CN101664355B - Single-power multi-axis linkage electric nursing bed - Google Patents
Single-power multi-axis linkage electric nursing bed Download PDFInfo
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- CN101664355B CN101664355B CN2008100424963A CN200810042496A CN101664355B CN 101664355 B CN101664355 B CN 101664355B CN 2008100424963 A CN2008100424963 A CN 2008100424963A CN 200810042496 A CN200810042496 A CN 200810042496A CN 101664355 B CN101664355 B CN 101664355B
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- 230000000474 nursing effect Effects 0.000 title claims abstract description 12
- 244000309466 calf Species 0.000 claims abstract description 39
- 210000001217 buttock Anatomy 0.000 claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims abstract description 7
- 210000003141 lower extremity Anatomy 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000009471 action Effects 0.000 abstract description 5
- 210000002414 leg Anatomy 0.000 abstract description 4
- 238000005452 bending Methods 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 239000002184 metal Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002905 metal composite material Substances 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- NLYAJNPCOHFWQQ-UHFFFAOYSA-N kaolin Chemical compound O.O.O=[Al]O[Si](=O)O[Si](=O)O[Al]=O NLYAJNPCOHFWQQ-UHFFFAOYSA-N 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
本发明单动力多轴联动的电动护理床，包含组合式床板、床板框架、床底架、床上架、线性推杆和连动机构，线性推杆、连动结构设置在床架之间，线性推杆的下端固定在床底架上，上端与第一连架杆连接，通过第一连杆与第二连架杆连接，同时，线性推杆通过第二连杆与第三连架杆连接；在线性推杆的同步推动下，臀部床板绕床上架的转轴转动，通过支撑架及背部床板与臀部床板框架之间的连接将背部床板抬高或放平；与此同时，小腿板与脚板下翻，呈“L”形结构姿态。本发明的优点是：提供了一种卧床者能自己操作，同步完成抬背、落臀、屈腿、踏脚动作的电动护理床，其运动调节更合理，可靠性更高，生产成本下降，有利于电动护理床的推广和应用。
The single-power multi-axis linkage electric nursing bed of the present invention includes a combined bed board, a bed board frame, a bed frame, a bed frame, a linear push rod and a linkage mechanism, and the linear push rod and the linkage structure are arranged between the bed frames. The lower end of the push rod is fixed on the bed frame, the upper end is connected with the first connecting rod, and connected with the second connecting rod through the first connecting rod, and at the same time, the linear push rod is connected with the third connecting rod through the second connecting rod ;Under the synchronous push of the linear push rod, the buttock bed board rotates around the rotating shaft of the bed frame, and the back bed board is raised or leveled through the support frame and the connection between the back bed board and the hip bed board frame; at the same time, the calf board and the foot board Flip down to take an "L" shape. The present invention has the advantages of providing an electric nursing bed that can be operated by the bedridden person by himself, and simultaneously completes the actions of raising the back, lowering the hips, bending the legs, and stepping on the feet. The movement adjustment is more reasonable, the reliability is higher, and the production cost is reduced. It is beneficial to popularization and application of the electric nursing bed.
Description
[technical field]
The present invention relates to the electric care bed of service robot technical field, specifically, is that the input of a kind of single action power is multi-shaft interlocked, finish synchronously and lift the back of the body, the buttocks that falls, bend one's legs, four functions of step electric care bed.
[background technology]
Nursing bed is a kind of self-care ability that can improve bed old man or patient, alleviates nursing staff's working strength, reduces the service robot of kinsfolk's trouble and worry.Along with improving constantly of people's life-span, aging population is more and more in the society, and is also more and more to the demand of nursing bed.Along with development and social more concerns to old man and bed patient of technology, functional nursing bed is more and more, and they provide all convenience for old man or bed patient's life and treatment.
