CN108743124A - 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 includes that can wear set on the head of this action inconvenience person to acquire The brain wave acquisition cap of the brain physiological signal of handicapped person can be worn and be taken action not with acquisition on the body of this action inconvenience person Just the electrocardiogram acquisition clothing of heart physiological signal and the hand set on this action inconvenience person can be worn to acquire handicapped person's The Intelligent bracelet of physical condition information, the brain wave acquisition cap include cap body, several in the cap body acquiring It the textile electrode of the brain physiological signal of handicapped person and is connect in the cap body and with several described textile electrodes Brain wave acquisition to control several textile electrode work controls chip；The electrocardiogram acquisition clothing include garment body, In the garment body several to acquire the heart physiological signal of handicapped person textile electrode and be set to institute It states in garment body and the electrocardio for connecting to control several textile electrode work with several described textile electrodes is adopted Collection control chip；The Intelligent bracelet includes annular body, MCU units, motional induction detection module, heart rate induction detection mould Block, blood pressure inductive detection module, liquid crystal display, alarm triggering module and bracelet power supply module, the MCU units, the fortune It is dynamic inductive detection module, the heart rate inductive detection module, the blood pressure inductive detection module, the liquid crystal display, described Alarm triggering module and bracelet power supply module are set in the annular body, the bracelet power supply module respectively with the MCU Unit, the motional induction detection module, the heart rate inductive detection module, the blood pressure inductive detection module, the liquid crystal Display, the alarm triggering module connection, the MCU units respectively with the motional induction detection module, the heart rate sense Answer detection module, the blood pressure inductive detection module, the liquid crystal display, alarm triggering module electrical connection；

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 and on the body Control device is nursed, the nursing control device is electrically connected with the mobile base, to control the mobile work of the mobile base Make；The nursing control device is electrically connected with the movable arm, to control the action command that the movable arm executes setting； The nursing control device is electrically connected with the speech recognition system, so as to work as this action inconvenience person or nursing staff to the shield When reason robot audibles instruction, the speech recognition system may recognize that the digital signal to match with the sound instruction, And the digital signal is sent to the nursing control device, then by the nursing control device according to the correlation of the digital signal Mobile base described in content-control and/or the movable arm execute corresponding work order；

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；

The nursing control device is electrically connected with electrocardiogram acquisition control chip, can be controlled by the electrocardiogram acquisition Several textile electrodes described in chip controls are acquired the heart physiological signal of handicapped person, and to collected heart 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；

The nursing control device is electrically connected with the MCU units, can obtain the kinesthesia by the MCU units Detection module, the heart rate inductive detection module, the blood pressure inductive detection module is answered to be detected in real time to handicapped person Related physical condition information, and obtain that the alarm triggering module sends out about the MCU units to the kinesthesia Detection module, the heart rate inductive detection module, the blood pressure inductive detection module is answered to be detected in real time to handicapped person Related data carry out calculating analysis after be evaluated as very healthy relevant information, and the physical condition information is sent to doctor Treat mechanism cloud platform and on the communication apparatus of the relevant caregiver of this action inconvenience person.

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

When home care apparatus to be utilized nurses handicapped person, can nursing support apparatus be first placed in bed On, and handicapped person is made to put on wearable detection apparatus；Then, it can be sent out to nursing robot and be transferred to handicapped person Nurse the sound instruction on support apparatus；After handicapped person crouches and lies on nursing support apparatus, nursing robot can control Wearable detection apparatus acquires information to the body of handicapped person, with can be when the physical condition of handicapped person occurs abnormal Warning emergency；If handicapped person thinks sitting, the sound instruction for being propped up sitting can be sent out to nursing robot, nursed Handicapped person will be propped up sitting by support apparatus.It can be in the case of unmanned collaboration, to row by the home care apparatus Dynamic inconvenience person carries out intelligent nursing, substantially reduces nursing cost.

