CN113244067B

CN113244067B - Intelligent horizontal exercise assisting device and health monitoring and rehabilitation management method

Info

Publication number: CN113244067B
Application number: CN202110621457.4A
Authority: CN
Inventors: 肖罡; 杨钦文; 张斌; 刘轩; 严惠军; 郭家豪
Original assignee: Jiangxi College of Application Science and Technology
Current assignee: Jiangxi College of Application Science and Technology
Priority date: 2021-06-03
Filing date: 2021-06-03
Publication date: 2023-06-20
Anticipated expiration: 2041-06-03
Also published as: CN113244067A

Abstract

The invention discloses an intelligent horizontal exercise assisting device and a health monitoring and rehabilitation management method. The method comprises the following steps: the cared person logs in to call the information of the cared person, remotely contacts and communicates with the main doctor of the cared person, the main doctor makes nursing rehabilitation advice, and the cared person controls the mechanical driving unit of the nursing medical bed to perform different kinds of rehabilitation training according to the advice. The device comprises a nursing bed body and a user terminal, wherein the user terminal can share information with the personal cloud database. The invention combines the nursing bed mechanical driving unit with the internet technology, so as to obtain a more intelligent and humanized nursing medical bed, greatly reduce the work of nursing staff, enable the cared to be used at home, remotely contact with the main doctor and interact with the main doctor, achieve better diagnosis effect, and can perform rehabilitation training by controlling the mechanical driving unit after adopting the rehabilitation advice of the main doctor.

Description

Intelligent horizontal exercise assisting device and health monitoring and rehabilitation management method

Technical Field

The invention relates to a rehabilitation nursing apparatus, in particular to an intelligent horizontal exercise assisting device and a health monitoring and rehabilitation management method.

Background

As aging increases, the pressure of nursing is increased dramatically, so that the nursing bed suitable for various patients and old people is endless. However, the nursing beds on the market are generally expensive, have single functions, and are difficult to meet the nursing needs and provide more humanized and intelligent services. The nursing beds on the market generally have basic nursing functions of lifting back, bending legs, turning over, going to the toilet and the like. When a patient lying in bed for a long period of time needs to exercise his limbs, it may be necessary for the nursing staff to assist in training or for the patient to be transferred to a special nursing instrument. In this process, there is a safety hazard, which may cause secondary injury to the patient. Therefore, it is very important to invent a nursing bed which integrates basic physiotherapy function and limb rehabilitation training function.

Disclosure of Invention

The invention aims to solve the technical problem of overcoming the defects of the prior art and providing the intelligent horizontal type exercise assisting device and the health monitoring and rehabilitation management method which combine a nursing bed mechanical driving unit with the internet technology to obtain a more intelligent and humanized nursing medical bed and greatly reduce the work of nursing staff.

In order to solve the technical problems, the invention adopts the following technical scheme:

the health monitoring and rehabilitation management method stores medical information of a cared person in a data storage unit of a user terminal in advance and stores the medical information in a personal cloud database after being authorized by the cared person, and the control method comprises the following steps:

s1, a cared person calls own medical information and displays the medical information on an LCD display screen after logging in through an identification system;

s2, the cared person remotely contacts with the main doctor through the communication module, and the main doctor accesses medical information of the cared person in the personal cloud database after obtaining the authorization of the cared person;

s3, the cared person communicates with the main doctor through the miniature microphone and the loudspeaker;

s4, the main doctor makes nursing and rehabilitation advice according to the personal cloud database and the description of the caretaker, makes a text, uploads the text to the personal cloud database, and a central processing unit of the user terminal acquires the text from the personal cloud through a communication module and displays the text on an LCD display screen;

s5, according to nursing and rehabilitation advice of a main doctor, a cared person controls a mechanical driving unit of a nursing medical bed to perform mechanical movement through a touch button or a voice module, and the cared person is assisted to perform rehabilitation training of lifting back, turning over, toilet, leg bending, upper limb bending and stretching, lower limb bending and stretching and sitting by different mechanical mechanism movements of the nursing medical bed.

As a further improvement of the above technical scheme:

after step S1, step S2 is preceded by a step of measuring the temperature, where the step of measuring the temperature includes: the thermometer arranged on the nursing bed detects the cared person at regular time, stores the body temperature information in the data storage unit and stores the body temperature information in the personal cloud database after being authorized by the cared person.

The intelligent horizontal exercise assisting device comprises a nursing bed body and a user terminal, wherein the user terminal comprises a central processing unit, a data storage unit, an identification system, a communication module, a miniature microphone, a loudspeaker and an LCD (liquid crystal display) display screen, the user terminal can share information with a personal cloud database, the nursing bed body comprises a bed board, a bed board support, a bed frame, a back lifting driving mechanism, a turning over driving mechanism, a toilet driving mechanism, an upper limb bending and stretching mechanism, a lower limb bending and stretching mechanism and a leg bending driving mechanism, the back lifting driving mechanism, the turning over driving mechanism, the toilet driving mechanism, the upper limb bending and stretching mechanism, the lower limb bending and stretching mechanism and the leg bending driving mechanism form a mechanical driving unit, and the mechanical driving unit is controlled by the central processing unit through a touch key or a voice module; the bed board comprises an upper body main bed board, a lower body main bed board, a back board, a hip board, a thigh bed board, a forearm bed board, a thigh bed board, a shank bed board and foot pedals, wherein the upper body main bed board is arranged on a bed board support, the lower body main bed board is hinged with the upper body main bed board, the back board is arranged on a bed board support and hinged with the upper body main bed board, a back lifting driving mechanism is arranged on the bed board support and used for driving the back board to turn upwards, the upper body main bed board is provided with a mounting groove, the hip board is arranged in the mounting groove in a sliding manner, a toilet tray is arranged below the hip board and connected with a toilet driving mechanism, the toilet driving mechanism is used for driving the hip board to slide and drive the toilet tray to ascend and descend, the thigh bed board is hinged on the back board, a forearm bed board is hinged with the forearm bed board, a lower limb extending mechanism is connected with the lower limb bed board, the thigh is hinged on the upper body main bed board, the lower leg is hinged with the upper body main bed board is hinged with the thigh bed board, the lower leg extending mechanism is connected with the lower leg extending driving mechanism, the lower leg is connected with the upper leg main bed board in a downward concave manner, the foot pedal is hinged with the upper leg main bed board is arranged in a driving manner, the turnover driving mechanism is connected with the upper leg main bed board in a horizontal manner and can be hinged with the upper leg main bed board.

As a further improvement of the above technical scheme:

the upper limb bending and stretching mechanism is an upper limb crank connecting rod sliding block mechanism, the upper limb crank connecting rod sliding block mechanism is arranged below the upper body main bed board, the forearm bed board is hinged with an upper limb bending and stretching sliding block of the upper limb crank connecting rod sliding block mechanism, and the hinge point between the forearm bed board and the forearm bed board is lower than the hinge point between the forearm bed board and the back board; the lower limb bending and stretching mechanism is a lower limb crank connecting rod sliding block mechanism, the lower limb crank connecting rod sliding block mechanism is arranged below the lower body main bed board, the lower limb bending and stretching sliding block of the lower limb crank connecting rod sliding block mechanism is hinged with the lower limb bending and stretching sliding block of the lower limb crank connecting rod sliding block mechanism, and the hinge point between the lower limb bed board and the thigh bed board is higher than the hinge point between the thigh bed board and the upper body main bed board.

The upper limb crank connecting rod sliding block mechanism comprises an upper limb disc crank, an upper limb crank bracket, an upper limb crank connecting rod, an upper limb first guide rail, an upper limb connecting rod, an upper limb second guide rail and an upper limb crank drive, wherein the upper limb crank bracket is arranged on an upper body main bed board; the lower limb crank connecting rod slide block mechanism comprises a lower limb disc crank, a lower limb crank bracket, a lower limb crank connecting rod, a lower limb first guide rail, a lower limb connecting rod, a lower limb second guide rail and a lower limb crank drive, wherein the lower limb crank bracket is arranged on an upper body main bed board, the lower limb disc crank is arranged on the lower limb crank bracket, the lower limb crank drive is used for driving the lower limb disc crank to rotate, a lower limb sinusoidal slide block is fixedly arranged on the lower limb disc crank, the lower limb first guide rail is fixedly arranged on the lower limb crank bracket, a lower limb strip-shaped groove is formed in the lower limb crank connecting rod, the lower limb sinusoidal slide block is positioned in the lower limb strip-shaped groove, the lower limb crank connecting rod is movably arranged on the lower limb first guide rail, the lower limb second guide rail is arranged on one side of a lower limb bed board, one end of the lower limb connecting rod is connected with a lower limb stretching slide block in the lower limb second guide rail, the other end of the lower limb connecting rod is connected with the lower limb crank connecting rod, and the lower limb bending slide block is hinged with the lower limb stretching slide block.