At present, electric care bed mainly containing related to the present invention: the one, adopt electronic or manual mode to drive the appropriate section motion of bed board by driving-chain, make that human body is in seat, posture such as lie, crouch; The 2nd, adopt servomotor to slow down and increase square rear drive linkage through decelerator, drive the appropriate section motion of bed board, realize the conversion of bed person's position.
But, existing electric care bedly also come with some shortcomings at present:
(1) the chain transmission does not possess auto-lock function, and the bed board of motion can not be in the resting state of locking when motor cuts off the power supply, and this can influence bed person's rest.
(2) chain noise is excessive, and easily slippage phenomenon takes place, thereby influences the safety of nursing bed.
(3) adopt driven by servomotor,, cause electric care bed cost too high, be difficult to promote because the price of servomotor is more expensive.
(4) switching mechanism adopts the linkage of single motor input single shaft output, and a motor only drives a side bed board, and power utilization efficient is not high, and energy-saving effect is relatively poor.
[summary of the invention]
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of single motor input four-axle linked electric care bed, can make bed person oneself operation, finish synchronously and lift the back of the body, the buttocks that falls, bend one's legs, four actions of step (sitting up straight posture normally), it is more reasonable that electric care bed motion is regulated, reliability is higher, but production cost descends, and is more conducive to electric care bed applying.
For achieving the above object, the technical scheme taked of the present invention is:
A kind of single-power multi-axis linkage electric care bed comprises the combination type bed board that is made of back bed board, buttocks bed board, calf plate and sole; The bed board framework comprises the framework of portion's bed board, buttocks bed board, calf plate and each bed board of sole; Bedstead comprises a underframe and bed is put on the shelf; Linear push rod; And linkage; Be movably hinged with bolt between the framework of back bed board, buttocks bed board, calf plate and sole and the framework, it is characterized in that, the top of frame has chute in bed, and the nearly centre position of frame has shaft hole in bed; Described linear push rod, linkage be arranged under the combination type bed board the bed underframe with bed put on the shelf between, wherein, linear push rod is the power source of linkage, is made up of 24V voltage motor, worm and worm gear and trapezoidal screw mechanism; Linkage comprises: first side link, second side link, the 3rd side link, first connecting rod, second connecting rod and third connecting rod; The lower end of linear push rod is fixed on the linear push rod mounting rod of a underframe, the upper end of linear push rod is connected with first side link, the lower end of first side link is fixed on the underframe, the upper end of first side link is connected with second side link by first connecting rod, simultaneously, linear push rod is connected with the 3rd side link by second connecting rod, one end of the 3rd side link is put on the shelf with bed by connecting axle and is connected, the other end of the 3rd side link is connected with third connecting rod with bolt, and the other end that third connecting rod connects is welded on the front end of sole;
The promotion of linear push rod makes second side link around hinged rotation the between buttocks bed board and the back bed board, the shaft hole of buttocks bed board on putting on the shelf around bed rotated, make by the bracing frame under the framework that is arranged on the back bed board back bed board is lifted, bolt between the framework of framework and buttocks bed board by the back bed board is connected the back bed board is raised or set level; Linear push rod positive direction promote to make the 3rd side link drive calf plate and sole on putting on the shelf around bed connecting axle and the synchronous upset of hinged generation between the framework of the framework of calf plate and sole, wherein, turn under the connecting axle that calf plate and sole are put on the shelf around bed, make calf plate vertical, and sole forms another horizontal plane under the nursing bed horizontal plane, the Structure Attitude that the L-shaped bent lower limb step of calf plate and sole is sat up straight; When linear push rod was pushed to extreme position in the other direction, back bed board, calf plate and sole and whole electric care bed horizontal plane were consistent.
Synchronous interaction is lifted in the rotation of the rotation of described calf plate, sole and back bed board; The rotation amplitude of back bed board is 75 °～85 °, and the rotation amplitude of calf plate is 70 °～80 °.
Described side link is the revolving member that has an end to be connected with bedstead.
