CN114432059A - Multifunctional medical nursing bed - Google Patents

Abstract

The invention discloses a multifunctional medical nursing bed, which comprises a bed frame, a bed board, a back lifting device, a left turning device, a right turning device, a leg lifting device, a urinal device and a linkage leg supporting device, wherein the bed frame is connected with the bed board through a connecting rod; the bed plate comprises an upper trunk supporting plate, a lower trunk supporting plate, a thigh supporting plate and a shank supporting plate; the back lifting device is used for driving the upper trunk supporting plate to realize back lifting action, and the lower trunk supporting plate starts to rotate from a horizontal state in the back lifting process, so that the shank supporting plate starts to turn upwards around the thigh supporting plate from the horizontal state through the linkage effect of the linkage leg supporting device, and the soles of the feet of a user can be supported. According to the invention, the linkage leg supporting device is arranged, so that the crus supporting plate can support the sole of a user to prevent the sole from sliding downwards when the user backs up and sits up; according to the invention, the turning assisting unit is arranged, the intention and the direction of turning of a lying person can be identified by means of the pressure monitoring and analyzing result, and the turning assisting is automatically realized by the electric push rod.

Description

Multifunctional medical nursing bed

Technical Field

The invention relates to the field of medical nursing, in particular to a multifunctional medical nursing bed.

Background

The nursing bed is used for patients who are inconvenient to move, old people and other groups in hospital or at home for nursing, and can help a user to carry out actions such as back lifting and turning over so as to meet the daily nursing requirements of the user. The current nursing bed has the following defects:

1. for example, patent CN03137725.4 discloses a fully automatic nursing bed which can realize the functions of sitting up and turning over on one's side, but has a problem similar to many existing nursing beds: after sitting up, the user can easily slide down, which leads to the need to frequently adjust the sitting posture or the reduction of the comfort.

2. Many existing nursing beds do not have a leg raising function, resulting in a reduced use experience.

3. The nursing bed is less intelligent and generally has no intention identification function. In view of the above drawbacks, some improvements have been proposed in the prior art, for example, patent CN109925136B discloses an intelligent bed system based on action intention recognition and a method for using the same, which can recognize the user's intention to get up by means of pressure detection. This solution then clearly has some drawbacks: the turning-over intention recognition function is not available, the turning-over action only has one direction, and the turning-over action has two directions, so the turning-over intention recognition cannot be carried out by the scheme.

Furthermore, the rising intention is the intention requirement of the user when the user is awake, and is easy and convenient to realize by other modes, such as assisting by medical staff or raising the back by controlling the electric nursing bed by buttons; the turning-over action is an intention requirement when a user lies to fall asleep, a light sleep state or a normal sleep state, and at the moment, the user is in a vague and unclean state, and the nursing bed cannot or cannot be conveniently used for carrying out back-up action by calling medical personnel or operating and controlling the nursing bed by the user, so that the identification of the turning-over intention has more urgent requirements, and a reliable scheme is lacked in the prior art.

Therefore, there is a need for further improvements to existing care beds to provide a more reliable solution.

Disclosure of Invention

The present invention is directed to solving at least one of the above technical problems, and to this end, the present invention provides a multifunctional medical care bed.

One of the purposes of the present invention is to solve the problems that a user is easy to slide down after sitting up in the existing nursing bed and many existing nursing beds do not have the function of lifting legs, and in order to solve the technical problems, the technical scheme adopted by the present invention is as follows: the multifunctional medical nursing bed comprises a bed frame, a bed board arranged on the bed frame, a back lifting device, a left turning device, a right turning device, a leg lifting device, a urinal device and a linkage leg supporting device, wherein the back lifting device is arranged on the bed frame;

the bed plate comprises an upper trunk supporting plate, a lower trunk supporting plate, a thigh supporting plate and a shank supporting plate which are sequentially and rotatably connected from the direction of the bed head to the direction of the bed tail;

the back lifting device is used for driving the upper trunk supporting plate to integrally rotate upwards around the lower trunk supporting plate so as to realize back lifting action, and in the process that the lower trunk supporting plate starts to rotate from a horizontal state, the shank supporting plate starts to turn upwards around the thigh supporting plate through the linkage effect of the linkage leg supporting device, so that the soles of the feet of a user are supported through the shank supporting plate.

Preferably, the back lifting device comprises a back lifting support rotatably connected to the bed frame, a back lifting connecting rod fixedly connected to the back lifting support, and at least one back lifting electric push rod arranged on the bed frame, wherein an output rod of the back lifting electric push rod is rotatably connected to the back lifting connecting rod.