The upper limb first guide rail is an upper limb optical axis, two ends of the upper limb optical axis are arranged on an upper limb crank bracket, one end of the upper limb crank connecting rod is provided with an upper limb connecting sleeve, and the upper limb connecting sleeve is movably sleeved on the upper limb optical axis; the lower limb first guide rail is a lower limb optical axis, two ends of the lower limb optical axis are arranged on a lower limb crank bracket, one end of the lower limb crank connecting rod is provided with a lower limb connecting sleeve, and the lower limb connecting sleeve is movably sleeved on the lower limb optical axis; the upper limb optical axis is provided with an optical axis sliding block, the optical axis sliding block comprises a sliding block base and two lifting lugs, the two lifting lugs penetrate through the upper limb optical axis, an upper limb connecting sleeve is arranged between the two lifting lugs, the sliding block base is provided with a first U-shaped groove, and one end of an upper limb connecting rod is hinged in the first U-shaped groove through a pin shaft; the lower limb optical axis is provided with an optical axis sliding block, the optical axis sliding block comprises a sliding block base and two lifting lugs, the two lifting lugs penetrate through the lower limb optical axis, a lower limb connecting sleeve is arranged between the two lifting lugs, the sliding block base is provided with a first U-shaped groove, and one end of a lower limb connecting rod is hinged in the first U-shaped groove through a pin shaft; the upper limb bending and stretching sliding block is provided with a sliding connecting seat, the sliding connecting seat is provided with a second U-shaped groove, and the other end of the upper limb connecting rod is hinged in the second U-shaped groove through a pin shaft; the lower limb bending and stretching sliding block is provided with a sliding connecting seat, the sliding connecting seat is provided with a second U-shaped groove, and the other end of the lower limb connecting rod is hinged in the second U-shaped groove through a pin shaft.

The leg bending driving mechanism comprises a leg bending screw rod, a leg bending screw rod driving device, a leg bending screw rod connecting rod, a transition connecting rod, an L-shaped leg bending connecting rod and a leg bending guide rail, wherein the joint of the lower main bed board and the upper main bed board is provided with a hinge point P, the leg bending screw rod is arranged on the back surface of the bed board support, the leg bending screw rod driving device is used for driving the leg bending screw rod to rotate, the leg bending guide rail is arranged on the back surface of the bed board support, one end of the leg bending screw rod is connected with a leg bending screw rod nut of the leg bending screw rod, the other end of the leg bending screw rod is connected with a leg bending sliding block of the leg bending guide rail, the L-shaped leg bending connecting rod is hinged on the bed board support, the L-shaped leg bending connecting rod is provided with a hinge point Q, the hinge point Q is arranged at the joint of the horizontal connecting rod part and the vertical connecting rod part, one end of the transition connecting rod is hinged with the leg bending sliding block, the other end of the transition connecting rod is hinged with the vertical connecting rod part, the back surface of the foot pedal is fixedly provided with a supporting vertical plate, the horizontal connecting rod is hinged with the supporting vertical plate, the hinge point P is on the same vertical line with the hinge point Q, the hinge point Q is provided with the hinge point M, the joint between the foot pedal and the main board has the same connecting line with the hinge point M, and the same length with the hinge point N, and the hinge point M is equal to the hinge point.

The back lifting driving mechanism comprises a back lifting lead screw, a back lifting lead screw connecting rod, a back lifting guide rail and a back lifting lead screw driving device, wherein the back lifting guide rail is arranged on the back of the back plate, one end of the back lifting connecting rod is movably arranged on the back lifting guide rail, the other end of the back lifting connecting rod is connected with the bed plate support, the back lifting lead screw is arranged below the bed plate support, one end of the back lifting lead screw connecting rod is connected with a back lifting lead screw nut of the back lifting lead screw, the other end of the back lifting lead screw connecting rod is hinged with the back lifting connecting rod, and the back lifting lead screw driving device is used for driving the back lifting lead screw to rotate.

The turning driving mechanism comprises a turning screw rod, a turning screw rod and a turning screw rod driver, the back of the bed board bracket is provided with the turning connecting rod, the turning screw rod is arranged on the bed frame and positioned below the turning connecting rod, one end of the turning screw rod is connected with a turning screw nut, the other end is hinged with the turning connecting rod, the turning-over screw drive is used for driving the turning-over screw to rotate, side baffles are arranged on two sides of the upper body main bed board, one side, which is close to the inner side, of the side baffles is hinged to the upper body main bed board, a baffle wheel is arranged below the side baffles, and the baffle wheel is installed on the side portion of the bed frame through a baffle wheel bracket.

Compared with the prior art, the invention has the advantages that:

(1) According to the health monitoring and rehabilitation management method, the designed mechanical driving unit of the nursing bed is combined with the Internet technology, so that a more intelligent and humanized nursing medical bed is obtained, the work of nursing staff can be greatly reduced, when the nursing bed is used remotely, for example at home, the nursing bed can be directly and remotely contacted with a main doctor through a communication module, interaction with the main doctor is achieved, a better diagnosis effect is achieved, after nursing rehabilitation advice given by the main doctor is adopted, the nursing bed can be controlled to perform mechanical mechanism movement in a mode driven by a touch button or a voice module, rehabilitation training is assisted to a user through various mechanical mechanism movements of the nursing bed, for example, the back lifting function, the turning-over function, the upper limb bending and stretching function and other mechanical movements are controlled to assist the user to complete rehabilitation training. Meanwhile, the device is also suitable for places where nursing staff are dense, such as hospitals, in order to meet individual requirements of observation staff in hospitalization, such as toilet, and the like, a user can drive a back lifting function through a touch key or a voice module to meet the visual angle requirement, and the like.

(2) According to the intelligent horizontal exercise assisting device, the designed mechanical driving unit of the nursing bed is combined with the Internet technology, so that the intelligent and humanized nursing medical bed is obtained, the work of nursing staff can be greatly reduced, meanwhile, by arranging the back lifting driving mechanism, the turning driving mechanism, the toilet tray, the toilet driving mechanism, the upper limb bending and stretching mechanism, the lower limb bending and stretching mechanism and the leg bending driving mechanism, the four limbs bending and stretching exercise of a rehabilitation person or an old person can be realized when the patient lies down, the back lifting exercise can be performed, the turning exercise can be realized, the leg bending exercise can be realized, the sitting and standing exercise can be realized, the toilet can be realized, the rehabilitation training of the rehabilitation person or the old person, such as the forearm, the thigh, the waist and abdomen can be realized, the basic nursing functions of back lifting, leg bending, turning and toilet can be realized, and the like can be realized, the four limbs training mechanism and the bed body are perfectly fused, the upper space is not occupied, and the transmission mechanisms with all functions are arranged below. Not only beautifies the appearance, but also has simple and compact structure.

(3) The intelligent horizontal type motion auxiliary device adopts the sinusoidal motion mechanism formed by connecting the disc crank, the sinusoidal sliding block and the crank, so that sinusoidal motion of the upper limb and the lower limb in the bending and stretching process is realized, the impact on the upper limb and the lower limb is reduced when the intelligent horizontal type motion auxiliary device moves, and better use experience is provided for a user. The crank drive of the upper limb and the lower limb is preferably a servo motor, and the motor can be controlled to change different movement frequencies so as to achieve the intensity which is most suitable for the movement of a user. The small arm bed board, the large arm bed board and the driving mechanism of the small arm bed board and the large arm bed board are connected with the bed board into a whole, and any external device is not needed, so that the bed board is more convenient and concise.

Drawings

Fig. 1 is a flowchart of the management method of embodiment 1 of the present invention.

Fig. 2 is a schematic diagram of a control module of the management method according to embodiment 1 of the present invention.

Fig. 3 is a schematic structural view of an intelligent horizontal type exercise assisting device according to embodiment 2 of the present invention.

Fig. 4 is a schematic view of a driving mechanism portion of the intelligent horizontal type exercise assisting device of embodiment 2 of the present invention.

Fig. 5 is a schematic diagram (one) of a limb driving mechanism of the intelligent horizontal exercise assisting device according to embodiment 2 of the present invention.

Fig. 6 is a schematic diagram (two) of a limb driving mechanism part of the intelligent horizontal exercise assisting device according to embodiment 2 of the present invention.

Fig. 7 is a schematic structural view of an upper limb crank-link slider in embodiment 2 of the present invention.

Fig. 8 is a schematic structural diagram of an upper limb optical axis and an upper limb connecting rod in embodiment 2 of the present invention.

Fig. 9 is a schematic view showing the structure of an optical axis slider in embodiment 2 of the present invention.

Fig. 10 is a schematic view showing the positions of the upper limb second guide rail, the upper limb extension and flexion slide block and the forearm bed board according to embodiment 2 of the invention.

Fig. 11 is a schematic structural view of an upper limb crank connecting rod in embodiment 2 of the present invention.

Fig. 12 is a schematic view showing the structure of an upper limb crank bracket in embodiment 2 of the present invention.

Fig. 13 is a schematic structural view of a slider connection seat in embodiment 2 of the present invention.

Fig. 14 is a schematic view showing the state of the bending and stretching process of the arm beds and the arm beds according to embodiment 2 of the present invention.

Fig. 15 is a schematic view of the lower limb crank link mechanism in embodiment 2 of the present invention.