The electric care bed good effect of single-power multi-axis linkage of the present invention is:
(1) replace servomotor with linear push rod, used plane hinge mechanism, and drive mechanism, frame, bed board framework etc. all adopt metal material and composite manufacturing, hinged selection standard spare screw bolt and nut.
(2) one cover link gears adopt an output of a linear push rod and coupling power supply, have realized the function of single action power three outputs, have saved electric device.
(3) realized electric care bedly lifting the back of the body, the buttocks that falls synchronously, bent one's legs, the action of step, it is more reasonable that motion is regulated, and situation about gliding when having avoided bed person to sit up straight, and makes the bed person can free conversion between prone position and (bent lower limb step) sitting posture.
(4) convenient for production, easy to use, cost is lower, helps electric care bed promoting the use of, and helps patient's healthy rehabilitation.
[description of drawings]
Accompanying drawing 1 is the structural representation of combination type bed board;
Accompanying drawing 2 is the electric care bed side-looking structural representation of single-power multi-axis linkage of the present invention;
Accompanying drawing 3 is the electric care bed structural representation of single-power multi-axis linkage of the present invention;
The structural representation that accompanying drawing 4 is put on the shelf for bed;
Accompanying drawing 5 is the structural representation of linear push rod and linkage;
Accompanying drawing 6 is the structural representation of first side link;
Accompanying drawing 7 is the structural representation of second side link and bracing frame;
Accompanying drawing 8 is the structural representation of second connecting rod;
Accompanying drawing 9 is the structural representation of the 3rd side link;
Accompanying drawing 10 is the structural representation of calf plate;
Accompanying drawing 11 is the structural representation of third connecting rod and sole.
Label in the accompanying drawing is respectively:
1, back bed board, 2, the buttocks bed board, 3, calf plate,
4, sole, 5, first side link, 6, first connecting rod,
7, second side link, 8, second connecting rod, 9, linear push rod,
10, the 3rd side link, 11, linear push rod mounting rod, 12, axle,
13, the first side link mounting rod, 14, the bed underframe, 15, the bed put on the shelf,
16, chute, 17, shaft hole, 18, third connecting rod,
19, connecting axle.
[specific embodiment]
Provide the electric care bed specific embodiment of single-power multi-axis linkage of the present invention below in conjunction with accompanying drawing.
Referring to accompanying drawing 1.The electric care bed bed board of single-power multi-axis linkage of the present invention is the combination type bed board, comprise back bed board 1, buttocks bed board 2, calf plate 3 and sole 4, they all are to be shelved on the metal framework of each several part, promptly, framework by framework, calf plate 3 frameworks and the sole 4 of the framework of back bed board 1, buttocks bed board 2 constitutes metal bed board framework, is movably hinged (except buttocks bed board 2 and the calf plate 3) with the bolt standard component between each several part framework and the framework; Back bed board 1, buttocks bed board 2, calf plate 3 and in sole 4 is shelved on relevant metal framework owing to be active between framework and the framework, therefore, also are active between back bed board 1, buttocks bed board 2, calf plate 3 and the sole 4.The top of frame 15 has chute 16 in bed, and the nearly centre position of frame 15 has shaft hole 17 (referring to accompanying drawing 4) in bed; Buttocks bed board 2 can move in chute 16 and rotate, and prevents that bed person from sitting up straight slippage forward in the process.
Referring to accompanying drawing 2,3 and 5.Under the combination type bed board, bed underframe 14 is provided with linear push rod 9 and linkage with bed putting on the shelf between 15, linkage is the metallic rod serial verb construction, comprise first side link 5, second side link 7, the 3rd side link 10 (described side link is the link component that has an end to be connected with bedstead), first connecting rod 6, second connecting rod 8, third connecting rod 18, and relate to a underframe 14 and bed puts 15 on the shelf.Linear push rod 9 is the power source of linkage, constitute by 24V voltage motor, worm and worm gear and trapezoidal screw mechanism, drive back bed board 1, calf plate 3 and sole 4 motions by linkage, sit up straight the bent lower limb step of buttocks link gear linear reciprocating power is provided for of the present invention; During energising, linear push rod 9 promotes linkage and rotates, and during outage, linear push rod 9 stops, and each connecting rod of the linkage that is driven does not have relative motion, all remains static.
