22) are attached to the front extensible frame (9) and the rear extensible frame (9'); while a bottom part of the modifiable area (3) is the positioning system (2) consisting of subassembly segment and longitudinal lines which consist of a head segment (30), a back segment (31), a femoral segment (29), a calf segment (32) and a foot segment (33); while each of the segments (30, 31, 29 and 32) is equipped with side rails (34); while in the longitudinal direction all segments form a retracted central line (35), and all side rails (34) form two longitudinal side lines (36); while wherein the position changes between the segments of the central line (35), and hence the respective side rails (34) in the transverse direction, are realized through faults; while surface of the modifiable area (3) is coated with upholstery (64), when the surface of upholstery (64) on the outer edge is gradient downward to the central area of the modifiable area (3);
characterized in that
the modifiable area (3) is adjustable to a position of the angular verticalization (5) using construction layout of the positioning system (2) and the omnidirectional chassis (6);
while part of the omnidirectional chassis (6) is the front extensible frame (9) and the rear extensible frame (9') which are pivotally connected by linear actuators (15) of chassis extension with the central frame (7); while a battery charger is arranged (18) in the rear extensible frame (9');
while in longitudinal axis of the central frame (7) of the omnidirectional chassis (6) there are the swinging baskets placed - a swinging basket (23) with eccentric axis and a swinging basket (24) with eccentric axis and side pins, to which are attached basket drives (25) on both sides, when the swinging basket (23) with eccentric axis and the swinging basket (24) with eccentric axis and side pins are pivotally arranged on opposite sides in the swinging bearings (26) of the central frame; while in bottoms of the swinging basket (23) with eccentric axis and the swinging basket (24) with eccentric axis and side pins, there are firmly arranged feet of the extensible telescopic columns (27) which are from the opposite side pivotally placed in the femoral segment (29); while the femoral segment (29), the two extensible telescopic columns (27) together with the swinging basket (23) with eccentric axis and the swinging basket (24) with eccentric axis and side pins form a four-joint mechanism driven by the basket drives (25) arranged on its sides and by lift change of the extensible telescopic columns (27); while in the omnidirectional wheels (14), which are part of the fixed axle (11) of the omnidirectional chassis (6), there are rotary actuators placed; while the omnidirectional wheels (14) are equipped with brake discs to which perimeter electromagnetic brakes (13) extend which firmly connected with side endings of the connecting part (12); while the mutually consecutive segments and side rails (34) towards them, which are part of the positioning system (2), consisting of consisting subassembly segments and longitudinal lines, are pivotally connected via staggered suspensions (41) and suspension bolts (42);
while the side rails (34) of the head segment (30), back segment (31) and calf segment (32) fold downward; while the suspension bolts (42) are pivotally connected through the staggered suspensions (41) firmly connected with segments (35) of central line; while the pivotally tied suspension bolts (42) are driven by the side rail actuators (40), which are pivotally arranged in the segments (35) of central line, and complemented by the four-joint mechanism to enlarge the scope of lift;
while each side rail actuator (40) is on side of the recess pivotally connected with a handle (43) of side rail mechanism that is pivotally arranged in the relevant segment; while the side rail (34) is on the opposite side pivotally mounted in the relevant segment; while the four-joint mechanism is also complemented by a rod (44) of side rail mechanism which is pivotally connected with the relevant side rail (34);
while the side rails (34) of the femoral segment (29) fold upward, thus forming an armrest (37); while each of the side rails (34) of the femoral segment (29) is a pitman of the four-joint mechanism and is carried by three handles spatially; while one pair of the formed handles (38) of mechanism of femoral segment side rails is free, and the third handle (39) of mechanism of femoral segment side rails is driven by the side rail actuator (40);
while the position changes between the segments of the central line (35) and thus the relevant side rails (34) in transverse direction are realized by faults; while a fault between the femoral segment (29) and the calf segment (32) are done through the staggered suspension (41) with suspension bolt (42) controlled by calf segment drives (45) pivotally mounted in the femoral segment (29) and calf segment (32);