Fig. 16 is a schematic view showing the positions of the lower limb second guide rail and the lower limb extension/flexion slider in embodiment 2 of the present invention.

Fig. 17 is a schematic view showing the state of the bending and stretching process of the thigh board and the shank board in embodiment 2 of the present invention.

Fig. 18 is a schematic structural view of a leg-bending drive mechanism in embodiment 2 of the present invention.

Fig. 19 is a schematic view showing the structure of the leg bending guide rail and the leg bending slider according to embodiment 2 of the present invention.

Fig. 20 is a schematic view showing the structure of the support vertical plate, the L-shaped leg-bending link and the transition link in embodiment 2 of the present invention.

Fig. 21 is a schematic structural view of a leg-bending connecting seat in embodiment 2 of the present invention.

Fig. 22 is a schematic structural view of a leg-bending screw rod link in embodiment 2 of the present invention.

Fig. 23 is a schematic diagram showing the state of the leg bending operation according to embodiment 2 of the present invention.

Fig. 24 is a schematic structural view of the back lifting drive mechanism in embodiment 2 of the present invention.

Fig. 25 is a schematic diagram showing a state of the lifting operation of embodiment 2 of the present invention.

Fig. 26 is a schematic diagram (a) of a turnover driving mechanism in embodiment 2 of the present invention.

Fig. 27 is a schematic view (two) of a turnover driving mechanism in embodiment 2 of the present invention.

Fig. 28 is a schematic structural view of a catch wheel in embodiment 2 of the present invention (part a is in top view and part b is in bottom view).

Fig. 29 is a schematic view showing a turning operation in embodiment 2 of the present invention.

Fig. 30 is a schematic view of the structure of a toilet driving mechanism in embodiment 2 of the present invention.

Fig. 31 is a schematic view showing the connection structure of the toilet link, the tray link set, and the toilet crank link in embodiment 2 of the present invention.

Fig. 32 is a schematic structural view of a pallet linkage in embodiment 2 of the present invention.

The reference numerals in the drawings denote:

1. a bed board; 101. a mounting groove; 102. side baffles; 103. a chute; 11. an upper main bed board; 12. a lower body main bed board; 13. a back plate; 14. hip plate; 15. a large arm bed board; 16. a forearm bed board; 17. thigh bed boards; 18. a shank bed board; 19. a foot pedal; 191. supporting a vertical plate; 192. a fourth U-shaped groove; 2. a bed frame; 201. a catch wheel; 202. a catch wheel bracket; 21. a bed board bracket; 211. connecting a vertical plate; 212. an end riser; 213. A leg bending connecting seat; 214. a third U-shaped groove; 3. an upper limb bending and stretching mechanism; 31. upper limb disc crank; 311. an upper limb sine slide block; 321. a crank tray; 322. a bracket; 323. a bracket ear plate; 324. avoiding the guide groove; 33. an upper limb crank connecting rod; 331. an upper limb bar-shaped groove; 332. an upper limb connecting sleeve; 34. an upper limb connecting rod; 35. an upper limb second guide rail; 351. the upper limb stretches the slide block; 36. an upper limb optical axis; 37. an optical axis slider; 371. a slider base; 372. lifting lugs; 373. a first U-shaped groove; 38. upper limb crank drive; 4. a lower limb bending and stretching mechanism; 41. a lower limb disc crank; 411. a lower limb sine slide block; 42. a lower limb crank bracket; 43. lower limb crank connecting rod; 431. a lower limb strip-shaped groove; 432. a lower limb connecting sleeve; 44. a lower limb connecting rod; 45. a lower limb second guide rail; 451. lower limb stretching slide block; 46. lower limb optical axis; 47. a sliding connecting seat; 471. a second U-shaped groove; 5. a back lifting driving mechanism; 51. a back lifting screw rod; 511. a back lifting screw nut; 52. a back lifting screw rod; 53. a back lifting connecting rod; 54. a back lifting guide rail; 541. a roller; 55. back lifting screw drive; 6. a turn-over driving mechanism; 61. turning over a screw rod; 611. turning over a screw nut; 62. a turning-over screw rod; 63. a turn-over connecting rod; 64. a turning-over screw rod is used for driving; 7. a toilet driving mechanism; 71. toilet disc crank; 72. crank connecting rod for toilet use; 74. a toilet connecting rod; 75. a pallet linkage; 751. a mounting block; 753. a first link; 754. a second link; 755. a horizontal portion; 756. a vertical portion; 8. leg bending driving mechanism; 81. leg bending screw rod; 811. leg bending screw nuts; 82. leg bending screw rod driving; 83. leg-bending screw rod; 831. connecting the split plates; 832. reinforcing ribs; 84. a transition connecting rod; 85. l-shaped leg bending connecting rod; 851. a horizontal link portion; 852. a vertical link portion; 86. leg bending guide rails; 861. leg bending sliding blocks; 9. toilet trays.

Detailed Description

The invention is described in further detail below with reference to the drawings and specific examples of the specification.

Example 1

As shown in fig. 1 and 2, in the health monitoring and rehabilitation management method of the present embodiment, medical information of a cared person is stored in a data storage unit of a user terminal in advance and is stored in a personal cloud database after being authorized by the cared person, and the control method thereof is as follows:

The user terminal is mainly used for logging in, accessing and editing medical information of a cared person, including basic information such as height and weight and related medical information such as medical history (the information is stored in the data storage unit after being decoded by the central processing unit or is stored in the personal cloud database after being authorized by a user).

According to the health monitoring and rehabilitation management method, the designed nursing bed mechanical driving unit is combined with the Internet technology, so that a more intelligent and humanized nursing medical bed is obtained, work of nursing staff can be greatly reduced, when the nursing bed is used remotely by a user, for example, when the nursing bed is used at home, the nursing bed can be directly in remote contact with a main doctor of the user through a communication module, interaction with the main doctor is achieved, a better diagnosis effect is achieved, after nursing rehabilitation advice given by the main doctor is adopted, the nursing bed can be controlled to perform mechanical mechanism movement through a touch button or a voice module driving mode, rehabilitation training is assisted by various mechanical mechanism movements of the nursing bed, for example, a back lifting function is controlled, a turning-over function is achieved, and the mechanical movement of an upper limb bending and stretching function is used for assisting the user to complete rehabilitation training. Meanwhile, the device is also suitable for places where nursing staff are dense, such as hospitals, in order to meet individual requirements of observation staff in hospitalization, such as toilet, and the like, a user can drive a back lifting function through a touch key or a voice module to meet the visual angle requirement, and the like.

In this embodiment, after step S1, before step S2, a temperature measurement step is further included, where the temperature measurement step includes: the thermometer arranged on the nursing bed is used for detecting the temperature of the cared person at regular time, storing the body temperature information in the data storage unit and storing the body temperature information in the personal cloud database after the temperature information is authorized by the cared person. Before a nursing bed is used by a cared person, the temperature detector measures the temperature, the temperature can be measured at regular time in the use process, the temperature is stored, when the nursing bed is contacted with a main doctor, the main doctor can instantly see the body temperature information of the cared person when the medical information of the cared person is called out, can make recovery advice in combination with the body temperature information, is made into a text format, and is sent to the central processing unit through the communication module, and the central processing unit stores the information after processing in the data storage center and displays the information on the LCD display screen for the cared person to read.

In this embodiment, the user terminal includes a central processing unit, a data storage unit, an identification system, a communication module, a microphone, a speaker, and an LCD display. The user terminal may share information with the personal cloud database. Wherein, the recognition can be face recognition or fingerprint recognition at the same time. The nursing bed is also provided with a touch button or a voice module, so that a cared person can conveniently operate the nursing bed according to the requirements.

Example 2

As shown in fig. 3 to 32, the intelligent horizontal exercise assisting device of the present embodiment includes a nursing bed body and a user terminal, wherein the user terminal includes a central processing unit, a data storage unit, an identification system, a communication module, a micro microphone, a speaker and an LCD display screen, and the user terminal can share information with a personal cloud database. The nursing bed body comprises a bed board 1, a bed board bracket 21, a bed frame 2, a back lifting driving mechanism 5, a turning driving mechanism 6, a toilet tray 9, a toilet driving mechanism 7, an upper limb bending and stretching mechanism 3, a lower limb bending and stretching mechanism 4 and a leg bending driving mechanism 8. Wherein, the back lifting driving mechanism 5, the turning over driving mechanism 6, the toilet tray 9, the toilet driving mechanism 7, the upper limb bending and stretching mechanism 3, the lower limb bending and stretching mechanism 4 and the leg bending driving mechanism 8 form a mechanical driving unit. The mechanical driving unit is controlled by the central processing unit through the touch control key or the voice module, and the fingerprint recognition system is preferably used for fingerprint recognition in the embodiment taking the touch control key as an example. The touch keys include control keys of the mechanical drive unit, microphone switch keys, and necessary confirm and cancel function keys. The fingerprint identification device comprises fingerprint identification devices, miniature microphones, loudspeakers, LCD display screens, touch keys and other hardware and systems, and is arranged at the left guardrail, the right guardrail and the head guardrail of a nursing medical bed according to the size and the application requirements.

