CN108436929A - Home care apparatus - Google Patents

Abstract

A kind of home care apparatus is suitable for handicapped person, including nursing support apparatus, wearable detection apparatus and nursing robot.When home care apparatus to be utilized nurses handicapped person, first nursing support apparatus can be placed on bed, and handicapped person is made to put on wearable detection apparatus；Then, can send out the sound instruction handicapped person being transferred on nursing support apparatus to nursing robot；After handicapped person crouches and lies on nursing support apparatus, nursing robot can control wearable detection apparatus and is acquired to the brain physiological signal of handicapped person, can alert emergency when the physical condition information of handicapped person occurs abnormal；If handicapped person thinks sitting, the sound instruction for being propped up sitting can be sent out to nursing robot, handicapped person will be propped up sitting by nursing support apparatus.Intelligent nursing can be carried out to handicapped person, substantially reduce nursing cost in the case of unmanned collaboration by the home care apparatus.

Description

Home care apparatus

Technical field

The present invention relates to the technical field of care appliances more particularly to a kind of home care apparatus.

Background technology

As Chinese aging trend is more and more obvious, elderly population are on the increase, and the various diseases caused by old age Also more and more, cause the patient of body part paralysis or pamplegia due to disease also gradually to increase.Wherein, if patient's long-time Lie on a bed, special nursing staff not only needed to nurse, for example, assist patient turn over, connect just, march leg live Dynamic, sitting etc. can also cause patient blood cycle obstructed, easily lead to skin infection and the generation of bedsore, be unfavorable for disease Restore.

Currently, the care appliances designed for handicapped person are also more and more, and it is dazzling, for example, nursing disease Bed is suitable for handicapped handicapped person and is used when being hospitalized or nursing at home, in order to which handicapped person can be certain Autonomic activities in range accelerate its rehabilitation；Meanwhile this nursing hospital bed can carry out handicapped person relatively simple nursing, example Such as, it realizes to have turned over and sits back and waits basic function.But current care appliances need nursing staff to cooperate mostly, it could be complete The nursing of pairs of handicapped person, and nursing function is relatively simple, nursing efficacy is poor.Thus, how to utilize nursing robot certainly It is dynamic that patient is assisted to carry out some basic nursings, effectively to reduce the working strength of nursing staff, the nursing expense of patient is reduced, at For research hotspot in recent years.

As it can be seen that at least having the following defects in the prior art：Need nursing staff cooperate and cannot be to handicapped The intelligent nursing of person's progress, nursing function is relatively simple, nursing efficacy is poor and nursing cost is high.

Therefore, it is necessary to provide a kind of technological means to solve drawbacks described above.

Invention content

It is an object of the invention to overcome the defect of the prior art, a kind of home care apparatus is provided, to solve existing skill It needs nursing staff to cooperate in art and cannot carry out that intelligent nursing, nursing function be relatively simple, shield to handicapped person Manage the problem that effect is poor and nursing cost is high.

The invention is realized in this way a kind of home care apparatus, including：

Support apparatus is nursed, the nursing support apparatus includes the branch for positioning setting and supporting the component being provided thereon Support frame frame, to the Backing member at the handicapped person back of support, driving the support of the Backing member rotation work to use Has driving device and to control the support apparatus control device of the support apparatus driving device work, the braced frame It is equipped with a host cavity for component receiving in the inner；The Backing member is rotatably set in the braced frame, and can Folding is housed in the host cavity, and folding is formed in the pivot region between the Backing member and the braced frame and is stopped Position is stopped in position and expansion, and when the Backing member goes to the folding and stops position, the Backing member folding is housed in described In host cavity, when the Backing member goes to the expansion and stops position, the Backing member is unfolded in the braced frame； The support apparatus driving device is set in the braced frame, and it drives end to be connected to the Backing member；It is described to hold It asks apparatus control device to be set on the side of the braced frame, and is electrically connected with the support apparatus driving device；

Wearable detection apparatus, the wearable detection apparatus include that one can wear set on the head of this action inconvenience person to adopt Collect the brain wave acquisition cap of the brain physiological signal of handicapped person, the brain wave acquisition cap includes cap body, is set in the cap body If several to acquire the textile electrode of the brain physiological signal of handicapped person and in the cap body and with it is described Dry textile electrode connection controls chip to control the brain wave acquisition of several textile electrode work；

Nursing robot, the nursing robot include the mobile base that can be movably walking in given side, set on described Body in mobile base, two work for being movably arranged at the body both sides respectively and the action command of setting being executed by control It starts arm, the head set on the body upper end, the speech recognition system on the head, rescuing on the body Device and the nursing control device on the body, the nursing control device is helped to be electrically connected with the mobile base, with Control the mobile working of the mobile base；The nursing control device is electrically connected with the movable arm, to control the work Start arm execute setting action command；The nursing control device is electrically connected with the speech recognition system, so as to work as the row When dynamic inconvenience person or nursing staff audible instruction to the nursing robot, the speech recognition system may recognize that and be somebody's turn to do The digital signal that sound instruction matches, and the digital signal is sent to the nursing control device, then controlled by the nursing Device processed controls the mobile base according to the related content of the digital signal and/or the movable arm executes corresponding work Instruction；The nursing control device is electrically connected with the rescue device, can control the rescue device to this action inconvenience person Carry out Emergency Assistance；The rescue device include can to handicapped person provide oxygen oxygen supply unit, can be to handicapped person Carry out electric shock stimulation with promote heartbeat recover electric shock unit and can be provided to handicapped person corresponding first-aid pill for prescription Member；

Wherein, the nursing control device is electrically connected with the support apparatus control device, with can be to the support apparatus Control device sends the work order of setting, to which the controllable support apparatus driving device drives the Backing member rotation Work makes this action inconvenience person that can crouch and lies on the Backing member when Backing member goes to the folding and stops position, When the Backing member goes to the expansion and stops position, make this action inconvenience person that can prop up sitting by the Backing member；

The nursing control device is electrically connected with brain wave acquisition control chip, can be controlled by the brain wave acquisition Several textile electrodes described in chip controls are acquired the brain physiological signal of handicapped person, and to collected brain Physiological signal is analyzed and obtains the corresponding physical condition information of this action inconvenience person, can also be according to the physical condition information pair This action inconvenience person makes corresponding nursing, and by the physical condition information be sent to medical institutions cloud platform and with the row On the communication apparatus of the relevant caregiver of dynamic inconvenience person.