Preferably, the linkage leg supporting device comprises a first guide pulley rotatably connected to the bed frame and located below the upper trunk supporting plate, a pulley mounting rod connected to the bed frame, a second guide pulley rotatably connected to the pulley mounting rod and located below the lower leg supporting plate, a linkage belt arranged on the first guide pulley and the second guide pulley, and a rotary linkage rod, the lower end of the rotary linkage rod is fixedly connected with the linkage belt, and the upper end of the rotary linkage rod is fixedly connected with the inner end of the lower leg supporting plate;

the first end of the linkage belt is fixedly connected with the back lifting support, and the second end of the linkage belt is fixedly connected with the lower end of the rotary linkage rod after sequentially passing around the first guide pulley and the second guide pulley;

when the back lifting electric push rod drives the back lifting support to carry out back lifting action, the back lifting support pulls the linkage belt, so that the linkage belt part between the first guide pulley and the second guide pulley moves towards one side of the bed head of the bedstead, the linkage belt part bypassing the second guide pulley moves towards one side of the tailstock of the bedstead, and meanwhile, the lower end of the rotary linkage rod is driven to move towards one side of the tailstock of the bedstead, so that the shank supporting plate is turned upwards.

Preferably, the linkage leg supporting device further comprises an auxiliary resetting mechanism which is arranged on the bedstead and connected with the second end of the linkage belt, and the auxiliary resetting mechanism comprises an outer sleeve connected on the bedstead, a spring hole formed in the outer sleeve, a tension spring fixedly connected in the spring hole and a clamping block connected with the movable end of the tension spring;

the tail end of the outer sleeve is provided with a connecting hole which is communicated with the spring hole and is smaller than the clamping block in size, and the second end of the linkage belt penetrates through the connecting hole and then is connected with the clamping block.

Preferably, the upper trunk supporting plate comprises a right upper turning plate, an upper trunk middle supporting plate and a left upper turning plate which are sequentially and rotatably connected, and the lower trunk supporting plate comprises a right lower turning plate, a lower trunk middle supporting plate and a left lower turning plate which are sequentially and rotatably connected; the thigh supporting plate comprises a thigh right supporting plate, a thigh middle supporting plate and a thigh left supporting plate which are sequentially and rotatably connected; the shank supporting plate comprises a shank right supporting plate, a shank middle supporting plate and a shank left supporting plate which are sequentially connected in a rotatable manner;

the upper trunk middle supporting plate, the lower trunk middle supporting plate, the thigh middle supporting plate and the crus middle supporting plate are sequentially and rotatably connected, and the left side upper turning plate, the left side lower turning plate, the thigh left supporting plate and the crus left supporting plate are sequentially and rotatably connected;

the left turning device comprises a left turning support, a left turning connecting rod and a left turning electric push rod, wherein the left turning support is rotatably arranged on the bedstead and is positioned below the right upper turning plate and the right lower turning plate;

the right turning device comprises a right turning support, a right turning connecting rod and a right turning electric push rod, wherein the right turning support is rotatably arranged on the bed frame and is positioned below the left upper turning plate and the left lower turning plate, the right turning connecting rod is fixedly connected with the right turning support, the right turning electric push rod is arranged on the bed frame, and an output rod of the right turning electric push rod is rotatably connected with the right turning connecting rod.

Preferably, the leg lifting device comprises a leg lifting electric push rod arranged on the bedstead, a V-shaped leg lifting bracket which is rotatably connected on the bedstead and is positioned below the thigh supporting plate, and a leg lifting connecting rod of which the upper end is rotatably connected with the thigh middle supporting plate and the lower end is rotatably connected with the V-shaped leg lifting bracket;

the first end of the V-shaped leg lifting support is rotatably connected with the bedstead, the second end of the V-shaped leg lifting support is rotatably connected with the lower end of the leg lifting connecting rod, the V-shaped bottom end of the V-shaped leg lifting support is connected with a driving connecting rod, and the output rod of the leg lifting electric push rod is rotatably connected with the driving connecting rod.

Preferably, an opening is arranged in the middle of the lower trunk middle supporting plate, and the urinal device comprises a closestool arranged at the opening, a closestool cover arranged on a closestool opening of the closestool, a flushing mechanism connected with the closestool and a waste collecting mechanism connected with the closestool;

the flushing mechanism comprises a flushing pipe arranged in the closestool and a water supply device connected with the flushing pipe;

the waste collection mechanism comprises a collection pipe communicated with the bottom of the closestool and a collection barrel communicated with the collection pipe.

Another purpose of the present invention is to solve the problem of lack of function of identifying the intention of turning over in the existing nursing bed, and to solve the above technical problem, the technical solution adopted by the present invention is: the multifunctional medical nursing bed further comprises a turning assisting unit, wherein the turning assisting unit comprises a pressure detection module, an intention sensing module and an assisting control module, and the assisting control module is electrically connected with the left turning electric push rod and the right turning electric push rod;

the pressure detection module is used for right the pressure distribution condition on the bed surface of bed board carries out real-time supervision, intention perception module judges whether the person of lying on the bed surface has the direction of standing up the intention and the intention is stood up according to the analysis of the pressure distribution condition on the bed surface, when the person of lying has the intention of standing up, helping hand control module basis intention perception module's judgement result is right the electric putter is stood up on a left side or the electric putter is stood up on the right side is controlled, and supplementary person of lying stands up.