The bed board 1 comprises an upper main bed board 11, a lower main bed board 12, a back board 13, a hip board 14, a thigh bed board 15, a forearm bed board 16, a thigh bed board 17, a lower leg bed board 18 and foot pedals 19, wherein the upper main bed board 11 is arranged on a bed board support 21, the lower main bed board 12 is hinged with the upper main bed board 11, the back board 13 is arranged on the bed board support 21 and hinged with the upper main bed board 11, a back lifting driving mechanism 5 is arranged on the bed board support 21 and used for driving the back board 13 to turn upwards, the upper main bed board 11 is provided with a mounting groove 101, the hip board 14 is arranged in the mounting groove 101 in a sliding manner, a toilet tray 9 is arranged below the hip board 14 and connected with a toilet driving mechanism 7, the toilet driving mechanism 7 is used for driving the hip board 14 to slide and drive the toilet tray 9 to rise and fall, the thigh bed board 15 is hinged with the back board 13, the forearm bed board 16 is hinged with the thigh bed board 15, the upper limb bending mechanism 3 is connected with the forearm bed board 16, the thigh bed board 16 is driven to move inwards by the thigh bed board 15, the thigh 17 is hinged with the upper main bed board 11, the upper leg bending mechanism 18 is hinged with the lower leg support 18, the lower leg support 21 is connected with the lower leg bed board 18 and the lower pedal board 19 is driven to the upper main bed board 12, the upper main bed board 2 is connected with the lower bed board 12 by the upper leg driving mechanism 19 in a translational manner, the upper leg driving mechanism is connected with the lower leg support 21 and the lower leg board 19 is connected with the upper main bed board 2, and the upper body bed board 2 is connected with the lower bed board 2.

The cared person obtains contact with the main doctor through the user terminal by adopting the method of the embodiment 1, and after watching the rehabilitation medical advice given by the main doctor, the following operation is performed:

when the back is required to be lifted, a back lifting instruction is input, and the back plate 13 automatically turns upwards to complete the back lifting action; when a user needs to turn over, a turn-over instruction is input, and the upper body main bed board 11 automatically turns over to finish the turn-over action; when the toilet is needed, a toilet instruction is input, and the hip plate 14 is automatically opened to finish the toilet action; when the leg bending is required, a leg bending instruction is input, and the foot pedal 19 translates downwards to drive the lower body main bed board 12 to overturn downwards, so as to complete the leg bending action;

when the limbs are required to be bent and stretched, an upper limb bending and stretching instruction is input, the forearm bed board 16 is turned upwards to drive the thigh bed board 15 to be turned downwards so that the forearm drives the thigh to perform upper limb bending and stretching movement, or a lower limb bending and stretching instruction is input, the shank bed board 18 is turned upwards to drive the thigh bed board 17 to be turned upwards so that the shank drives the thigh to perform lower limb bending and stretching movement, or an upper limb and lower limb bending and stretching instruction is input, and the upper limb and the lower limb simultaneously perform bending and stretching movement;

when the user needs to sit, the user inputs instructions for leg bending and back bending, the back plate 13 automatically turns upwards, the foot pedal 19 translates downwards, the lower body main bed plate 12 is driven to turn downwards, and the back bending action and leg bending action are completed.

This horizontal exercise auxiliary device of intelligence combines the nursing bed mechanical drive unit of design with internet technique, obtain more intelligent, more humanized nursing medical bed, can very big reduction nursing personnel's work, simultaneously through setting up back of the body actuating mechanism 5, stand up actuating mechanism 6, like lavatory tray 9, like lavatory actuating mechanism 7, upper limbs bend and stretch mechanism 3, lower limb bend and stretch mechanism 4 and bend leg actuating mechanism 8, realize that recovered person or old person can carry out the bending motion of four limbs when lying down, can carry out back of the body motion, can realize standing up the motion, can realize bending leg motion, can realize sitting up the motion, can realize lying down and like the lavatory, make recovered person or old person's forearm, the thigh, waist abdomen etc. obtain rehabilitation training, simultaneously have basic nursing functions such as back of the body, bend leg, stand up and like the lavatory, and each mechanism is not interfered mutually, the four limbs training mechanism is to be perfect with the bed body, do not occupy the space above, the driving mechanism of all functions is arranged in the bed board below. Not only beautifies the appearance, but also has simple and compact structure.

Fig. 6 to 17 show the structure and the working principle of the four limb extension portion of the present embodiment.

Upper limb structure part: in this embodiment, the upper limb bending and stretching mechanism 3 is an upper limb crank-link slider mechanism, the upper limb crank-link slider mechanism is mounted below the upper body main bed board 11, the forearm bed board 16 is hinged with an upper limb bending and stretching slider 351 of the upper limb crank-link slider mechanism, and the hinge point between the forearm bed board 16 and the forearm bed board 15 is lower than the hinge point between the forearm bed board 15 and the back board 13. The small arm bed plate 16 and the large arm bed plate 15 are in a suspended state.

In this embodiment, the upper limb crank link slider mechanism includes an upper limb disc crank 31, an upper limb crank bracket (not shown in the figure), an upper limb crank link 33, an upper limb first guide rail, an upper limb link 34, an upper limb second guide rail 35 and an upper limb crank drive 38, the upper limb crank bracket is mounted on the upper body main bed board 11, the upper limb disc crank 31 is mounted on the upper limb crank bracket, the upper limb crank drive 38 is preferably a servo motor, the servo motor is mounted on the back of the upper limb crank bracket, the servo motor is connected with the upper limb disc crank 31 for driving the upper limb disc crank 31 to rotate, an upper limb sinusoidal slider 311 is fixedly arranged on the upper limb disc crank 31, the upper limb first guide rail is fixed on the upper limb crank bracket, an upper limb bar-shaped groove 331 is arranged on the upper limb crank link 33, the upper limb sinusoidal slider 311 is positioned in the upper limb bar-shaped groove 331, the upper limb crank link 33 is movably arranged on the upper limb first guide rail, the upper limb second guide rail 35 is arranged on one side of the lower limb bed board 16, one end of the upper limb link 34 is connected with an upper limb stretching slider 351 in the upper limb second guide rail 35, and the other end is connected with the upper limb slider 351 which is hinged with the upper limb slider 16.

The specific implementation process of the upper limb flexion and extension rehabilitation training is as follows:

because the upper limb drive is preferably a servo motor, the start and stop of the servo motor can be operated by arranging a remote controller. When the upper limb needs rehabilitation training, the upper limb servo motor is started, the motor drives the upper limb disc crank 31 to rotate, the upper limb sine slide block 311 on the upper limb disc crank 31 also rotates, the upper limb disc crank 31 reciprocates along the upper limb strip-shaped groove 331 in the rotating process, so that the upper limb crank connecting rod 33 is driven to move along the upper limb first guide rail, meanwhile, the upper limb crank connecting rod 33 is connected with the upper limb connecting rod 34, so that the upper limb connecting rod 33 can be pushed to move in the moving process, the upper limb connecting rod 34 pushes (pulls) the upper limb flexion slide block 351 to move along the upper limb second guide rail 35, the upper limb extension slide block 351 translates to drive the forearm bed plate 16 to move relative to the forearm bed plate 15, and the upper limb flexion slide block 351 is hinged to the forearm bed plate 16, so that the upper limb flexion slide block 351 can push the forearm bed plate 16 to overturn upwards, the forearm bed plate 15 can overturn downwards, and the lower limb flexion and extension actions of the forearm and the forearm bed plate 16 are formed, as shown in fig. 13.

Wherein, the hinge point between the forearm bed board 16 and the big arm bed board 15 is lower than the hinge point between the big arm bed board 15 and the upper body main bed board 11, if the two hinge points are on the same straight line, the upper limb stretching slide block 351 can not push the forearm bed board 16 to turn over in the translation process.

In this embodiment, the first guide rail of the upper limb is an upper limb optical axis 36, two ends of the upper limb optical axis 36 are mounted on an upper limb crank bracket, one end of the upper limb crank connecting rod 33 is provided with an upper limb connecting sleeve 332, and the upper limb connecting sleeve 332 is movably sleeved on the upper limb optical axis 36; the upper limb optical axis 36 is provided with an optical axis sliding block 37, the optical axis sliding block 37 comprises a sliding block base 371 and two lifting lugs 372, the two lifting lugs 372 penetrate through the upper limb optical axis 36, the upper limb connecting sleeve 332 is arranged between the two lifting lugs 372, the sliding block base 371 is provided with a first U-shaped groove 373, and one end of the upper limb connecting rod 34 is hinged in the first U-shaped groove 373 through a pin shaft. The axial line of the upper limb optical axis 36 is perpendicular to the longitudinal direction of the upper limb second guide rail 35. The upper limb second guide rail 35 is parallel to the longitudinal direction of the large arm bed plate 15 and the small arm bed plate 16, and the upper limb second guide rail 35 is provided on the upper body main bed plate 11. The upper limb stretching slide block 351 is provided with a sliding connecting seat 47, the sliding connecting seat 47 is provided with a second U-shaped groove 471, and the other end of the upper limb connecting rod 34 is hinged in the second U-shaped groove 471 through a pin shaft. The upper limb stretching slide block 351 is provided with a C-shaped clamping block, and the upper limb second guide rail 35 is provided with a C-shaped clamping groove matched with the C-shaped clamping block. The sliding connecting seat 47 is fixedly connected with the upper limb stretching sliding block 351.