The lower end of linear push rod 9 is fixed on the linear push rod mounting rod 11 of a underframe 14, the upper end of linear push rod 9 is connected with first side link 5, the lower end of first side link 5 and bed underframe 14 are by bolted splice, its upper end is connected (second side link 7 is connected with buttocks bed board 2) by first connecting rod 6 with second side link 7, simultaneously, linear push rod 9 (comprising first side link 5) is connected with the 3rd side link 10 by second connecting rod 8, one end of the 3rd side link 10 is put on the shelf by connecting axle 19 and bed and 15 is connected, the other end of the 3rd side link 10 is connected with third connecting rod 18 with bolt, and the other end of third connecting rod 18 is welded on the front end of sole 4.
The shaft hole 17 that the promotion of linear push rod 9 makes second side link 7 put on the shelf on 15 around bed rotates, and drive buttocks bed board 2 and move and slide along chute 16, support frame structure is arranged on the back bed board 1 time, it lifts back bed board 1 under the promotion of linkage, be connected (rotating shaft) by the bolt between the framework of back bed board 1 and buttocks bed board 2 the back bed board is raised and set level, realize bed person's sitting posture.
Meanwhile, the promotion of linear push rod 9 makes the 3rd side link 10 drive calf plates 3 and sole 4 around put on the shelf the synchronous upset of hinged generation between the framework of the framework of connecting axle 19 on 15 and calf plate 3 and sole 4 of bed: calf plate 3 and sole 4 are put on the shelf around bed and are turned under 15 the afterframe (rotating shaft), turn under calf plate 3 is vertical, second horizontal plane that sole 4 forms under the nursing bed horizontal plane, state is sat up straight in L-shaped bent lower limb step, bed person can be hung down the lower limb natural torsion when sitting up, form a complete attitude of sitting up straight.
Because the effect of planar linkage mechanism, lifting of the upset of calf plate 3 and sole 4 and back bed board 1 is synchronous interlock, and the rotation amplitude of back bed board 1 can reach 75 °～85 °; The rotation amplitude of calf plate 3 can reach 70 °～80 °, because buttocks bed board 2 moves in chute 16 and slides, so buttocks bed board 2 front sides are sagging slightly, can prevent bed person's oriented preceding slippage trend in the process of sitting up straight.
When described linear push rod 9 is worked, have degree of freedom, realize lifting the plane mechanism that the back of the body sits up straight the bent lower limb step of buttocks function with one of interlinked mechanism formation; During outage, linear push rod 9 constitutes the plane truss of the zero degree of freedom of no relative motion between connector, makes planar linkage mechanism be in steady statue; When linear push rod 9 moved to extreme position in the other direction, back bed board 1, calf plate 3 and sole 4 were consistent by planar linkage mechanism and whole electric care bed level, the electric care bed state of lying that is in.
Accompanying drawing 4,6 to 11 is the structural representation of associated components of the present invention, wherein:
The bed of accompanying drawing 4 puts 15 on the shelf for metal rack, has chute 16 on the top, has shaft hole 17 in nearly centre position;
The two ends of first side link 5 of accompanying drawing 6 are circular arc, are provided with through hole in the middle of the circular arc;
Second side link, 7 supports triangular in shape of accompanying drawing 7 are arranged on below the hinge of buttocks bed board 2 front ends;
Accompanying drawing 8 is the second connecting rod 8 of long metal strip, and its two ends are circular arc, is provided with through hole in the middle of the circular arc;
The 3rd side link 10 of accompanying drawing 9 is the triangle knife-edge, has through hole at point of a knife, heel, pommel;
Accompanying drawing 10 is the structural representation of calf plate 3;
Accompanying drawing 11 is the structural representation of sole 4, is welded with third connecting rod 18 below its link, and the other end of third connecting rod 18 is a circular arc, is provided with through hole in the middle of the circular arc.