Preferably, the pressure detection module monitors the pressure value of each unit point on the whole bed surface to form a pressure distribution map of the bed surface, and stores the pressure distribution map, and the pressure value of any unit point on the bed surface at any moment and the total pressure value on the whole bed surface can be obtained according to the pressure distribution map;

the analysis method of the intention perception module comprises the following steps:

s1) setting a normal lying total pressure range F_T(F_min,F_max) Minimum area threshold S_TAnd effective pressure threshold f_TMinimum area threshold S_TIndicating that the pressure value is greater than the effective pressure threshold f when lying down_TThe minimum area of the region in which all the unit sites are formed;

s2) collecting a pressure distribution map every unit time delta t, and when the total pressure value is in the normal lying total pressure range F_T(F_min,F_max) In and the pressure value is greater than the effective pressure threshold f_TAll unit-site formed region S_roiIs greater than a minimum area threshold S_TWhen the user lies on the bed, the user can be judged to lie on the bed, and the next step is carried out; otherwise, proceed to next stepCollecting a secondary pressure distribution map; wherein, if the pressure value is larger than the effective pressure threshold value f_TAll unit-site formed region S_roiIs not greater than a minimum area threshold S_TWhen the user lies, only a small part of the trunk of the user is in contact with the bed surface, and the user is judged to be not lying;

s3) pressure fluctuation analysis:

s3-1) on the pressure distribution map, the width direction of the bed surface is taken as an X axis, and the length direction is taken as a Y axis;

the pressure value in the pressure distribution map is larger than the effective pressure threshold value f_TAll unit-site formed region S_roiExtracting to be used as an interested area, acquiring the maximum width D of the interested area along the X-axis direction, selecting an area with the width not less than k X D as a target area in the interested area, wherein k is more than or equal to 0.5 and less than or equal to 1;

s3-2) drawing M sampling lines which are uniformly spaced along the Y direction and are parallel to the X axis in the target area, and respectively marking two intersection points of the sampling lines and two boundaries of the target area along the X axis as a starting point and an end point;

s3-3) for any one sampling line L_iAt L_iUniformly taking N sampling points at intervals along the X-axis direction, wherein the N sampling points comprise sampling lines L_iN is an even number;

at t₁At that moment, a sampling line L is obtained_iThe pressure values of the N sampling points are sequentially marked as X from the starting point to the end point₁，X₂，...，X_N；

At the next instant t₂，t₂＝t₁+ Δ t, again taking the sample line L_iThe pressure values of the N sampling points are sequentially marked as X from the starting point to the end point₁′，X₂′，...，X_N′；

S3-4) calculating the sampling line L_iPressure fluctuation parameters at adjacent times:

A₁＝|X₁′-X₁|+|X₂′-X₂|+...+|X_N′-X_N|；

A₂＝(X₁′+X₂′+...+X_N/2′)-(X₁+X₂+...+X_N/2)；

A₃＝(X_N/2+1′+X_N/2+2′+...+X_N′)-(X_N/2+1+X_N/2+2+...+X_N)；

s3-4-1) presetting a minimum fluctuation threshold value delta F, and recording the middle discrimination parameters as follows: p is a radical of formula₁、p₂Finally judging the parameter to be P;

s3-4-2) when A₁When > Δ F, let p ₁1 and go to the next step; otherwise let p₁Step S3-4-4) is skipped to when P is 0;

s3-4-3) when A₂> 0, and A₃When > 0, let p ₂1 is ═ 1; when A is₂< 0, and A₃When < 0, let p₂＝2；

S3-4-4) calculating the final discrimination parameter P, P ═ P₁*p₂(ii) a P is 0, which indicates no intention of turning over; p is 1, which indicates that the user intends to turn over from the starting point to the ending point; p is 2, which indicates that the user intends to turn over from the ending point to the starting point;

s3-5) calculating the final discrimination parameters of the M sampling lines according to the methods from the steps S3-3) to S3-4), and respectively marking as P₁、P₂、...P_MThen, calculating an average value P of the M final discrimination parameters;

deriving t from the value of P₂Identifying the turning intention at each moment: if P is more than or equal to 0 and less than or equal to a, the intention of turning over is not indicated; a is more than P and less than or equal to b, which shows that the intention of turning over from the starting point to the ending point is realized; b is more than or equal to 2, which shows that the intention of turning over from the ending point to the starting point is realized; wherein a is more than 0 and less than 0.5, and b is more than or equal to 1 and less than 2;

wherein, turning over from the starting point to the ending point corresponds to turning over to the left, and turning over from the ending point to the starting point corresponds to turning over to the right; or, turning over from the starting point to the ending point corresponds to turning over to the right, and turning over from the ending point to the starting point corresponds to turning over to the left.