In this embodiment, the upper limb crank bracket includes a crank tray 321 and a bracket 322 fixedly connected to the crank tray 321, the bracket 322 is provided with two bracket lug plates 323, and two ends of the upper limb optical axis 36 are threaded on the bracket lug plates 323. The bracket 322 of the upper limb crank bracket is provided with an avoidance guide groove 324, and the upper limb crank connecting rod 33 passes through the avoidance guide groove 324 and is connected with the upper limb optical axis 36.

Lower limb structure part: in this embodiment, the lower limb flexion and extension mechanism is a lower limb crank link slider mechanism, the lower limb crank link slider mechanism is mounted below the lower body main bed board 12, the lower limb flexion and extension slider 451 of the lower limb crank link slider mechanism is hinged to the lower limb flexion and extension slider 18, and the hinge point between the lower limb bed board 18 and the thigh bed board 17 is higher than the hinge point between the thigh bed board 17 and the upper body main bed board 11. The lower leg bed plate 18 and the thigh bed plate 17 are in a suspended state.

The structure of the lower limb crank link slider mechanism is basically consistent with that of the upper limb crank slider connecting mechanism, and the lower limb crank link slider mechanism comprises a lower limb disc crank 41, a lower limb crank bracket 42, a lower limb crank link 43, a lower limb first guide rail, a lower limb link 44, a lower limb second guide rail 45 and a lower limb crank drive (not shown in the figure), wherein the lower limb crank bracket 42 is arranged on the upper body main bed plate 11, the lower limb disc crank 41 is arranged on the lower limb crank bracket 42, the lower limb crank drive is preferably a servo motor, the servo motor is arranged on the back surface of the lower limb crank bracket 42 and is connected with the lower limb disc crank 41 for driving the lower limb disc crank 41 to rotate, a lower limb sine slider 411 is fixedly arranged on the lower limb disc crank 41, the lower limb first guide rail is fixed on the lower limb crank bracket 42, the lower limb crank link 43 is provided with a lower limb strip-shaped groove 431, the lower limb sine slider 411 is arranged in the lower limb bending groove 431, the lower limb crank link 43 is movably arranged on the lower limb first guide rail, the lower limb second guide rail 45 is arranged on one side of the lower limb 18, one end of the lower limb link 44 is connected with the lower limb slider 45 in the lower limb second guide rail 451, and the lower limb slider 451 is connected with the lower limb slider 18.

The specific execution process of the lower limb rehabilitation training is as follows:

because the lower limb is driven by a servo motor, the starting and stopping of the servo motor can be operated by arranging a remote controller. When the lower limb is in need of rehabilitation training, a lower limb servo motor is started, the motor drives a lower limb disc crank 41 to rotate, a lower limb sine slide 411 on the lower limb disc crank 41 also rotates, the lower limb disc crank 41 reciprocates along a lower limb strip-shaped groove 431 in the rotating process, so that a lower limb crank connecting rod 43 is driven to move along an upper limb first guide rail, meanwhile, the lower limb crank connecting rod 43 is connected with a lower limb connecting rod 44, the lower limb connecting rod 44 is pushed to move in the moving process of the lower limb crank connecting rod 43, the lower limb connecting rod 44 pushes (pulls) a lower limb flexion slide 451 to move along a lower limb second guide rail 45, the lower limb flexion slide 451 translates to drive a lower limb bed plate 18 to move relative to a thigh bed plate 17, and the lower limb flexion slide 451 is hinged to the lower limb bed plate 18, so that the lower limb flexion slide 451 pushes the lower limb bed plate 18 to overturn upwards, the thigh plate 17 overturns upwards, and the lower limb flexion and extension slide 451 forms upward flexion and extension motions, as shown in fig. 17.

Similarly, the hinge point between the lower leg bed plate 18 and the thigh bed plate 17 is higher than the hinge point between the thigh bed plate 17 and the upper body main bed plate 11, so that the lower limb stretching sliding block 451 can not push the lower leg bed plate 18 to overturn in the translation process.

In this embodiment, the first guide rail of the lower limb is a lower limb optical axis 46, two ends of the lower limb optical axis 46 are mounted on the lower limb crank bracket 42, one end of the lower limb crank connecting rod 43 is provided with a lower limb connecting sleeve 432, and the lower limb connecting sleeve 432 is movably sleeved on the lower limb optical axis 46. The lower limb optical axis 46 is provided with an optical axis slider 37, the optical axis slider 37 comprises a slider base 371 and two lifting lugs 372, the two lifting lugs 372 penetrate through the lower limb optical axis 46, a lower limb connecting sleeve 432 is arranged between the two lifting lugs 372, the slider base 371 is provided with a first U-shaped groove 373, and one end of a lower limb connecting rod 44 is hinged in the first U-shaped groove 373 through a pin shaft. The axial lower limb second guide rail 45 of the lower limb optical axis 46 is perpendicular in length direction. The lower limb second guide rail 45 is parallel to the longitudinal direction of the lower leg bed plate 18 and the thigh bed plate 17, and the lower limb second guide rail 45 is provided on the upper body main bed plate 11. The lower limb stretching slide block 451 is provided with a sliding connecting seat 47, the sliding connecting seat 47 is provided with a second U-shaped groove 471, and the other end of the lower limb connecting rod 44 is hinged in the second U-shaped groove 471 through a pin shaft. The lower limb stretching slide block 451 is provided with a C-shaped clamping block, and the lower limb second guide rail 45 is provided with a C-shaped clamping groove matched with the C-shaped clamping block. The sliding connecting seat 47 is fixedly connected with the lower limb stretching sliding block 451.

In this embodiment, the lower limb crank bracket 42 has the same structure as the upper limb crank bracket.

The invention adopts the sinusoidal movement mechanism formed by connecting the disc crank, the sinusoidal sliding block and the crank, realizes sinusoidal movement in the bending and stretching process of the upper limb and the lower limb, thereby buffering the movement of the upper limb and the lower limb, reducing impact on the upper limb and the lower limb and providing better use experience for users. The crank drive of the upper limb and the lower limb is preferably a servo motor, and the motor can be controlled to change different movement frequencies so as to achieve the intensity which is most suitable for the movement of a user. The small arm bed board, the large arm bed board and the driving mechanism of the small arm bed board and the large arm bed board are connected with the bed board 1 into a whole, and any external device is not needed, so that the bed board is more convenient and concise.

Fig. 18 to 23 show the leg bending part structure and the working principle of the present embodiment.

In this embodiment, the leg bending driving mechanism 8 includes a leg bending screw 81, a leg bending screw driving 82, a leg bending screw connecting rod 83, a transition connecting rod 84, an L-shaped leg bending connecting rod 85 and a leg bending guide rail 86, the lower main bed board 12 and the upper main bed board 11 have a hinge point P, the leg bending screw 81 is mounted on the back surface of the bed board support 21, and the leg bending screw driving 82 is preferably a servo motor for driving the leg bending screw 81 to rotate.

The leg bending guide rail 86 is installed on the back of the bed board support 21, one end of the leg bending screw rod 83 is connected with the leg bending screw nut 811 of the leg bending screw rod 81, the other end of the leg bending screw rod 83 is connected with the leg bending slide block 861 of the leg bending guide rail 86, the L-shaped leg bending connecting rod 85 is hinged on the bed board support 21 and provided with a hinge point Q, the L-shaped leg bending connecting rod 85 is provided with a horizontal connecting rod portion 851 and a vertical connecting rod portion 852, the hinge point Q is arranged at the joint of the horizontal connecting rod portion 851 and the vertical connecting rod portion 852, one end of the transition connecting rod 84 is hinged with the leg bending slide block 861, the other end of the transition connecting rod 84 is hinged with the vertical connecting rod portion 852, the back of the foot pedal 19 is fixedly provided with a supporting vertical plate 191, the horizontal connecting rod portion 851 is hinged with the supporting vertical plate 191, the hinge point P is on the same vertical line with the hinge point Q, the hinge point M is arranged between the foot pedal 19 and the lower main bed board 12, the hinge point N is arranged between the horizontal connecting rod portion 851 and the supporting the vertical plate 191, the hinge point M is on the same vertical line, and the connecting line length of the PQ is equal to the connecting line length of the MN.

When the leg bending is required, the servo motor is started, the leg bending screw rod 81 is rotated, the leg bending screw rod nut 811 moves rightward (right in fig. 18) in the horizontal plane, the leg bending screw rod 83 is driven to move rightward along the leg bending guide rail 86, the leg bending screw rod 83 drives the transition connecting rod 84 to pull the L-shaped leg bending connecting rod 85 to rotate around the hinging point Q (anticlockwise), the horizontal connecting rod part 851 moves downwards to drive the supporting vertical plate 191 to move downwards, the foot pedal 19 is further driven to translate downwards, and the lower body main bed plate 12 is driven to rotate anticlockwise around the point P in the downward movement process of the foot pedal 19, so that the leg bending action is completed, as shown in fig. 23. During the leg bending action, the connecting lines among the hinging points P, Q, M and N are always parallelograms, so that the foot pedal 19 is always in the horizontal position.