Bedstead among the present invention, bed board framework, linkage all adopt metal material and/or composite manufacturing; the hinged standard component of selecting screw bolt and nut for use; therefore; the production of parts and purchase are relatively easy; make the present invention easily manufactured; cost is control easily also, and these all help the popularization and the large-scale production of product of the present invention.
Claims (4)
1. a single-power multi-axis linkage is electric care bed, comprises the combination type bed board that is made of back bed board, buttocks bed board, calf plate and sole; The bed board framework comprises the framework of back bed board, buttocks bed board, calf plate and each bed board of sole; Bedstead comprises a underframe and bed is put on the shelf; Linear push rod; And linkage; Be movably hinged with bolt between the framework of back bed board, buttocks bed board, calf plate and sole and the framework, it is characterized in that, the top of frame has chute in bed, and the nearly centre position of frame has shaft hole in bed; Described linear push rod, linkage be arranged under the combination type bed board the bed underframe with bed put on the shelf between, wherein, linear push rod is the power source of linkage, be made up of 24V voltage motor, worm and worm gear and trapezoidal screw mechanism, linkage comprises: first side link, second side link, the 3rd side link, first connecting rod, second connecting rod and third connecting rod; The lower end of linear push rod is fixed on the linear push rod mounting rod of a underframe, the upper end of linear push rod is connected with first side link, the lower end of first side link is fixed on the underframe, the upper end of first side link is connected with second side link by first connecting rod, simultaneously, linear push rod is connected with the 3rd side link by second connecting rod, one end of the 3rd side link is put on the shelf with bed by connecting axle and is connected, the other end of the 3rd side link is connected with third connecting rod with bolt, and the other end that third connecting rod connects is welded on the front end of sole;
The promotion of linear push rod makes second side link around hinged rotation the between buttocks bed board and the back bed board, the shaft hole of buttocks bed board on putting on the shelf around bed rotated, make by the bracing frame under the framework that is arranged on the back bed board back bed board is lifted, bolt between the framework of framework and buttocks bed board by the back bed board is connected the back bed board is raised or set level; Linear push rod positive direction promote to make the 3rd side link drive calf plate and sole on putting on the shelf around bed connecting axle and the synchronous upset of hinged generation between the framework of the framework of calf plate and sole, wherein, turn under the connecting axle that calf plate and sole are put on the shelf around bed, make calf plate vertical, and sole forms another horizontal plane under the nursing bed horizontal plane, the Structure Attitude that the L-shaped bent lower limb step of calf plate and sole is sat up straight; When linear push rod was pushed to extreme position in the other direction, back bed board, calf plate and sole and whole electric care bed horizontal plane were consistent.
2. single-power multi-axis linkage according to claim 1 is electric care bed, it is characterized in that, synchronous interaction is lifted in the rotation of the rotation of described calf plate, sole and back bed board.
3. single-power multi-axis linkage according to claim 2 is electric care bed, it is characterized in that, the rotation amplitude of back bed board is 75 °～85 °, and the rotation amplitude of calf plate is 70 °～80 °.