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, brain electricity The control schematic diagram of acquisition control chip, electrocardiogram acquisition control chip, MCU units；

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, electrocardiogram acquisition control chip, MCU units；

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 a are the signal of the brain wave acquisition cap of the wearable detection apparatus of the home care apparatus of the embodiment of the present invention Figure；

Figure 11 b are the signal of the electrocardiogram acquisition cap of the wearable detection apparatus of the home care apparatus of the embodiment of the present invention Figure；

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 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 includes that can wear set on the head of this action inconvenience person to acquire the brain of handicapped person The brain wave acquisition cap 21 of physiological signal can be worn on the body of this action inconvenience person to acquire the heart physiological of handicapped person The electrocardiogram acquisition clothing 22 of signal and the hand set on this action inconvenience person can be worn to acquire the physical condition information of handicapped person Intelligent bracelet 23, brain wave acquisition cap 21 includes cap body 211, several in cap body 211 acquiring handicapped person Brain physiological signal brain electricity textile electrode 212 and connect in the cap body 211 and with several brain electricity textile electrodes 212 Brain wave acquisition to control the work of several brain electricity textile electrodes 212 controls chip 213；Electrocardiogram acquisition clothing 22 includes clothes sheet Body 221, several in garment body 221 are acquiring the electrocardio textile electrode of the heart physiological signal of handicapped person 222 and it connect to control several electrocardio fabrics electricity in garment body 221 and with several electrocardio textile electrodes 222 The electrocardiogram acquisition that pole 222 works controls chip 223；It should be noted that the arrangement of brain electricity textile electrode 212 is according to measurement people Position needed for body brain wave and be accordingly arranged in cap body 211, the arrangement of electrocardio textile electrode 222 is according to measuring human body electrocardio Position needed for wave and be accordingly arranged in garment body 221；Moreover, preferably, brain electricity textile electrode 212 with it by can mutually melt Gel and in the cap body 211, in order to accurately measure the brain wave of handicapped person；Electrocardio textile electrode 222 is by can With gel that it mutually melts in garment body 221, in order to accurately measure the electrocardio wave of handicapped person；Wherein, gel Also known as frozen glue, it be it is a kind of between liquid and solid have a kind of stiff substance of the semi-solid state of special elastic. Intelligent bracelet 23 include annular body 231, MCU units 232, motional induction detection module 233, heart rate inductive detection module 234, Blood pressure inductive detection module 235, liquid crystal display (not indicated in figure), alarm triggering module 236 and bracelet power supply module (figure In do not indicate)；MCU units 232, motional induction detection module 233, heart rate inductive detection module 234, blood pressure inductive detection module 235, liquid crystal display, alarm triggering module 236 and bracelet power supply module are set in annular body 231；Bracelet power supply module For lithium battery, incude respectively with MCU units 232, motional induction detection module 233, heart rate inductive detection module 234, blood pressure Detection module 235, liquid crystal display and alarm triggering module 236 connect, for detecting mould to MCU units 232, motional induction Block 233, heart rate inductive detection module 234, blood pressure inductive detection module 235, liquid crystal display and alarm triggering module 236 provide Power supply；MCU units 232 respectively with motional induction detection module 233, heart rate inductive detection module 234, blood pressure inductive detection module 235, liquid crystal display, alarm triggering module 236 are electrically connected, for controlled motion inductive detection module 233, heart rate induction inspection Survey the work of module 234, blood pressure inductive detection module 235, liquid crystal display, alarm triggering module 236.

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 It controls and fills in the head 34 of 32 upper end of body, the speech recognition system 35 on head 34 and the nursing on body 32 36 are set, nursing control device 36 is electrically connected with mobile base 31, to control the mobile working of mobile base 31；Nurse control device 36 are electrically connected with movable arm 33, and the action command of setting is executed with control activity arm 33；Nurse control device 36 and voice Identifying system 35 is electrically connected, so that when this action inconvenience person or nursing staff audible instruction to nursing robot 30, language Sound identifying 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 mobile base 31 and/or movable arm are controlled according to the related content of the digital signal by nursing control device 36 33 execute corresponding work order.