The horizontal leg bending auxiliary device not only needs to stably support the weight of the lower body main bed board 12 and the whole lower limb, but also can safely and reliably stop at any position when the leg bending action is completed, so as to meet the requirements of users on different leg bending angles. The motor lead screw connecting rod mechanism can safely and reliably execute the leg bending action, and meanwhile, the motor lead screw connecting rod mechanism is simple in structure, convenient to maintain and low in failure rate; the foot pedal 19 is always kept horizontal when the user bends the legs, so that better use experience is provided for the user, and the comfort level is high. It should be noted that, in the state of fig. 17, the leg bending auxiliary device may further perform a leg lifting function, where the leg bending screw 81 drives the leg bending screw nut 811 to move leftward, the leg bending screw 83 drives the transition link 84 to pull the L-shaped leg bending link 85 to rotate around the hinge point Q (clockwise), and the horizontal link portion 851 of the L-shaped leg bending link 85 is tilted upward to drive the supporting vertical plate 191 to translate upward, and the footrest 19 is moved upward to drive the lower body main bed plate 12 to hinge around the point P to rotate clockwise. Therefore, the horizontal leg bending auxiliary device can realize leg bending within a range of 0-70 degrees and leg lifting within a range of 0-30 degrees, not only can help the old to exercise and recover, but also can be matched with other recovery actions to finish life assistance such as dining, reading books, washing feet, sitting and the like, and a user can automatically adjust the angle of bending legs or lifting legs through the remote controller, so that the use requirements of different users can be met. The leg bending screw rod 81 is a screw rod with a self-locking function, and can realize self-locking at any position.

In this embodiment, two connecting risers 211 are arranged on the back of the bed board support 21, two ends of the leg bending screw rod 81 are arranged on the two connecting risers 211 in a penetrating manner, and a bearing seat is arranged between the leg bending screw rod 81 and the connecting risers 211, so that the leg bending screw rod 81 is guaranteed to rotate only and not move.

In this embodiment, two ends of the bed board support 21 are provided with end vertical plates 212, the end vertical plate 212 near one end of the lower body main bed board 12 is provided with a leg bending connecting seat 213, the leg bending connecting seat 213 is provided with a third U-shaped groove 214, and the vertical connecting rod 852 is hinged in the third U-shaped groove 214 through a pin shaft. The support vertical plate 191 is a right-angle triangular plate, and a horizontal portion of the right-angle triangular plate is fixedly connected with the footboard 19 so as to give the footboard 19 support. The support vertical plate 191 is provided with a fourth U-shaped groove 192, and the horizontal link portion 851 is hinged in the fourth U-shaped groove 192 by a pin shaft.

In the present embodiment, the leg-bending guide 86, the transition link 84, the L-shaped leg-bending link 85, and the support vertical plate 191 are provided in two. The leg bending screw rod 83 includes two rod sub-plates 831, one end of the rod sub-plate 831 is connected to the leg bending slider 861 of the corresponding leg bending guide rail 86, the other end is fixedly connected to the leg bending screw nut 811, and the end of the rod sub-plate 831, which is close to the leg bending screw nut 811, is bent inward, and the rod sub-plate 832 further includes a reinforcing rib 833. The leg bending guide rail 86, the transition connecting rod 84, the L-shaped leg bending connecting rod 85 and the supporting vertical plate 191 are provided with two groups for improving the stability of leg bending action.

Fig. 24 and 25 show the structure and operation principle of the back lifting portion of the present embodiment.

In this embodiment, the back lifting driving mechanism 5 includes a back lifting screw 51, a back lifting screw link 52, a back lifting link 53, a back lifting guide rail 54 and a back lifting screw driver 55, the back lifting guide rail 54 is disposed on the back of the back plate 13, one end of the back lifting link 53 is movably disposed on the back lifting guide rail 54, the other end is connected with the bed board support 21, the back lifting screw 51 is mounted below the bed board support 21, one end of the back lifting screw link 52 is connected with a back lifting screw nut 511 of the back lifting screw 51, the other end is hinged with the back lifting link 53, and the back lifting screw driver 55 is used for driving the back lifting screw 51 to rotate. The back feed screw drive 55 is preferably a servo motor. By providing operating buttons or a remote control on the bed frame 2. The motor can be started by starting the operation button, so that the back lifting action is started.

When the user needs to lie on the bed, the back lifting screw rod 51 is driven to rotate through the screw rod drive, the back lifting screw rod 51 is limited to rotate and not move, the back lifting screw rod nut 511 on the back lifting screw rod 51 moves (leftwards in fig. 25), the back lifting screw rod nut 511 drives the back lifting screw rod 52 to move, the back lifting screw rod 52 pushes the back lifting connecting rod 53 to rotate upwards along the back lifting guide rail 54, and accordingly the back lifting action is realized by pushing the back plate 13 to turn upwards relative to the upper body main bed plate 11.

Compared with hydraulic drive, the back lifting screw 51 selects a screw with a self-locking function, and the back lifting screw drive connecting rod mechanism has the advantages of simple structure, reliable motion, convenient maintenance, low cost, small space occupation rate of the back lifting drive mechanism, large back lifting angle range, self-locking at any position and great improvement on the safety of operation.

In this embodiment, the hinge point between the back lifting screw rod 52 and the back lifting screw rod 53 is set to be point E, the end of the back lifting screw rod 52 connected to the back lifting screw nut 511 is set to be point F, the end of the back lifting screw rod 53 hinged to the bed board support 21 is set to be point O, and the connection lines among the point E, the point F and the point O form a triangle. That is, in the process of overturning the back plate 13 in opposite directions, the back lifting screw rod 52, the back lifting connecting rod 53 and the back lifting screw rod 51 form a stable triangle all the time, so that the back lifting is safer and more reliable.

In this embodiment, a roller 541 is disposed in the back lifting rail 54, and the back lifting link 53 is connected to the roller 541. The rolling wheel 541 rolls in the back lifting guide rail 54, so that the back lifting connecting rod 53 moves in the back lifting guide rail 54 and pushes the back plate 13 to turn over, and direct sliding friction between the back lifting connecting rod 53 and the back plate 13 is avoided.

In this embodiment, two back lifting links 53 and two back lifting guide rails 54 are provided, and the back lifting screw 51 is provided between the two back lifting guide rails 54. The arrangement of the two sets of back lifting connecting rods 53 and the back lifting guide rails 54 improves the stability when lifting back. The back lifting screw 51 is also mounted on the bed plate support 21 via two connecting risers 211.

Fig. 26 to 29 show the structure and operation principle of the turning-over portion.

In this embodiment, the turning driving mechanism 6 includes a turning screw 61, a turning screw connecting rod 62 and a turning screw driving 64, a turning connecting rod 63 is disposed on the back of the bed board support 21, the turning screw 61 is mounted on the bed frame 2 and located below the turning connecting rod 63, one end of the turning screw connecting rod 62 is connected with a turning screw nut 611, the other end is hinged with the turning connecting rod 63, the turning screw driving 64 is used for driving the turning screw 61 to rotate, two sides of the upper body main bed board 11 are provided with side baffles 102, one side of the side baffles 102, which is inwards, is hinged on the upper body main bed board 11, a baffle wheel 201 is disposed below the side baffles 102, and the baffle wheel 201 is mounted on the side of the bed frame 2 through a baffle wheel support 202.

In this embodiment, the turn-over screw drive 64 is preferably a servo motor. When the bed board is turned over, the turning over servo motor is started, the turning over screw rod 61 rotates, the turning over screw rod nut 611 is driven to move, the turning over screw rod nut 611 drives the turning over screw rod 62 to move, and as the turning over connecting rod 63 cannot translate, the turning over screw rod 63 is driven to swing by the movement of the turning over screw rod 62, and when the turning over connecting rod 63 swings, the bed board support 21 is driven to rotate around the bed frame 2, so that the bed board 1 is turned over, and further the turning over action is realized, as shown in fig. 29. In the actual use process, a remote controller can be arranged for controlling the start and stop of the servo motor. The user operates with the remote controller, so that the use experience is greatly improved. The turning-over screw 61 selects a screw with self-locking, when a user is assisted to turn over, the bed board 1 can rotate within the range of-30 degrees to +30 degrees and can stop within any angle range in the turning-over process, so that the use requirements of different users are met, the use experience is good, the comfort level is higher, the self-locking screw is adopted to drive a transmission mode of a rod mechanism, the angle of left and right turning-over is adjustable, and the physical self-locking mode is safer and more reliable.