while a fault between the calf segment (32) and the foot segment (33) is formed by the staggered suspension (41) with suspension bolt (42) controlled by foot segment drive (46) pivotally mounted on the calf segment (32) and acting on the double handle of the foot segment mechanism, where the rod (47) of foot segment mechanism is a rocker, and the foot segment (33) is a mechanism handle which pivots about a pivot axis formed by extensions (49) of the calf segment extending to the space of the foot segment (33); while the foot segment (33) is mounted pivotally in the extensions (49) of the calf segment;
while a fault between the head segment (30) and the back segment (31) is formed by arc guided rods (52) which are firmly connected with the head segment (30) and which extend to the handle (51) with pulleys which is a part of the back segment (31); while the movement is provided by a head segment drive (50) pivotally mounted in the head segment (30) and in the back segment (31);
while a fault between the back segment (31) and the femoral segment (29) is provided by bottom arc guided rods (52') which are firmly connected with the back segment (31) and which extend to the handle (51') with bottom pulleys which is a part of the femoral segment (29);
while the movement is provided by back segment drives (53) pivotally mounted in the back segment (31); while a counterpart is controlled via the four-joint mechanism in which a handle (54) of back segment mechanism is arranged pivotally in the back segment (31), and through a rod (55) of back segment mechanism the second handle of the four-joint mechanism is controlled which is the femoral segment (29); while the last virtual axis of the four-joint mechanism is formed by the middle of the bottom arc guided rod (52');
while holes for adjustable connection of the headrest (56) are in the upper portion of the head segment (30).
The robotic mobile and modifiable bed (1) according to the claim 1 characterized in that
the position of the angular verticalization (5) is up to 75°; while the side rails (34) of the head segment (30), back segment (31) and calf segment (32) fold downward by 180°; while the side rails (34) of the femoral segment (29) fold upward by 90°.
The robotic mobile and modifiable bed (1) according to the claim 1 characterized in that
the control units (17) of chassis drives - linear actuators are arranged in the front extensible frame (9) and the rear extensible frame (9').
The robotic mobile and modifiable bed (1) according to the claim 1 characterized in that
the extensible telescopic columns (27) are placed in the femoral segment (29) through bolts (28) with plates firmly connected with the heads of telescopic columns (27); while the bolts (28) with plates are arranged pivotally in the femoral segment (29).
The robotic mobile and modifiable bed (1) according to the claim 1 characterized in that
a part of the headrest (56) is a plug fork (57) which then extends to holes of the head segment (30) where screws (58) with suspended ball are mounted enabling positioning of the headrest (56) at shaped recesses of the plug fork (57).
The robotic mobile and modifiable bed (1) according to the claim 1 characterized in that
there are in both side rails (34) of the femoral segment (29) in armrests (37) arranged plug holders (59) for controller (60) which can be placed on the folding board (61) on the back of the head segment (30); while foot segment rests (65) are arranged on the bottom surface of the foot segment (33).
The robotic mobile and modifiable bed (1) according to the claim 1 characterized in that
the lock handles (62) of two-point clamping belts (63) are firmly anchored on the lateral edges of segments; while there are two pairs of the lock handles (62) with the deployment of two clamping belts (63) at the back segment (31), and one pair of the lock handles (62) with the deployment of one clamping belt (63) at the femoral segment (29).
The robotic mobile and modifiable bed (1) according to the claim 1 characterized in that
the upholstery thickness towards the middle of the modifiable area (3) increases into the central part of the segments from the end areas of head segment (30), foot segment (33), and side rails (34).
The robotic mobile and modifiable bed (1) according to the claim 1 characterized in that
the mechanism drives of the positioning system (2), modifiable area (3), the drives of chassis extension (15) and the basket drives (25) are linear.
The robotic mobile and modifiable bed (1) according to the claim 1 characterized in that
the control units of linear actuators (66) are in the segments of the central line (35).