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；

Nursing control device 36 is electrically connected with electrocardiogram acquisition control chip 223, can control chip 223 by electrocardiogram acquisition The heart physiological signal for controlling 212 handicapped person of several textile electrodes pair is acquired, and to collected heart 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 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；

Nursing control device 36 is electrically connected with MCU units 232, and mould is detected can obtain motional induction by MCU units 232 Block 233, heart rate inductive detection module 234, blood pressure inductive detection module 235 are in the related body detected in real time to handicapped person Body condition information, and obtain alarm triggering module 236 send out about MCU units 232 to motional induction detection module 233, Heart rate inductive detection module 234, blood pressure inductive detection module 235 are carried out in the related data detected in real time to handicapped person It is evaluated as very healthy relevant information after calculating analysis, and the physical condition information is sent to the cloud platform of medical institutions With on the communication apparatus of the relevant caregiver of this action inconvenience person.

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 worn by brain wave acquisition cap 21, electrocardiogram acquisition clothing 22 and Intelligent bracelet 23；

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, several brain electricity textile electrodes are controlled can control chip 213 by brain wave acquisition The brain physiological signal of 212 couples of handicapped persons is acquired, and is analyzed collected brain physiological signal and obtained There is larger spirit fluctuation, psychology variation, brain shape in the corresponding physical condition information of this action inconvenience person, such as handicapped person Condition exception etc., can also make corresponding nursing according to the physical condition information to this action inconvenience person, such as press relaxing tendons and activating collaterals, supply Oxygen emergency treatment, electric shock first aid etc., and simultaneously by the physical condition information be sent to nearby or the cloud platform of relevant medical institutions and Ensure action not with the communication apparatus (smartwatch or mobile phone) of the relevant caregiver of this action inconvenience person emergency can be alerted Just there is the emergency relief of abnormal conditions；

Simultaneously, the nursing control device 36 of nursing robot 30 can be electrically connected with electrocardiogram acquisition control chip 223, with can By electrocardiogram acquisition control chip 223 control several electrocardio textile electrodes 222 to the heart physiological signal of handicapped person into Row acquisition, and collected heart physiological signal is filtered except interference, specifically, nursing control device 36 is equipped with filtering System, in order to the physiological signal to acquisition can filtering and impurity removing, to ensure the accurate analysis of next step；Then, nursing control Device 36 calculates analysis to obtain the corresponding physical condition information of this action inconvenience person to the heart physiological signal, such as obtains action Inconvenient person's heart information can also make corresponding nursing according to the physical condition information to this action inconvenience person, such as press First aid, ventilation first aid, electric shock first aid etc., and be simultaneously sent to the physical condition information nearby or the cloud of relevant medical institutions Platform and communication apparatus (smartwatch or mobile phone) with the relevant caregiver of this action inconvenience person are ensured with that can alert emergency There is the emergency relief of abnormal conditions in handicapped person；

And nurse control device 36 and be also electrically connected with MCU units 232, motional induction inspection can be obtained by MCU units 232 Module 233, heart rate inductive detection module 234, blood pressure inductive detection module 235 are surveyed in the phase detected in real time to handicapped person Close physical condition information, and obtain alarm triggering module 236 send out about MCU units 232 to motional induction detection module 233, heart rate inductive detection module 234, blood pressure inductive detection module 235 are in the related data detected in real time to handicapped person It is evaluated as very healthy relevant information after carrying out calculating analysis, wherein 236 signal an alert of alarm triggering module is in this way It generates：It is gone up and when being activated work when Intelligent bracelet is worn on handicapped person, this moment, motional induction detection module 233 Meeting carry out induction detection to the motion conditions of handicapped person, heart rate inductive detection module 234 understands the heart rate to handicapped person Carry out induction detection, blood pressure inductive detection module 235 can carry out induction detection, later, kinesthesia to the blood pressure of handicapped person The related data for answering detection module 233, heart rate inductive detection module 234, blood pressure inductive detection module 235 that will can respectively detect MCU units 232 are sent to, then calculating analysis is carried out to these related datas by MCU units 232, if the outcome evaluation obtained is It is in good health, then alarm triggering module 236 will not signal an alert, conversely, then alarm triggering module 236 can send out alarm signal Number, and the information is sent to nursing control device 36 by MCU units 232；Followed by, control device 36 is nursed by the body Body condition information be sent to medical institutions cloud platform and on the communication apparatus of the relevant caregiver of this action inconvenience person；

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.