Compared with prior art, the beneficial effects of the invention are as follows：

When needing to nurse handicapped person using the home care apparatus, first nursing support apparatus can be placed in On bed, and handicapped person is made to put on brain wave acquisition cap；

Then, can from the relevant caregiver of handicapped person or handicapped person to nursing robot send out by Handicapped person is transferred to the sound instruction on nursing support apparatus, and the speech recognition system of nursing robot is receiving this The digital signal to match with the sound instruction will be identified after sound instruction, and the digital signal is sent to nursing control Device, then mobile base and movable arm work are controlled according to the related content of the digital signal by nursing control device, to hold It is about to the work order that handicapped person is transferred on nursing support apparatus；

After handicapped person crouches and lies on nursing support apparatus, the nursing control device of nursing robot can be adopted with brain electricity Collection control chip electrical connection, brain of several textile electrodes of chip controls to handicapped person can be controlled by brain wave acquisition Physiological signal is acquired, and is analyzed collected brain physiological signal and obtain the corresponding body of this action inconvenience person There is larger spirit fluctuation, psychology variation, brain situation exception in condition information, such as handicapped person, can also be according to the body Body condition information makes corresponding nursing, such as pressing relaxing tendons and activating collaterals, ventilation first aid, electric shock first aid to this action inconvenience person, and Simultaneously by the physical condition information be sent to nearby or the cloud platform of relevant medical institutions and with this action inconvenience person it is relevant The communication apparatus of caregiver ensures that the emergency relief of abnormal conditions occurs in handicapped person can alert emergency；

If handicapped person is sleeping lie on nursing support apparatus after, think that sitting, handicapped person can be to shields Reason robot sends out the sound instruction for being propped up sitting, and the speech recognition system of nursing robot refers to receiving the sound The digital signal to match with the sound instruction will be identified after order, and the digital signal is sent to nursing control device, Send the work order of setting to support apparatus control device according to the related content of the digital signal from nursing control device again, Expansion stop position is gone to control support apparatus driving device driving Backing member, makes this action inconvenience person can be by back bracket Component props up sitting, accordingly, can move the body of handicapped person to the full extent and exempt to come to harm.

In addition, nursing robot can also according to the set procedure, to handicapped person carry out on time feeding, massage body on time Body paralysis part etc..

It can be seen that by the home care apparatus intelligence can be carried out to handicapped person in the case of unmanned collaboration Change nursing, substantially reduces nursing cost, and its nursing function is more, nursing efficacy is good, is conducive in family or medical institutions It promotes the use of.

Description of the drawings

Fig. 1 is the schematic diagram of the home care apparatus of the embodiment of the present invention；

Fig. 2 is the nursing control device of the home care apparatus of the embodiment of the present invention to support apparatus control device and brain electricity The control schematic diagram of acquisition control chip；

Fig. 3 is the nursing control device and support apparatus control device, brain electricity of the home care apparatus of the embodiment of the present invention The electrical connection schematic diagram of acquisition control chip；

Fig. 4 is that the Backing member of the nursing support apparatus of the home care apparatus of the embodiment of the present invention is opened up on the support frame The schematic diagram opened；

Fig. 5 is the schematic diagram of another angle of the nursing support apparatus of the home care apparatus in Fig. 4, to show anti-Slipped Clove Hitch The concrete structure of structure；

Fig. 6 is that the Backing member folding of the nursing support apparatus of the home care apparatus of the embodiment of the present invention is housed in support The schematic diagram of the host cavity of frame；

Fig. 7 is the schematic diagram of the driving device of the nursing support apparatus of the home care apparatus of the embodiment of the present invention；

Fig. 8 is the schematic diagram of the folding closet of the nursing support apparatus of the home care apparatus of the embodiment of the present invention；

Fig. 9 is in the folding bearing of the folding closet of the nursing support apparatus of the home care apparatus of the embodiment of the present invention It surrounds side plate and is folded in the schematic diagram on support baseboard；

Figure 10 is at the folding bearing of the folding closet of the nursing support apparatus of the home care apparatus of the embodiment of the present invention Schematic diagram when unfoldable shape；

Figure 11 is the schematic diagram of the brain wave acquisition cap of the wearable detection apparatus of the home care apparatus of the embodiment of the present invention；

Figure 12 is the schematic diagram of the nursing robot of the home care apparatus of the embodiment of the present invention；

Figure 13 is the front view of the nursing robot of the home care apparatus of the embodiment of the present invention；

Figure 14 is the rearview of the nursing robot of the home care apparatus of the embodiment of the present invention；

Figure 15 is the first connecting elements of the movable arm of the nursing robot of the home care apparatus of the embodiment of the present invention With the structural schematic diagram of the second connecting elements；

Figure 16 is the third connecting elements of the movable arm of the nursing robot of the home care apparatus of the embodiment of the present invention Structural schematic diagram；

Figure 17 is the schematic diagram of the rescue device of the nursing robot of the home care apparatus of the embodiment of the present invention.

Specific implementation mode

In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.

It should be noted that when element is referred to as " being fixed on " or " being set to " another element, it can be directly another On one element or it may be simultaneously present centering elements.When an element is known as " being connected to " another element, it can To be directly to another element or may be simultaneously present centering elements.