4. single-power multi-axis linkage according to claim 1 is electric care bed, it is characterized in that, described side link is the revolving member that has an end to be connected with bedstead.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100424963A CN101664355B (en) | 2008-09-03 | 2008-09-03 | Single-power multi-axis linkage electric nursing bed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100424963A CN101664355B (en) | 2008-09-03 | 2008-09-03 | Single-power multi-axis linkage electric nursing bed |
Publications (2)
| Publication Number | Publication Date |
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| CN101664355A CN101664355A (en) | 2010-03-10 |
| CN101664355B true CN101664355B (en) | 2011-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100424963A Expired - Fee Related CN101664355B (en) | 2008-09-03 | 2008-09-03 | Single-power multi-axis linkage electric nursing bed |
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| CN (1) | CN101664355B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111374846A (en) * | 2018-12-29 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Auxiliary standing nursing bed and operation method thereof |
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| CN102119896B (en) * | 2010-12-14 | 2012-09-19 | 上海电机学院 | Electric Nursing Bed with Flexibly Connected Curved Leg Mechanism |
| CN102670368B (en) * | 2012-05-09 | 2014-03-12 | 北京航空航天大学 | Bed-chair integration robot based on omnidirectional mobile chassis |
| CN104688458B (en) * | 2015-03-25 | 2017-02-22 | 江苏泰泉电子自动化设备有限公司 | Nursing bed capable of helping patients roll over and sit up |
| CN106510285A (en) * | 2016-11-17 | 2017-03-22 | 嘉兴意合机电有限公司 | Single-motor adjustable multifunctional bed |
| CN110772380A (en) * | 2019-11-05 | 2020-02-11 | 北华航天工业学院 | Combined movement mechanism for old and disabled assisting bed |
| CN111358639A (en) * | 2020-03-17 | 2020-07-03 | 吉林大学 | Uropoiesis is nursing equipment for surgery convenient to adjust |
| CN111467159A (en) * | 2020-05-26 | 2020-07-31 | 南京孝德智能科技有限公司 | Nursing bed and nursing method based on nursing bed |
| CN111714305A (en) * | 2020-07-28 | 2020-09-29 | 南京孝德智能科技有限公司 | a nursing bed |
| CN112274375A (en) * | 2020-09-10 | 2021-01-29 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | Bridge type exercise rehabilitation training bed |
| CN112618203B (en) * | 2021-01-06 | 2021-08-10 | 王国芹 | Medical treatment of full mechanical design of independent driving source is with warping nursing bed |
| CN113143624A (en) * | 2021-04-06 | 2021-07-23 | 浙江木星云科技有限公司 | Nursing bed with accomodate function |
| CN113768711A (en) * | 2021-09-14 | 2021-12-10 | 山东理工大学 | A new type of multi-position physiotherapy wheelchair that can be raised and lowered |
| CN114028102B (en) * | 2021-12-06 | 2025-03-14 | 惠州富乐士智能家居有限公司 | A chair bed capable of being adjusted in multiple directions |
| CN114550895B (en) * | 2022-03-02 | 2023-06-02 | 广州方信医疗技术有限公司 | Medical image information management system based on intelligent medical treatment |
| CN114795686A (en) * | 2022-06-07 | 2022-07-29 | 吉林大学第一医院 | A buttockss position antiskid is taken off and is constructed for medical transportation bed |
| CN117323141A (en) * | 2023-09-14 | 2024-01-02 | 河南翔宇医疗设备股份有限公司 | Posture-adjustable sectional rhythm sickbed |
| CN223248437U (en) * | 2024-08-15 | 2025-08-22 | 锐迈科技股份有限公司 | Health care bed |
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| US5737786A (en) * | 1996-03-01 | 1998-04-14 | Yamamoto; Tsuneo | Collapsible bed structure for bed-ridden invalids |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5737786A (en) * | 1996-03-01 | 1998-04-14 | Yamamoto; Tsuneo | Collapsible bed structure for bed-ridden invalids |
| CN2352155Y (en) * | 1998-09-16 | 1999-12-08 | 王延道 | Full automatic, multi-function bed for patient self-service |
| CN201275216Y (en) * | 2008-09-03 | 2009-07-22 | 上海电机学院 | Electric nursing bed |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111374846A (en) * | 2018-12-29 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Auxiliary standing nursing bed and operation method thereof |
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| Publication number | Publication date |
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| CN101664355A (en) | 2010-03-10 |
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