In this embodiment, the side baffle 102 and the upper body main bed board 11 have a hinge point K, two baffle wheels 201 are provided, and two baffle wheel brackets 202 are correspondingly provided. As shown in fig. 28, when the bed board 1 is turned right, that is, when the user needs to turn right, the bed board support 21 turns right with the bed board 1, because the right side baffle plate 102 is blocked by the catch wheel 201 below the right side baffle plate, as the bed board 1 continues to turn right, the right side baffle plate 102 is always supported by the catch wheel 201 so that the right side baffle plate 102 turns upward around the hinge point (K point in fig. 29), and the blocking is given when the old people turn over, so that the old people can be prevented from sliding down the bed board during turning over. Through the arrangement of the side baffles 102 and the baffle wheels 201, when the bed board 1 is turned over integrally, one part of the bed board 1 becomes the side baffles 102, thereby skillfully solving the risk of turning over and preventing the skid.

Fig. 30 to 32 show the structure and operation principle of the toilet portion of the present embodiment.

In this embodiment, the toilet driving mechanism 7 includes a toilet disc crank 71, a toilet crank link 72, a toilet crank drive, a toilet link 74, and a tray link group 75, the toilet crank drive is mounted on the bed plate bracket 21, the toilet disc crank 71 is connected with the toilet crank drive, one end of the toilet crank link 72 is hinged on the outer edge of the toilet disc crank 71 (the hinge point of the two cannot be set in the center of the toilet disc crank 71), the other end is hinged with the hip plate 14, the tray link group 75 includes a mounting block 751, an L-shaped connecting block (not shown in the figure), a first link 753 and a second link 754, the mounting block 751 is provided on the bed plate bracket 21, one end of each of the first link 753 and the second link 754 is hinged on the mounting block 751, the other end of each of the first link 753 and the second link 754 is hinged with the horizontal portion 755 of the L-shaped connecting block, and the first link 753 is parallel with the second link, the toilet tray 9 is fixed on the vertical portion 756 of the L-shaped connecting block, the other end of the mounting block 751, the second link 753 and the horizontal portion 755 form a parallel shape with the hip plate 14, and the other end of the toilet link 754 is hinged with the L-shaped connecting block.

In this embodiment, the toilet crank drive (not shown) is preferably a servo motor. In the normal state, the hip plate 14 is in the closed state. I.e. in the mounting groove 101 of the upper body main bed plate 11, and forms a whole together with the upper body main bed plate 11, at this time, the hip plate 14 is positioned to close the toilet tray 9 for collecting excrement under the hip plate 14. When a user needs to use a toilet, the servo motor is started, the toilet disc-shaped crank 71 rotates, the toilet crank connecting rod 72 moves along with the rotation of the toilet disc-shaped crank 71, the hip plate 14 is pulled to slide along the mounting groove 101, the hip plate 14 slides to drive the toilet connecting rod 74 to lift up with the L-shaped connecting block and the toilet tray 9, and then excrement is collected, so that the toilet operation is completed. The mounting block 751, the first link 753, the second link 754 and the horizontal portion 755 form a parallelogram therebetween to ensure that the toilet tray 9 is always in a horizontal position. The toilet disc crank 71 rotates from 0 to 180 degrees, the hip plate 14 opens (pushes open), the toilet tray 9 rises to the extreme position, the toilet disc crank 71 continues to rotate from 180 to 360 degrees, the hip plate 14 closes, and the toilet tray 9 falls to the extreme position.

In actual use, a remote controller can be arranged, and the remote controller is used for controlling the start and stop of the servo motor, so that the experience and comfort level of a user are greatly improved.

When the servo motor controls the toilet disc crank 71 to rotate 180 degrees, the motor stops rotating, and reaches the dead point position of the crank-link mechanism, the toilet tray 9 also rises to the limit position at a certain distance from the hip plate 14, when excrement exists, the toilet tray 9 is locked at the limit position by utilizing the dead point effect, and the bracket can be stably stopped after rising to a certain position by utilizing the dead point effect of the crank-link mechanism.

In this embodiment, two side walls of the mounting groove 101 are provided with sliding grooves 103, and sliding blocks (not shown) are disposed in the sliding grooves 103 and fixedly connected with the side walls of the hip plate 14.

In this embodiment, a hinge point H is provided between the toilet link 74 and the L-shaped connection block, and a hinge point J is provided between the second link 754 and the L-shaped connection block 751, where the hinge point H coincides with the hinge point J.

In the embodiment, the back plate 13, the large arm bed plate 15, the small arm bed plate 16 and the thigh bed plate 17 are embedded on the upper body main bed plate 11, and the large arm bed plate 15, the small arm bed plate 16 and the thigh bed plate 17 are flush with the upper body main bed plate 11; the lower leg bed plate 18 is embedded on the lower body main bed plate 12, the lower leg bed plate 18 is flush with the lower body main bed plate 12, and the foot pedal 19 is flush with the lower body main bed plate 12 and the upper body main bed plate 11.

While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Many possible variations and modifications of the disclosed technology can be made by anyone skilled in the art, or equivalent embodiments with equivalent variations can be made, without departing from the scope of the invention. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention shall fall within the scope of the technical solution of the present invention.

Claims

1. An intelligent horizontal exercise assisting device which is characterized in that: the nursing bed comprises a nursing bed body and a user terminal, wherein the user terminal comprises a central processing unit, a data storage unit, an identification system, a communication module, a miniature microphone, a loudspeaker and an LCD (liquid crystal display), the user terminal can share information with a personal cloud database, the nursing bed body comprises a bed board (1), a bed board support (21), a bed frame (2), a back lifting driving mechanism (5), a turning over driving mechanism (6), a toilet tray (9), a toilet driving mechanism (7), an upper limb bending and stretching mechanism (3), a lower limb bending and stretching mechanism (4) and a leg bending driving mechanism (8), the back lifting driving mechanism (5), the turning over driving mechanism (6), the toilet tray (9), the toilet driving mechanism (7), the upper limb bending and stretching mechanism (3), the lower limb bending and stretching mechanism (4) and the leg bending driving mechanism (8) form a mechanical driving unit, and the mechanical driving unit is controlled by the central processing unit through a touch button or a voice module; the bed board (1) comprises an upper main bed board (11), a lower main bed board (12), a back board (13), a hip board (14), a big arm bed board (15), a forearm bed board (16), a thigh bed board (17), a calf bed board (18) and a foot pedal (19), wherein the upper main bed board (11) is arranged on a bed board bracket (21), the lower main bed board (12) is hinged with the upper main bed board (11), the back board (13) is arranged on the bed board bracket (21) and is hinged with the upper main bed board (11), the back lifting driving mechanism (5) is arranged on the bed board bracket (21) and is used for driving the back board (13) to turn upwards, the upper main bed board (11) is provided with a mounting groove (101), the hip board (14) is glidingly arranged in the mounting groove (101), the toilet tray (9) is arranged below the hip board (14) and is connected with the toilet driving mechanism (7), the toilet driving mechanism (7) is used for driving the hip board (14) to slide and drive the toilet tray (9) to lift and lift, the big arm (13) is hinged with the upper arm (16) and the forearm bed board (16) is connected with the lower arm (16), the lower limb bending and stretching mechanism (4) is connected with the lower limb bed board (18) and drives the lower limb bed board (18) and the thigh bed board (17) to outwards and upwards move, the turning over driving mechanism (6) is arranged on the bed frame (2), the bed board support (21) is rotatably arranged on the bed frame (2), the turning over driving mechanism (6) is connected with the bed board support (21) and used for driving the bed board support (21) to turn over relative to the bed frame (2), the foot board (19) is hinged on the lower body main bed board (12), and the leg bending driving mechanism (8) is connected with the foot board (19) and drives the foot board (19) to downwards translate and drive the lower body main bed board (12) to downwards turn over;

The upper limb bending and stretching mechanism (3) is an upper limb crank connecting rod sliding block mechanism, the upper limb crank connecting rod sliding block mechanism is arranged below the upper body main bed board (11), the forearm bed board (16) is hinged with an upper limb bending and stretching sliding block (351) of the upper limb crank connecting rod sliding block mechanism, and the hinge point between the forearm bed board (16) and the forearm bed board (15) is lower than the hinge point between the forearm bed board (15) and the back board (13);

the upper limb crank connecting rod sliding block mechanism comprises an upper limb disc crank (31), an upper limb crank bracket, an upper limb crank connecting rod (33), an upper limb first guide rail, an upper limb connecting rod (34), an upper limb second guide rail (35) and an upper limb crank drive (38), wherein the upper limb crank bracket is arranged on an upper body main bed plate (11), the upper limb disc crank (31) is arranged on the upper limb crank bracket, the upper limb crank drive (38) is used for driving the upper limb disc crank (31) to rotate, an upper limb sinusoidal sliding block (311) is fixedly arranged on the upper limb disc crank (31), the upper limb first guide rail is fixed on the upper limb crank bracket, an upper limb strip-shaped groove (331) is formed in the upper limb crank connecting rod (33), the upper limb sinusoidal sliding block (311) is arranged in the upper limb strip-shaped groove (331), the upper limb crank connecting rod (33) is movably arranged on the upper limb first guide rail, the upper limb second guide rail (35) is arranged on one side of a small arm (16), one end of the upper limb crank drive (34) is connected with the upper limb second guide rail (351) in the upper limb crank bracket, and the upper limb slider (351) is connected with the upper limb (16);

The upper limb first guide rail is an upper limb optical axis (36), two ends of the upper limb optical axis (36) are arranged on an upper limb crank bracket, one end of the upper limb crank connecting rod (33) is provided with an upper limb connecting sleeve (332), and the upper limb connecting sleeve (332) is movably sleeved on the upper limb optical axis (36);

the upper limb optical axis (36) is provided with an optical axis sliding block (37), the optical axis sliding block (37) comprises a sliding block base (371) and two lifting lugs (372), the two lifting lugs (372) are arranged on the upper limb optical axis (36) in a penetrating mode, the upper limb connecting sleeve (332) is arranged between the two lifting lugs (372), the sliding block base (371) is provided with a first U-shaped groove (373), and one end of the upper limb connecting rod (34) is hinged into the first U-shaped groove (373) through a pin shaft;

the upper limb bending and stretching sliding block (351) is provided with a sliding connecting seat (47), the sliding connecting seat (47) is provided with a second U-shaped groove (471), and the other end of the upper limb connecting rod (34) is hinged in the second U-shaped groove (471) through a pin shaft.