It please refers to Fig.1 to Figure 17, is a preferred embodiment provided by the invention, and the home care apparatus in the present embodiment 1, it is suitable for handicapped person, such as old inconvenience person, paralysed patient comprising nursing support apparatus 10, wearable detection apparatus 20 and nursing robot 30, each building block of the home care apparatus 1 is described further below：

Nursing support apparatus 10 includes positioning setting and supporting the braced frame 11 for the component being provided thereon, holding Hold in the palm the Backing member 12 at handicapped person back, the support apparatus driving device 13 to drive 12 rotation work of Backing member, And to control the support apparatus control device 14 of the work of support apparatus driving device 13, braced frame 11 is equipped with one for portion The host cavity Q of part receiving in the inner；Backing member 12 is rotatably set in braced frame 11, and foldable is housed in the receiving Chamber Q, is formed with that position T1 is stopped in folding and position T2 is stopped in expansion in the pivot region between Backing member 12 and braced frame 11, in When Backing member 12 goes to folding stop position T1, the folding of Backing member 12 is housed in host cavity Q, and preferably, back bracket structure The bottom face of part 12 is concordant with the bottom face of braced frame 11, to avoid the Backing member 12 with user's back contact because with branch The distance of 11 bottom face of support frame frame is larger and it is uncomfortable to occur when user being caused to lie down, and is also beneficial to reduce nursing support and use Thickness setting when tool 10 folds；And when Backing member 12 goes to expansion and stops position T2, Backing member 12 is in braced frame 11 Upper expansion, and wherein, it can be the pivot region range formed between Backing member 12 and braced frame 11 that position T2 is stopped in expansion Interior any position, the selection to increase user use；Support apparatus driving device 13 is set in braced frame 11, and It drives end to be connected to Backing member 12, preferably, the support apparatus driving device 13 is directly connect with a Rechargeable battery, To be energized by the Rechargeable battery；Support apparatus control device 14 be set to braced frame 11 side on, and with support apparatus Driving device 13 is electrically connected.

Wearable detection apparatus 20 can be worn set on the head of this action inconvenience person including one to acquire the brain of handicapped person The brain wave acquisition cap 21 of portion's physiological signal, brain wave acquisition cap 21 include cap body 211, several in cap body 211 adopting Collect the textile electrode 212 of the brain physiological signal of handicapped person and in the cap body 211 and with several textile electrodes 212 It connects and controls chip 213 to control the brain wave acquisition of several textile electrodes 212 work；It should be noted that textile electrode 212 arrangement is accordingly to be arranged in cap body 211 according to position needed for human body electroencephalogram's wave is measured, moreover, preferably, fabric is electric Pole 212 is set to by the gel that can mutually melt with it in cap body 211, in order to accurately measure the brain wave of handicapped person；And Gel also known as frozen glue, it be it is a kind of between liquid and solid have a kind of stiff object of the semi-solid state of special elastic Matter, its forming process are by biomolecule such as albumen, enzyme, recombinant protein, antibody, nucleic acid, by tens thousand of determination experiments With 15 chromatographies and purifying, a kind of a kind of object of similar human skin particular result substance is finally extracted.Certainly, this The process that substance refines making is extremely complex, it is spread out using water renewable performance in natural essential oil by plant extract molecular composition Raw composite material is combined.In addition, gel is the solid in liquid, its special sense of touch is that other materials institute is incomparable , ventilative, constant temperature, insect prevention, anti-mite and high viscoplasticity and ventilating air permeability become rare substance by it, and this have and people The substance of the very much like attribute of body skin is more by people titled with the good reputation of " artificial skin ".

Nursing robot 30 includes the mobile base 31 that can be movably walking in given plane, in mobile base 31 Body 32, is set two activity arms 33 for being movably arranged at 32 both sides of body respectively and being executed the action command of setting by control In the head 34 of 32 upper end of body, the speech recognition system 35 on head 34, the rescue device 39 on body 32 and Nursing control device 36 on body 32, nursing control device 36 is electrically connected with mobile base 31, to control mobile base 31 mobile working；Nursing control device 36 is electrically connected with movable arm 33, and the action of setting is executed with control activity arm 33 Instruction；Nursing control device 36 is electrically connected with speech recognition system 35, so as to work as this action inconvenience person or nursing staff to nursing When robot 30 audibles instruction, speech recognition system 35 may recognize that the digital signal to match with the sound instruction, and The digital signal is sent to nursing control device 36, then by nursing control device 36 according to the related content control of the digital signal Mobile base 31 processed and/or movable arm 33 execute corresponding work order；Nursing control device 36 is electrically connected with rescue device 39 It connects, Emergency Assistance is carried out to this action inconvenience person with controllable rescue device 39.

Wherein, nursing control device 36 is electrically connected with support apparatus control device 14, with can be to support apparatus control device 14 send the work order of setting, to which controllable support apparatus driving device 13 drives 12 rotation work of Backing member, in the back of the body Support component 12 goes to folding when stopping position T1, makes this action inconvenience person that can crouch and lies on Backing member 12, in 12 turns of Backing member When stopping position T2 to expansion, make this action inconvenience person that can prop up sitting by Backing member 12；

Nursing control device 36 is electrically connected with brain wave acquisition control chip 213, can control chip 213 by brain wave acquisition The brain physiological signal for controlling 212 handicapped person of several textile electrodes pair is acquired, and to collected brain physiology Signal is analyzed and obtains the corresponding physical condition information of this action inconvenience person, can also be according to the physical condition information to the row Dynamic inconvenience person makes corresponding nursing, and by the physical condition information be sent to the cloud platform of medical institutions and with this action not Just on the communication apparatus of relevant caregiver.

When needing to nurse handicapped person using the home care apparatus 1, first the nursing folded can be held Support apparatus 10 is placed on bed not smaller than its width, without it is fixed using the fixing piece of screw etc, together When, so that handicapped person is put on brain wave acquisition cap 21；

It then, can be from being sent out to nursing robot 30 with the relevant caregiver of handicapped person or handicapped person Handicapped person is transferred to the sound instruction on nursing support apparatus 10, and the speech recognition system 35 of nursing robot 30 exists The digital signal to match with the sound instruction will be identified after receiving the sound instruction, and the digital signal is sent to Control device 36 is nursed, then mobile base 31 and activity are controlled according to the related content of the digital signal by nursing control device 36 Arm 33 works, to execute the work order being transferred to handicapped person on nursing support apparatus 10；

Handicapped person is sleeping lie on nursing support apparatus 10 after, the nursing control device 36 of nursing robot 30 can be with Brain wave acquisition controls chip 213 and is electrically connected, right can control several textile electrodes 212 by brain wave acquisition control chip 213 The brain physiological signal of handicapped person is acquired, and is analyzed collected brain physiological signal and obtain this action There is larger spirit fluctuation in the inconvenient corresponding physical condition information of person, such as handicapped person, psychology changes, brain situation is abnormal Deng can also making corresponding nursing to this action inconvenience person according to the physical condition information, it is anxious such as to press relaxing tendons and activating collaterals, oxygen supply Rescue, first aid of shocking by electricity etc., and simultaneously by the physical condition information be sent to nearby or the cloud platform of relevant medical institutions and with this The communication apparatus (smartwatch or mobile phone) of the handicapped relevant caregiver of person ensures handicapped person can alert emergency There is the emergency relief of abnormal conditions；