1a is please referred to Fig.1, the brain wave acquisition cap 21 in the present embodiment can also be used alone as the detection of human body electroencephalogram's wave and use, and In use, user directly wears brain wave acquisition cap 21 on head, it is simple and convenient.Moreover, be in be detected without It is measured to hospital, greatly improves its flexibility and convenience.

Secondly, traditional electrode is substituted using brain electricity textile electrode 212, and the arrangement of brain electricity textile electrode 212 is according to survey Amount human body electroencephalogram's wave needed for position and be accordingly arranged in cap body 211, as long as a result, user in use, by the cap body wear in It is simple and convenient on head, avoid conventionally employed " electrode+conductive paste+adhesive plaster " it is this need professional person and more take Ground is attached at the embodiment of human body head；Simultaneously due to which brain electricity textile electrode 212 can be worn with cap body 211 in user Head after position and fix, it is not easy to generate the obscission occurred using " electrode+conductive paste+adhesive plaster " this embodiment； Further more, during user's use, it can be freely movable, it needs to keep posture different from traditional approach, improves relaxing for user Appropriateness.

Then, due to the use of brain electricity textile electrode 212, accordingly, the electrode attached at the top of human body head is needed to move to patch Attached human 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.

1b is please referred to Fig.1, the electrocardiogram acquisition clothing 22 in the present embodiment can also be used alone as the detection of human body electrocardio wave and use, and In use, electrocardiogram acquisition clothing 22 is directly worn on body by user, it is simple and convenient.Moreover, be in be detected and Without being measured to hospital, its flexibility and convenience are greatly improved.

Secondly, traditional electrode is substituted using electrocardio textile electrode 222, and the arrangement of electrocardio textile electrode 222 is according to survey It measures position needed for human body electrocardio wave and is accordingly arranged in garment body 221, as long as user is in use, by the clothes as a result, Ontology is worn on body, simple and convenient, avoids that conventionally employed " electrode+conductive paste+adhesive plaster " is this to need professional people Scholar and more time-consumingly it is attached at the embodiment on human body body；Simultaneously due to which electrocardio textile electrode 222 can be with clothes Positioning is fixed after ontology 221 is worn on the body of user, it is not easy to be generated and be used " electrode+conductive paste+adhesive plaster " this reality The obscission that the mode of applying occurs；Further more, during user's use, it can be freely movable, it needs to protect different from traditional approach Posture is held, the comfort level of user is improved.

Fig. 2 and Fig. 3 are please referred to, the nursing control device 36 of the present embodiment includes a nursing control circuit board 361, nursing control Circuit board 361 processed is set to inside body 32, and controls chip 223, MCU units with brain wave acquisition control chip 213, electrocardiogram acquisition 232 electrical connections, and nurse the infrared transmitter 3611 that control circuit board 361 is equipped with transmittable infrared control instruction；

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, in order to efficiently and easily make nursing control circuit board 361 control chip 213, electrocardiogram acquisition with brain wave acquisition Control chip 223 be electrically connected, nursing control circuit board 361 by first be wirelessly connected module 41 by with brain wave acquisition control chip 213 electrical connection, nursing control circuit board 361 by second wireless connection module 42 by with electrocardiogram acquisition control chip 223 be electrically connected It connects, nursing control circuit board 361 is electrically connected by third wireless connection module 43 with MCU units 232.Moreover, preferably, should First is wirelessly connected the wireless connection of module 41, second module 42, third wireless connection module 43 is bluetooth connection module or NFC Near field link block, 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.