2. The intelligent horizontal exercise assisting device according to claim 1, wherein the lower limb flexion and extension mechanism (4) is a lower limb crank link slider mechanism, the lower limb crank link slider mechanism is installed below the lower body main bed board (12), the lower limb flexion and extension slider (451) of the lower limb crank link slider mechanism is hinged with the lower leg bed board (18), and the hinge point between the lower leg bed board (18) and the thigh bed board (17) is higher than the hinge point between the thigh bed board (17) and the upper body main bed board (11).

3. The intelligent horizontal exercise assisting device according to claim 2, wherein the lower limb crank link slider mechanism comprises a lower limb disc crank (41), a lower limb crank bracket (42), a lower limb crank link (43), a lower limb first guide rail, a lower limb link (44), a lower limb second guide rail (45) and a lower limb crank drive, the lower limb crank bracket (42) is arranged on the upper body main bed plate (11), the lower limb disc crank (41) is arranged on the lower limb crank bracket (42), the lower limb crank drive is used for driving the lower limb disc crank (41) to rotate, a lower limb sine slide block (411) is fixedly arranged on the lower limb disc crank (41), the lower limb first guide rail is fixed on the lower limb crank bracket (42), a lower limb strip groove (431) is formed in the lower limb crank link (43), the lower limb sine slide block (411) is arranged in the lower limb strip groove (431), the lower limb crank link (43) is movably arranged on the first guide rail, the lower limb second guide rail (45) is connected with the lower limb (45) at one side of the lower limb (18), and the lower limb (45) is connected with the lower limb (451) at the other end of the lower limb (18) in the lower limb bed plate.

4. The intelligent horizontal type exercise assisting device according to claim 3, wherein the first lower limb guide rail is a lower limb optical axis (46), two ends of the lower limb optical axis (46) are arranged on a lower limb crank bracket (42), one end of the lower limb crank connecting rod (43) is provided with a lower limb connecting sleeve (432), and the lower limb connecting sleeve (432) is movably sleeved on the lower limb optical axis (46);

the lower limb optical axis (46) is provided with an optical axis sliding block (37), the optical axis sliding block (37) comprises a sliding block base (371) and two lifting lugs (372), the two lifting lugs (372) are arranged on the lower limb optical axis (46) in a penetrating mode, the lower limb connecting sleeve (432) is arranged between the two lifting lugs (372), the sliding block base (371) is provided with a first U-shaped groove (373), and one end of the lower limb connecting rod (44) is hinged to the first U-shaped groove (373) through a pin shaft;

the lower limb bending and stretching sliding block (451) is provided with a sliding connecting seat (47), the sliding connecting seat (47) is provided with a second U-shaped groove (471), and the other end of the lower limb connecting rod (44) is hinged in the second U-shaped groove (471) through a pin shaft.

5. The intelligent horizontal exercise assisting device according to any one of claims 1 to 4, wherein the leg bending driving mechanism (8) comprises a leg bending screw (81), a leg bending screw driving (82), a leg bending screw connecting rod (83), a transition connecting rod (84), an L-shaped leg bending connecting rod (85) and a leg bending guide rail (86), the lower main bed plate (12) and the upper main bed plate (11) are provided with a hinging point P, the leg bending screw (81) is installed on the back surface of the bed plate support (21), the leg bending screw driving (82) is used for driving the leg bending screw (81) to rotate, the leg bending guide rail (86) is installed on the back surface of the bed plate support (21), one end of the leg bending screw connecting rod (83) is connected with a leg bending screw nut (811) of the leg bending screw (81), the other end of the leg bending screw connecting rod (83) is connected with a leg bending slider (861) of the leg bending guide rail (86), the L-shaped leg bending connecting rod (85) is hinged on the upper main bed plate (21) and is provided with a hinging point Q, the L-shaped leg bending connecting rod (85) is provided with a vertical joint part and a hinging point Q, the joint Q is provided at the joint Q is provided between the vertical connecting rod (852) and the transition connecting rod (852) and the other end (852), the back of running-board (19) has set firmly and has supported vertical board (191), horizontal connecting rod portion (851) is articulated with supporting vertical board (191), pin joint P and pin joint Q are on same vertical line, have pin joint M between running-board (19) and lower part of the body main bed board (12), have pin joint N between horizontal connecting rod portion (851) and supporting vertical board (191), pin joint M and pin joint N are on same vertical line, and the line length of PQ equals with the line length of MN.

6. The intelligent horizontal exercise assisting device according to any one of claims 1 to 4, wherein the back lifting driving mechanism (5) comprises a back lifting screw (51), a back lifting screw connecting rod (52), a back lifting connecting rod (53), a back lifting guide rail (54) and a back lifting screw driving device (55), the back lifting guide rail (54) is arranged on the back of the back plate (13), one end of the back lifting connecting rod (53) is movably arranged on the back lifting guide rail (54), the other end of the back lifting connecting rod is connected with the bed plate support (21), the back lifting screw (51) is arranged below the bed plate support (21), one end of the back lifting screw connecting rod (52) is connected with a back lifting screw nut (511) of the back lifting screw (51), the other end of the back lifting screw connecting rod is hinged with the back lifting connecting rod (53), and the back lifting screw driving device (55) is used for driving the back lifting screw (51) to rotate.

7. The intelligent horizontal exercise assisting device according to any one of claims 2 to 4, wherein the turning driving mechanism (6) comprises a turning screw (61), a turning screw connecting rod (62) and a turning screw driving mechanism (64), a turning connecting rod (63) is arranged on the back of the bed board support (21), the turning screw (61) is installed on the bed frame (2) and located below the turning connecting rod (63), one end of the turning screw connecting rod (62) is connected with a turning screw nut (611), the other end of the turning screw connecting rod is hinged with the turning connecting rod (63), the turning screw driving mechanism (64) is used for driving the turning screw (61) to rotate, side baffles (102) are arranged on two sides of the upper body main bed board (11), one side, which is close to the inside, of the side baffles (102) is hinged on the upper body main bed board (11), a retaining wheel (201) is arranged below the side of the side baffles (102), and the retaining wheel (201) is installed on the side of the bed frame (2) through a retaining wheel support (202).

8. The intelligent horizontal exercise assisting device as set forth in any one of claims 2 to 4, wherein the toilet driving mechanism (7) comprises a toilet disc crank (71), a toilet crank drive, a toilet connecting rod (74) and a tray connecting rod group (75), the toilet crank drive is mounted on the bed plate bracket (21), the toilet disc crank (71) is connected with the toilet crank drive, one end of the toilet crank connecting rod (72) is hinged on the outer edge of the toilet disc crank (71), the other end is hinged with the hip plate (14), the tray connecting rod group (75) comprises a mounting block (751), an L-shaped connecting block, a first connecting rod (753) and a second connecting rod (754), the mounting block (751) is arranged on the bed plate bracket (21), one end of each of the first connecting rod (753) and the second connecting rod (754) is hinged on the mounting block (751), the other end of each of the first connecting rod (753) and the second connecting rod (7575) is hinged with an L-shaped horizontal portion (755), and the first connecting rod (754) and the second connecting rod (754) are hinged on the horizontal connecting rod (759) and the horizontal connecting rod (7520) are fixed on the horizontal connecting rod (754) and the horizontal connecting rod (759), the other end is hinged with the L-shaped connecting block.

9. A health monitoring and rehabilitation management method using the intelligent horizontal exercise assisting device according to any one of claims 1 to 8, characterized in that: medical information of a cared person is stored in a data storage unit of a user terminal in advance and is stored in a personal cloud database after being authorized by the cared person, and the method comprises the following steps:

10. The health monitoring and rehabilitation management method according to claim 9, wherein: after step S1, step S2 is preceded by a step of measuring the temperature, where the step of measuring the temperature includes: the thermometer arranged on the nursing bed detects the cared person at regular time, stores the body temperature information in the data storage unit and stores the body temperature information in the personal cloud database after being authorized by the cared person.