If handicapped person is sleeping lie on nursing support apparatus 10 after, think sitting, handicapped person can be to Nursing robot 30 sends out the sound instruction for being propped up sitting, and the speech recognition system 35 of nursing robot 30 is receiving The digital signal to match with the sound instruction will be identified after the sound instruction, and the digital signal is sent to nursing control Device 36 processed, then set from nursing control device 36 to the transmission of support apparatus control device 14 according to the related content of the digital signal Fixed work order drives Backing member 12 to go to expansion stop position T2, makes to control support apparatus driving device 13 This action inconvenience person can prop up sitting by Backing member 12, the body of handicapped person can be moved to the full extent as a result, and Exempt to come to harm.

In addition, nursing robot 30 can also according to the set procedure, to handicapped person carry out on time feeding, massage on time Physical palsy part etc..

It can be seen that by the home care apparatus 1 intelligence can be carried out to handicapped person in the case of unmanned collaboration Change nursing, substantially reduces nursing cost, and its nursing function is more, nursing efficacy is good, is conducive in family or medical institutions It promotes the use of.

It is used it should be noted that the brain wave acquisition cap 21 in the present embodiment can also be used alone as the detection of human body electroencephalogram's wave, It is simple and convenient and in use, user directly wears brain wave acquisition cap 21 on head.It is detected and nothing moreover, being in It need to be measured to hospital, greatly improve its flexibility and convenience.

Secondly, traditional electrode is substituted using textile electrode 212, and the arrangement of textile electrode 212 is according to measurement human body brain Position needed for electric wave and be accordingly arranged in cap body 211, as long as user is in use, wearing the cap body on head as a result, It is simple and convenient, avoid that conventionally employed " electrode+conductive paste+adhesive plaster " is this to be needed professional person and be more time-consumingly attached at people The embodiment on body head；It is positioned admittedly behind the head of user simultaneously due to which textile electrode 212 can be worn with cap body 211 It is fixed, it is not easy to generate the obscission occurred using " electrode+conductive paste+adhesive plaster " this embodiment；Further more, user uses In the process, can be freely movable, it needs to keep posture different from traditional approach, improves the comfort level of user.

Then, it due to the use of textile electrode 212, accordingly, needs to attach the electrode at the top of human body head and moves to attaching people Body head forehead, to also make to brain wave acquisition cap 21 to wear, mode is more convenient, and structure is simpler；

Further more, since the brain wave acquisition cap 21 can accurately measure human body electroencephalogram's wave, it can accurately obtain user's accordingly Sleep quality, consequently facilitating doctor accurately treats the sleeping problems such as sleep insufficiency, the snoring of user's appearance.In addition, the brain is electric It acquires cap 21 to become various intracranial lesions, such as headstroke, encephalitis, brain tumor, metabolic encephalopathy, also there is prodigious diagnosis to help It helps.

Fig. 2 and Fig. 3 are please referred to, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, In, foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And at this In embodiment, with above-described embodiment difference lies in：

The nursing control device 36 of the present embodiment includes a nursing control circuit board 361, and nursing control circuit board 361 is set to It inside body 32, and is electrically connected with brain wave acquisition control chip 213, and nurses control circuit board 361 equipped with transmittable infrared The infrared transmitter 3611 of line traffic control instruction；Nursing control circuit board 361 on be additionally provided with to handicapped person into The rescue module of row Emergency Assistance, for controlling rescue device 39.

Support apparatus control device 14 includes a support apparatus control circuit board 141, in support apparatus control circuit board 141 Equipped with the infrared receiver 1411 that can receive the infrared control instruction sent by infrared transmitter 3611.

Wherein, by infrared transmitter 3611 and infrared receiver 1411, it can make to nurse control device 36 directly Work order quickly is sent out to support apparatus control device 14, and support apparatus control device 14 can also be quickly responded and be connect It receives, improves its response speed, and can also preferably avoid extraneous interference effect.

In addition, being electrically connected to efficiently and easily make nursing control circuit board 361 and brain wave acquisition control chip 213, protect Control circuit board 361 is managed to be electrically connected with brain wave acquisition control chip 213 by being wirelessly connected module 40.Moreover, preferably, should It is bluetooth connection module or the near fields NFC link block to be wirelessly connected module 40, in favor of installing and being adapted to and popularization and application.

Fig. 4 to Fig. 7 is please referred to, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, In, foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And at this In embodiment, with above-described embodiment difference lies in：

The preferred embodiment of the braced frame 11 of the present embodiment is comprising the first support moulding 111, with the first support The the second support moulding 112 and the first support moulding 111 of one end connection of the setting of 111 relative spacing of moulding and other end connection the The third of two support mouldings 112 supports moulding 113, the first support moulding 111, second that moulding 112 and third is supported to support moulding Host cavity Q is surrounded between 113 threes.

Wherein, which supports moulding 112 and third support moulding 113 can be curved by a rectangular tube Folding is formed, also can be by being welded.In addition, the braced frame 11 is in a U-shape, in order to fabricate.

And the preferred embodiment of Backing member 12 is comprising back bracket frame 121 and on the back bracket frame 121 with With the flexible back bracket part 122 of the back contact of user.

Wherein, back bracket frame 121 includes the first back bracket moulding 1211, is arranged with 1211 relative spacing of the first back bracket moulding Second back bracket moulding 1212 and one end connect the third of the first back bracket moulding 1211 and the other end the second back bracket moulding 1212 of connection Back bracket moulding 1213, flexible back bracket part 122 are set to by the first back bracket moulding 1211, the second back bracket moulding 1212 and third back bracket frame In the cavity that item 1213 surrounds, and it is connected to the first back bracket moulding 1211, the second back bracket moulding 1212, third back bracket moulding 1213.And the first back bracket moulding 1211, the second back bracket moulding 1212 and third back bracket moulding 1213 can be bent by a rectangular tube It is formed, it also can be by being welded.