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.

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, the driving end of the support apparatus driving device 13 in the present embodiment is a telescopic drive portion 131, stretch Contracting driving portion 131 is connect by transmission mechanism 132 with Backing member 12, wherein by the setting of transmission mechanism 132, is removed Be conducive to reach the power that support apparatus driving device 13 generates on Backing member 12, with the Backing member that can smoothly drive 12 rotation work also helps the positioning setting of support apparatus driving device 13.And preferably, the support apparatus driving device 13 be preferably electric pushrod, then its telescopic drive portion 131 is a telescopic screw rod.Certainly, support apparatus driving device 13 is also optional It is selected as 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, preferably, the nursing support apparatus 10 of the present embodiment further includes being set in braced frame 11 and blocking Support apparatus driving device 13 is can prevent the hand of user from touching support apparatus driving device 13 and take into account handrail function Outer cover 15, wherein the making of the materials such as metal, plastics, timber can be used in the outer cover 15.

Referring to Fig. 5, further, the nursing support apparatus 10 of the present embodiment further includes set on the bottom side of braced frame 11 On anti-skid structure 16 to slide after preventing braced frame 11 to be 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, further, the nursing support apparatus 10 of the present embodiment further includes being set to flexible back bracket part 122 On for fixed pillow pillow fixing piece 17, the wherein pillow fixing piece 17 is an elastic webbing, it is preferable that the elastic webbing is set There are two, and two elastic webbings are divided into the upper surface of flexible back bracket part 122 and close to the positions of third back bracket moulding 1213 Place.In addition, preferably, the pillow fixing piece 17 can also be velcro, it thus also can easy and convenient fixed pillow.

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.

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, in the present embodiment, any one movable arm 33 includes that rotation is set on body 32 The second connecting elements 332 and rotation that first connecting elements 331, rotation are set on the first connecting elements 331 are set to the second connection Third connecting elements 333 on component 332.Due to the first connecting elements 331, the second connecting elements 332 and third connecting elements 333 setting can accurately make 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 nursing robot 30 of the present embodiment further includes one can For carrying out the display screen 37 of video conversation with the relevant caregiver of this action inconvenience person and this action inconvenience person, display screen 37 is set to On the front end of body, and it is electrically connected with the nursing control device 36.And by the setting of display screen 37, be conducive to taking action not Just relatives because work or other reasons not handicapped person at one's side when, can be chatted with handicapped person's remote communication It, improves the interactivity between handicapped person and relatives, is conducive to the emotion satisfaction for improving handicapped person.

3 are please referred to Fig.1, preferably, in order to enable accurately to be moved to specified location, and energy to nursing robot 30 The barrier encountered when moving can smoothly be got around without colliding, nursing robot 30 further includes positioning system 381 And barrier induction system 382, positioning system 381 and barrier induction system 382 may be contained on head 34, and controlled with nursing Device 36 processed is electrically connected.

4 and Figure 17 are please referred to Fig.1, preferably, the nursing robot 30 of the present embodiment further includes to this action inconvenience Person carries out the rescue device 39 of Emergency Assistance, and rescue device 39 is set on body 32, and rescue device 39 and nursing control device 36 electrical connections, work can be controlled by nursing control device 36；And specifically, nurse the nursing control circuit board of control device 36 It is correspondingly provided on 361 with to the rescue module to handicapped person progress Emergency Assistance.