In addition, the back bracket frame 121 is in a U-shape, in order to fabricate.So, it is accommodated when Backing member 12 folds When in host cavity Q, the first back bracket moulding 1211 is opposite with the first support moulding 111 to be abutted, and the upper and lower end face of the rwo Concordantly, the second back bracket moulding 1212 is opposite with the second support moulding 112 abuts, and the upper and lower end face of the rwo is concordant, third Back bracket moulding 1213 is opposite with third support moulding 113 to be abutted, and the upper and lower end face of the rwo is concordant, accordingly, can be conducive to Ensure that Backing member 12 folds the folding effect being housed in host cavity Q, makes to user to lie in the flexible back of the body of Backing member 12 Without significantly tilting sense when in supporting piece 122, ensure comfort.

And preferably, the flexibility back bracket part 122 to may be selected to be canvas, braided fabric or mesh cloth etc. solid, frivolous, soft Material, in order to draw materials and installation settings.

Simultaneously, the embodiment of the rotation connection between Backing member 12 and braced frame 11 is：First back bracket moulding 1211 are pivotally connected by one first rotation axis 141 and the first support moulding 111, and the second back bracket moulding 1212 passes through one second turn Moving axis 142 is pivotally connected with the second support moulding 112.

Referring to Fig. 7, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, wherein right Foregoing description is seen in the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And in this implementation Example in, with above-described embodiment difference lies in：

The driving end of support apparatus driving device 13 in the present embodiment is a telescopic drive portion 131, telescopic drive portion 131 It is connect with Backing member 12 by transmission mechanism 132, wherein by the setting of transmission mechanism 132, in addition to being conducive to will hold The power that support apparatus driving device 13 generates reaches on Backing member 12, with the rotation work for the Backing member 12 that can smoothly drive Make, also helps the positioning setting of support apparatus driving device 13.And preferably, the support apparatus driving device 13 is preferably electricity Dynamic push rod, then its telescopic drive portion 131 is a telescopic screw rod.Certainly, support apparatus driving device 13 also may be selected to be cylinder or Hydraulic cylinder also belongs to the protection category of the present embodiment.

And the preferred embodiment of transmission mechanism 132 is comprising a drive connection plate 1321, on drive connection plate 1321 Equipped with the first connecting pin 13211, with the second connection end 13212 of 13211 relative spacing of the first connecting pin setting and positioned at first Third connecting pin 13213 between connecting pin 13211 and second connection end 13212, and the drive connection plate 1321 is a triangle Plate can be preferably provided as isosceles triangle, in order to the first connecting pin 13211, second connection end 13212, third connecting pin 13213 installation settings, accordingly, the first connecting pin 13211 are provided close to the position at one of drive connection plate 1321 base angle Place is set, second connection end 13212 is provided close at the position at another base angle of drive connection plate 1321, third connecting pin 13213 are provided close at the position of the apex angle of drive connection plate 1321.

Wherein, the first connecting pin 13211 is slidably set on the first back bracket moulding 1211 of Backing member 12, specifically, First back bracket moulding 1211 of Backing member 12 is equipped with a sliding groove 12111, and the first connecting pin 13211 is equipped with a sliding part 132110, sliding part 132110 is inserted in sliding groove 12111, and is slidably matched with sliding groove 12111.And the sliding part 132110 include one towards sliding groove 12111 sliding bar 132111 and be sheathed on the side of sliding bar 132111 outwardly And the fixing bearing 132112 for stretching into sliding groove 12111 and being contained by the inner cavity of the first back bracket moulding 1211, the fixing bearing 132112 width is the width more than sliding groove 12111, and the width of the inner cavity less than the first back bracket moulding 1211, can with this Ensure that fixing bearing 132112 is placed in the inner cavity of the first back bracket moulding 1211 and cannot be detached from easily from sliding groove 12111.

The rotation of second connection end 13212 is on the first support moulding 111 of braced frame 11, specifically, braced frame 11 the first support moulding 111 is equipped with a fixed seat 132121, which can be arranged by welding manner On first support moulding 111 of braced frame 11, and second connection end 13212 passes through a connection axis pin 132122 and fixed seat 132121 are pivotally connected.

Third connecting pin 13213 is rotatablely connected with telescopic drive portion 131, specifically, third connecting pin 13213 is inserted by one Pin 132131 is pivotally connected with telescopic drive portion 131.

It can be seen that the drive connection plate 1321 is equivalent to a cam mechanism, it will be appreciated that ground, when drive connection plate 1321 Sliding part 132110 on first connecting pin 13211 moves to the upside of the sliding groove 12111 on the first back bracket moulding 1211 When at position, the folding of Backing member 12 is housed in host cavity Q；When on the first connecting pin 13211 of drive connection plate 1321 When sliding part 132110 is moved at the position of the lower side of the sliding groove 12111 on the first back bracket moulding 1211, Backing member 12 It is unfolded in braced frame 11.

It is supported on moulding 111 set on the first of braced frame 11 in addition, support apparatus driving device 13 is rotation, tool Body is that the first support moulding 111 is equipped with a fixed seat 132, and the side of support apparatus driving device 13 passes through a connection axis pin 133 are pivotally connected with fixed seat 132.

Referring to Fig. 6, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, wherein right Foregoing description is seen in the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And in this implementation Example in, with above-described embodiment difference lies in：

The nursing support apparatus 10 of the present embodiment further includes being set in braced frame 11 and blocking support apparatus driving device 13 can prevent the hand of user from touching support apparatus driving device 13 and take into account the outer cover 15 of handrail function, wherein this is outer The making of the materials such as metal, plastics, timber can be used in cover 15.

Referring to Fig. 5, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, wherein right Foregoing description is seen in the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And in this implementation Example in, with above-described embodiment difference lies in：

The nursing support apparatus 10 of the present embodiment further includes on the bottom side of braced frame 11 to prevent braced frame 11 The anti-skid structure 16 slided after being placed on bed.

Wherein, the preferred embodiment of anti-skid structure 16 is comprising is set to anti-on the bottom side end face of braced frame 11 Skidding 161, there are four which sets, which is divided into four angles of the bottom side end face of braced frame 11 Place is fallen, enhances the antiskid effect of braced frame 11 with this.And preferably, silica gel material can be used in the non-slip mat 161, in order to take Material installation settings.

Referring to Fig. 6, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, wherein right Foregoing description is seen in the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And in this implementation Example in, with above-described embodiment difference lies in：

The nursing support apparatus 10 of the present embodiment further includes the pillow being set on flexible back bracket part 122 for fixed pillow Fixing piece 17, wherein the pillow fixing piece 17 are an elastic webbing, it is preferable that there are two the elastic webbing is set, and two elastic webbings It is divided into the upper surface of flexible back bracket part 122 and at the position of third back bracket moulding 1213.In addition, preferably, the pillow Fixing piece 17 can also be velcro, thus also can easy and convenient fixed pillow.

Referring to Fig. 7, and being another preferred embodiment of the present invention, with above-described embodiment in conjunction with Fig. 4 and Fig. 5 Implementation content, wherein foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated It is described in detail；And in the present embodiment, with above-described embodiment difference lies in：

There are two the support apparatus driving device 13 of the present embodiment is set, one of support apparatus driving device 13 is set to the On one support moulding 111, and it drives end to be connected on the first back bracket moulding 1211, and another support apparatus driving device 13 are set on the second support moulding 112, and it drives end to be connected on the second back bracket moulding 1212, ensure have enough with this Driving force, with can smooth drive Backing member 12 rotation.Meanwhile preferably, the outer cover 15 sets there are two, one of them is set to On first support moulding 111 and the support apparatus driving device 13 on the first support moulding 111 is blocked, another is set to On second support moulding 112 and block the support apparatus driving device 13 on the second support moulding 112.

Fig. 8 is please referred to Figure 10, and combines Fig. 6, is another preferred embodiment of the present invention, with above-described embodiment Implementation content, wherein foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated It is described in detail；And in the present embodiment, with above-described embodiment difference lies in：

The nursing support apparatus 10 of the present embodiment further includes detachably being set in braced frame 11 for for handicapped Person solves the folding closet 18 of stool and urine, whereby, can be directly by folding closet 19 when handicapped person needs to solve stool and urine It disassembles, then folding closet 18 is unfolded, at this point, stool and urine can be solved on folding closet 18；After complete, as long as to Nursing robot 30 sends out the sound instruction removed and remove folding closet 18, and nursing robot 30 will move the folding closet 18 It walks, not only ensure that the health of care environments, but also can avoid the awkward at heart of handicapped person.

Specifically, which includes folding bearing 181, convenient bag 182 and cushion 183, and folding bearing 181 has Form and unfoldable shape are folded, when it is to fold form to fold bearing 181, can be used for being collected in braced frame 11, work as folding When folded bearing 181 is unfoldable shape, it can be used for carrying the weight of handicapped person, and be formed with an accommodating chamber 1813 thereon； Convenient bag 182 is set on the folding bearing 181 of unfoldable shape, and its end portion is housed in accommodating chamber 1813；Cushion 183 are set on the folding bearing 181 of unfoldable shape and on convenient bag 182, and cushion 183 is equipped with and folds bearing 181 Accommodating chamber 1813 be connected to entrance 1831, when so that handicapped person going to the toilet, can make its stool and urine by entrance 1831 Fall within 182 part of convenient bag in accommodating chamber 1813.And after handicapped person has gone to the toilet, cushion 183 is removed, it will be square Faeces bag 182 is taken out, and the sound instruction for removing convenient bag 182 is then sent out to nursing robot 30, and nursing robot 30 will It executes this work order and removes convenient bag 182, at this point, the clean hygiene of guarantee surrounding environment can be continued, both facilitate row Dynamic inconvenience person, and can avoid its inconvenience to go to the toilet.

Wherein, which includes support baseboard 1811 and surrounds side plate 1812, surrounds side plate 1812 and support bottom Plate 1811 connects, and is taken shape in the side surrounding of support baseboard 1811 by folding, and accommodating chamber 1813 is formed in encirclement Between side plate 1812 and support baseboard 1811；And preferably, it is using paper material, accordingly, in addition to that can protect to surround side plate 1812 Card, which surrounds side plate 1812 itself, can buffer the active force for cutting down the stool and urine generated when handicapped person goes to the toilet, avoid splashing everywhere Go out, also help reduction production cost, recycles, it is environmentally protective.

1 is please referred to Fig.1, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, wherein Foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And in this reality Apply in example, with above-described embodiment difference lies in：

The cap body 211 of the present embodiment is mainly by high-strength yarn and using being formed through knitting device, so as to have in cap body 211 more A knitted mesh structure, ensures its gas permeability.Moreover, in order to ensure that cap body 211 uses well, which includes larger Ventilating structure and the smaller ventilating structure weak compared to the gas permeability of larger ventilating structure, specifically, cap body 211 it is larger Depressed structure has the characteristics that warp knit or the good flexible and extensibility of weft knitting, has monolayer net at the larger ventilating structure of cap body 211 The larger structure in hole e.g. forms tuck stitch or eyelet stitch, such vent canopy is good, and the larger ventilative knot of cap body 211 Material used by structure is polyamide fibre, terylene or spandex；As for the smaller ventilating structure of cap body 211, due to its 211 cabling of cap body Local deformation requirements are small, and ventilative requirement need to be small, therefore need to can only be realized with the material of tight ness rating, and cap body 211 is smaller Material used by ventilating structure is also polyamide fibre, terylene or spandex.

2 are please referred to Fig.1, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, wherein Foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And in this reality Apply in example, with above-described embodiment difference lies in：

The mobile base 31 of the present embodiment include base housing 311, rotatably be set to base housing 311 on movable pulley 312, It is connect on base housing 311 and with movable pulley 312 to drive the sliding driving motor of sliding slipping work (for mark in figure Show), sliding driving motor is electrically connected with nursing control device 36.And by the setting of movable pulley 312 and sliding driving motor, it can Simply and effectively to realize the locomotive function of mobile base 31, is conducive to installation and implements.

2 and Figure 13 are please referred to Fig.1, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, Wherein, foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And In the present embodiment, with above-described embodiment difference lies in：

In the present embodiment, any one movable arm 33 includes rotating the first connecting elements 331 being set on body 32, turning The third that dynamic the second connecting elements 332 and rotation on the first connecting elements 331 is set on the second connecting elements 332 connects Connection member 333.It, can relatively precisely due to the setting of the first connecting elements 331, the second connecting elements 332 and third connecting elements 333 Ground makes to movable arm 33 to be located at desired position, and mobile required article.