And the rescue device 39 include can to handicapped person provide oxygen oxygen supply unit 391, can be to handicapped person Electric shock stimulation is carried out to promote the electric shock unit 392 of heartbeat recovery and the confession of corresponding first-aid pill can be provided to handicapped person Prescription member 393 supplies oxygen unit 391, electric shock unit 392 and is arranged inside body 32 for prescription member 393, can supply oxygen list Member 391, electric shock unit 392 and while not working for prescription member 393, can preferably be protected；Correspondingly, rescue module includes supplying Oxygen 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 can wear set on the head of this action inconvenience person to acquire action The brain wave acquisition cap of the brain physiological signal of inconvenient person can be worn on the body of this action inconvenience person to acquire handicapped person Heart physiological signal electrocardiogram acquisition clothing and the hand set on this action inconvenience person can be worn to acquire the body of handicapped person The Intelligent bracelet of condition information, the brain wave acquisition cap include cap body, in the cap body several to acquire action The textile electrode of the brain physiological signal of inconvenient person and connect in the cap body and with several described textile electrodes to Control the brain wave acquisition control chip of several textile electrode work；The electrocardiogram acquisition clothing includes garment body, is set to In the garment body several to acquire the heart physiological signal of handicapped person textile electrode and be set to the clothing It takes on ontology and connect to control the electrocardiogram acquisition control of several textile electrode work with several described textile electrodes Coremaking piece；The Intelligent bracelet includes annular body, MCU units, motional induction detection module, heart rate inductive detection module, blood Press inductive detection module, liquid crystal display, alarm triggering module and bracelet power supply module, the MCU units, the kinesthesia Answer detection module, the heart rate inductive detection module, the blood pressure inductive detection module, the liquid crystal display, the alarm Trigger module and bracelet power supply module are set in the annular body, and the bracelet power supply module is mono- with the MCU respectively First, the described motional induction detection module, the heart rate inductive detection module, the blood pressure inductive detection module, the liquid crystal Show that device, alarm triggering module connection, the MCU units incude with the motional induction detection module, the heart rate respectively Detection module, the blood pressure inductive detection module, the liquid crystal display, alarm triggering module electrical connection；

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 and the nursing on the body Control device, the nursing control device are electrically connected with the mobile base, to control the mobile working of the mobile base；Institute It states nursing control device to be electrically connected with the movable arm, to control the action command that the movable arm executes setting；It is described Nursing control device is electrically connected with the speech recognition system, so as to work as this action inconvenience person or nursing staff to the cleaning device When device people audibles instruction, the speech recognition system may recognize that the digital signal to match with the sound instruction, and will The digital signal is sent to the nursing control device, then by the nursing control device according to the related content of the digital signal It controls the mobile base and/or the movable arm executes corresponding work order；

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；

The nursing control device is electrically connected with electrocardiogram acquisition control chip, can control chip by the electrocardiogram acquisition Several described textile electrodes of control are acquired the heart physiological signal of handicapped person, and to collected heart 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 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；

The nursing control device is electrically connected with the MCU units, is examined with that can obtain the motional induction by the MCU units Module, the heart rate inductive detection module, the blood pressure inductive detection module are surveyed in the phase detected in real time to handicapped person Physical condition information is closed, and obtain that the alarm triggering module sends out examine the motional induction about the MCU units Module, the heart rate inductive detection module, the blood pressure inductive detection module are surveyed in the phase detected in real time to handicapped person It closes after data carry out calculating analysis and is evaluated as very healthy relevant information, and the physical condition information is sent to therapeutic machine The cloud platform of structure and on the communication apparatus of the relevant caregiver of this action inconvenience person.

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 adopted with brain wave acquisition control chip, the electrocardio Collection control chip, MCU units electrical connection, and the nursing control circuit board is equipped with transmittable infrared control instruction Infrared transmitter；

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 is wireless by first Link block and with the brain wave acquisition control chip be electrically connected；The nursing control circuit board is wirelessly connected module by second And it is electrically connected with electrocardiogram acquisition control chip；The nursing control circuit board by third be wirelessly connected module by with it is described MCU units are electrically connected.

4. home care apparatus as claimed in claim 3, it is characterised in that：Described first is wirelessly connected module as bluetooth connection Module or the near fields NFC link block；Described second is wirelessly connected module as bluetooth connection module or the near fields NFC link block；Institute It is bluetooth connection module or the near fields NFC link block to state third and be wirelessly connected module.

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.