5 are please referred to Fig.1, the preferred structure of the first connecting elements 331 is comprising connect with body 32 is rotatablely connected first Extension bar part 3311, connect on body 32 and with head rod part 3311 with drive that head rod part 3311 rotates the One driving source 3312, wherein specifically, one end of head rod part 3311 is equipped with the first rotation axis 3313, this first turn The axis of moving axis 3313 and the axis of head rod part 3311 intersect vertically, and head rod part 3311 be by this One rotation axis 3313 is rotatablely connected with body 32, then, head rod part 3311 is the axis around the first rotation axis 3313 Rotation.

Preferably, first driving source 3312 can be a micromotor, and the micromotor passes through the first transmission gear It is 3314 to be connect with the first rotation axis 3313.

Please continue to refer to Figure 15, the preferred structure of the second connecting elements 332 is comprising with 331 turns of the first connecting elements Second connecting rod 3321 of dynamic connection, be set on first connecting elements 331 and connect with the second connecting rod 3321 with The second driving source 3322 for driving the second connecting rod 3321 to rotate, wherein specifically, on one end of the second connecting rod 3321 Equipped with the second rotation axis 3323, the axis of second rotation axis 3323 and the axis of the second connecting rod 3321 intersect vertically, and And second connecting rod 3321 be rotatablely connected by second rotation axis 3323 and the first connecting elements 331, then, the second company Extension bar part 3321 is the axis rotation around the second rotation axis 3323.

Preferably, second driving source 3322 can be a micromotor, and the micromotor passes through the second transmission gear It is 3324 to be connect with the second rotation axis 3323.

6 are please referred to Fig.1, the preferred structure of third connecting elements 333 is comprising rotate and connect with the second connecting elements 332 The third connecting rod 3331 that connects is connect on the second connecting elements 332 and with third connecting rod 3331 to drive third The third driving source 3332 that connecting rod 3331 rotates, wherein specifically, one end of third connecting rod 3331 is equipped with third The axis of rotation axis 3333, the axis and third connecting rod 3331 of the third rotation axis 3333 intersects vertically, and third connects Extension bar part 3331 be by the third rotation axis 3333 and the second connecting elements 332 rotation connection, then, third connecting rod 3331 is around the rotations of the axis of third rotation axis 3333.

Preferably, the third driving source 3332 can be a micromotor, and the micromotor passes through third transmission gear It is 3334 to be connect with third rotation axis 3333.

3 are please referred to Fig.1, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, wherein Foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And in this reality Apply in example, with above-described embodiment difference lies in：

The nursing robot 30 of the present embodiment further include one for the relevant caregiver of this action inconvenience person and this action Inconvenient person carries out the display screen 37 of video conversation, and display screen 37 is set on the front end of body, and with the nursing control device 36 Electrical connection.And by the setting of display screen 37, be conducive to the relatives in handicapped person because work or other reasons are not being taken action Inconvenient person at one's side when, can chat with handicapped person's remote communication, improve the interactivity between handicapped person and relatives, Be conducive to improve the emotion satisfaction of handicapped person.

3 are please referred to Fig.1, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, wherein Foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And in this reality Apply in example, with above-described embodiment difference lies in：

In the present embodiment, in order to enable accurately to be moved to specified location to nursing robot 30, and can to The barrier encountered when mobile can smoothly be got around without colliding, and nursing robot 30 further includes positioning system 381 and barrier Hinder object induction system 382, positioning system 381 and barrier induction system 382 to may be contained on head 34, and is filled with nursing control Set 36 electrical connections.

4 and Figure 17 are please referred to Fig.1, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, Wherein, foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And In the present embodiment, with above-described embodiment difference lies in：

The rescue device 39 of the present embodiment include can to handicapped person provide oxygen oxygen supply unit 391, can be to action Inconvenient person carries out electric shock stimulation to promote the electric shock unit 392 of heartbeat recovery and can provide corresponding first aid medicine to handicapped person Ball for prescription member 393, oxygen supply unit 391, electric shock unit 392 and be arranged inside body 32 for prescription member 393, with can be It supplies oxygen unit 391, electric shock unit 392 and can preferably be protected when not working for prescription member 393；Correspondingly, rescue module Including oxygen supply module, electric shock module and for medicine module.

Wherein, oxygen supply unit 391, which includes internal reservoir, has the oxygen cylinder of oxygen, for wearing the face for being set to handicapped person Oxygen face mask, the hose for connecting both oxygen cylinder and oxygen face mask, wherein one end of hose connects oxygen cylinder, another The oxygen of oxygen cylinder storage is delivered to handicapped person by connection oxygen face mask in end with this by oxygen face mask.In addition, oxygen cylinder Bottle outside set there are two shockproof rubber coil, meanwhile, the bottle of oxygen cylinder is sky blue, in order to identify.Besides protecting Under the premise of card dosage is enough, storage can be conducive to, which is 4L capacity, also can be other capacity, such as 8L, 10L certainly. Accordingly, when nursing robot 30 has found that anoxic occurs in handicapped person, rescue device can be controlled by nursing control device 36 39 oxygen supply unit 391 works, and oxygen face mask is attached in the face of handicapped person by the arm of control activity simultaneously 33, by This, can rescue handicapped person in time using the oxygen of oxygen cylinder.

The unit 392 that shocks by electricity includes the outer defibrillator of an automaton, and handicapped person's pulse is found in nursing robot 30 Whens stopping, arrhythmia cordis etc., the electric shock unit 392 that rescue device 39 can be controlled by nursing control device 36 works, and simultaneously Defibrillator outside automaton is attached on handicapped person's body at position corresponding with heart by control activity arm 33, by This, can rescue handicapped person in time by the electric shock that defibrillator outside automaton generates.

Work as nursing robot accordingly including pill storage container, dose dispenser and drinking water bottle for prescription member 393 When 30 confirmations need to feed pill to handicapped person, it can pass through and nurse the first for prescription of the control rescue device 39 of control device 36 393 work, to obtain suitable pill by dose dispenser, and the arm of control activity simultaneously 33 is by pill, drinking water bottle Pure water send to the face of handicapped person, handicapped person can in time be rescued by drug as a result,.

The foregoing is merely preferred embodiments of the present invention, structure is not limited to the above-mentioned shape enumerated, it is all All any modification, equivalent and improvement made by within the spirit and principles in the present invention etc. should be included in the protection of the present invention Within the scope of.

Claims (10)

1. a kind of home care apparatus is suitable for handicapped person, which is characterized in that including：

Support apparatus is nursed, the nursing support apparatus includes the support frame for positioning setting and supporting the component being provided thereon Frame, to the Backing member at the handicapped person back of support, driving the support apparatus of the Backing member rotation work to drive It moves device and to control the support apparatus control device of the support apparatus driving device work, is set in the braced frame There is a host cavity for component receiving in the inner；The Backing member is rotatably set in the braced frame, and foldable Be housed in the host cavity, be formed in the pivot region between the Backing member and the braced frame folding stop position and Position is stopped in expansion, and when the Backing member goes to the folding and stops position, the Backing member folding is housed in the receiving Intracavitary, when the Backing member goes to the expansion and stops position, the Backing member is unfolded in the braced frame；It is described Support apparatus driving device is set in the braced frame, and it drives end to be connected to the Backing member；The support is used Have control device to be set on the side of the braced frame, and is electrically connected with the support apparatus driving device；

Wearable detection apparatus, the wearable detection apparatus include that one can wear set on the head of this action inconvenience person to acquire row The brain wave acquisition cap of the brain physiological signal of dynamic inconvenience person, if the brain wave acquisition cap includes cap body, in the cap body Dry to acquire handicapped person brain physiological signal textile electrode and in the cap body and with it is described several Textile electrode connection controls chip to control the brain wave acquisition of several textile electrode work；

Nursing robot, the nursing robot include the mobile base that can be movably walking in given side, are set to the movement Body on pedestal, two movable hands for being movably arranged at the body both sides respectively and the action command of setting being executed by control Arm, the head set on the body upper end, the speech recognition system on the head, the relief dress on the body It sets and the nursing control device on the body, the nursing control device is electrically connected with the mobile base, with control The mobile working of the mobile base；The nursing control device is electrically connected with the movable arm, to control the movable hand Arm executes the action command of setting；The nursing control device is electrically connected with the speech recognition system, so as to work as this action not Just when or nursing staff is audibled instruction to the nursing robot, the speech recognition system may recognize that and the sound The digital signal to match is instructed, and the digital signal is sent to the nursing control device, then is controlled and is filled by the nursing It sets and executes corresponding work according to the related content of the digital signal control mobile base and/or the movable arm and refer to It enables；The nursing control device is electrically connected with the rescue device, with can control the rescue device to this action inconvenience person into Row Emergency Assistance；The rescue device include can to handicapped person provide oxygen oxygen supply unit, can to handicapped person into Row electric shock stimulation with promote heartbeat recover electric shock unit and can be provided to handicapped person corresponding first-aid pill for prescription Member；

Wherein, the nursing control device is electrically connected with the support apparatus control device, can be controlled to the support apparatus Device sends the work order of setting, to which the controllable support apparatus driving device drives the Backing member to rotate work Make, when the Backing member goes to the folding and stops position, makes this action inconvenience person that can crouch and lie on the Backing member, in When the Backing member goes to the expansion stop position, make this action inconvenience person that can prop up sitting by the Backing member；

The nursing control device is electrically connected with brain wave acquisition control chip, can control chip by the brain wave acquisition Several described textile electrodes of control are acquired the brain physiological signal of handicapped person, and to collected brain physiology Signal is analyzed and obtains the corresponding physical condition information of this action inconvenience person, can also be according to the physical condition information to the row Dynamic inconvenience person makes corresponding nursing, and by the physical condition information be sent to the cloud platform of medical institutions and with this action not Just on the communication apparatus of relevant caregiver.

2. home care apparatus as described in claim 1, it is characterised in that：The nursing control device includes that a nursing controls Circuit board, the nursing control circuit board are set to inside the body, and are electrically connected with brain wave acquisition control chip, and institute State the infrared transmitter that nursing control circuit board is equipped with transmittable infrared control instruction；

The support apparatus control device includes a support apparatus control circuit board, and the support apparatus control circuit board is equipped with It can receive the infrared receiver of the infrared control instruction sent by the infrared transmitter.

3. home care apparatus as claimed in claim 2, it is characterised in that：The nursing control circuit board passes through wireless connection Module and with the brain wave acquisition control chip be electrically connected.

4. home care apparatus as claimed in claim 3, it is characterised in that：The wireless connection module is bluetooth connection module Or the near fields NFC link block.

5. home care apparatus as described in claim 1, it is characterised in that：The mobile base includes base housing, can turn It is dynamic to be set to movable pulley on the base housing, connect on the base housing and with the movable pulley to drive the sliding The sliding driving motor of slipping work, the sliding driving motor are electrically connected with the nursing control device.

6. home care apparatus as described in claim 1, it is characterised in that：Any one described movable arm includes that rotation is set to The second connecting elements and rotation that the first connecting elements, rotation on the body are set on first connecting elements are set to Third connecting elements on second connecting elements.

7. home care apparatus as claimed in claim 6, it is characterised in that：First connecting elements includes and the body The head rod part of rotation connection is connect on the body and with the head rod part to drive described first to connect First driving source of extension bar part rotation.

8. home care apparatus as claimed in claim 6, it is characterised in that：Second connecting elements includes and described first Second connecting rod of connecting elements rotation connection is set on first connecting elements and is connect with second connecting rod To drive the second driving source of the second connecting rod rotation.

9. home care apparatus as claimed in claim 6, it is characterised in that：The third connecting elements includes and described second The third connecting rod of connecting elements rotation connection is set on second connecting elements and is connect with the third connecting rod To drive the third driving source of the third connecting rod rotation.

10. such as claim 1-9 any one of them home care apparatus, it is characterised in that：The nursing robot further includes One for the display screen with the relevant caregiver of this action inconvenience person and this action inconvenience person progress video conversation, the display screen It is electrically connected on the front end of the body, and with the nursing control device.