Preferably, when P > a, the assist control module generates an assist control commandC_helpThe central control unit controls the electric push rod group to assist the lying person to turn over;

or if the turning intention recognition results at H continuous moments are the same and all the turning intention results have the turning intention, generating a power-assisted control instruction C according to the turning intention recognition results_helpThe central control unit controls the electric push rod group to assist the lying person to turn over; wherein H is more than or equal to 2 and less than or equal to 6.

The invention has the beneficial effects that:

the multifunctional medical nursing bed provided by the invention has the functions of lifting the back, turning over left and right and lifting legs, and can meet the requirements of users on adjusting different postures to obtain a comfortable state; according to the nursing bed, the linkage leg supporting device is arranged, so that the nursing bed further has the function of supporting the soles of the user when the user backs up and sits up, the user can be prevented from naturally sliding downwards when sitting up, and the comfort level of the user when sitting up can be greatly improved; when the nursing bed is used for lying, the shank supporting plate is in a horizontal state, the lying function is not influenced, only when the nursing bed is in a back lifting state, the shank supporting plate automatically rotates to a supporting state, and the nursing bed is more convenient to use through a linkage function; furthermore, the invention is also provided with a urinal device, so that a user who is inconvenient to get out of the bed can conveniently solve the toilet problem on the bed, and the functions of the nursing bed are further enriched;

according to the invention, by arranging the turning assisting unit, the turning intention and the turning direction of the lying person can be recognized by means of the pressure monitoring and analyzing result, and the turning assisting is automatically realized by the electric push rod, so that the turning of the lying person in a fast sleeping state, a shallow sleeping state or a normal sleeping state and the like can be well realized, the sleeping quality can be conveniently improved, the using effect of the nursing bed is improved, the intelligent degree of the nursing bed is improved, the functions of the nursing bed are enriched, and the nursing bed is particularly suitable for people with certain body disorders.

Drawings

FIG. 1 is a schematic view of a multi-functional medical care bed according to the present invention;

FIG. 2 is a schematic structural view of another perspective of the multifunctional medical care bed of the present invention;

FIG. 3 is a top view of the multi-functional medical care bed of the present invention;

FIG. 4 is a schematic view of the multifunctional medical care bed of the present invention with a portion of the components removed;

FIG. 5 is a schematic view of the multifunctional medical care bed of the present invention from another perspective after the removal of a portion of the assembly;

FIG. 6 is a schematic structural diagram of a back lifting device according to the present invention;

FIG. 7 is a schematic structural diagram of the left turn-over device of the present invention;

FIG. 8 is a schematic structural view of the leg raising device of the present invention;

FIG. 9 is a side view of the multi-functional medical care bed of the present invention with portions of the assembly removed;

fig. 10 is a schematic view of the urinal device of the present invention mounted on a bed frame;

fig. 11 is a schematic view of the urinal device of the present invention;

FIG. 12 is a schematic structural view showing a turning state of a lower leg support plate of the multifunctional medical nursing bed of the present invention;

FIG. 13 is a schematic structural view of the linking leg supporting device of the present invention (lying down state);

FIG. 14 is a schematic structural view of the linking leg supporter of the present invention (back-up state);

FIG. 15 is an exploded view of a support plate in the lower leg in one embodiment of the invention;

FIG. 16 is a schematic view of the mounting arrangement of the support plate in the lower leg in an embodiment of the invention;

fig. 17 is a schematic view of a pressure distribution map in example 2 of the present invention.

Description of reference numerals:

1-bed frame;

2-bed board;

20-upper torso support panel; 200-right side up-turning plate; 201 — upper torso middle support panel; 202-left side up-flip panel;

21-lower torso support plate; 210 — right side down-turn panel; 211-lower torso middle support panel; 212 — left side down-flip panel; 2110-opening;

22-thigh support plate; 220-thigh right support plate; 221-thigh medial support plate; 222-thigh left support plate; 223-limiting lifting plate;

23-a calf support plate; 230-shank right support plate; 231 — mid calf support plate; 232-left support plate of shank; 233-a groove; 234-movable support plate; 235-a stepped hole; 236-an adjustment stud; 237-swivel cap; 238-limiting disc; 239-a threaded hole; 2350-small hole section; 2351-large bore section;

3-a back lifting device; 30-back support; 31-back-up link; 32-back lifting electric push rod;

4-linkage leg supporting device; 40-a first guide pulley; 41-pulley mounting rod; 42 — a second guide pulley; 43-linkage belt; 44-a rotary linkage;

45-auxiliary reset mechanism; 450-an outer sleeve; 451-spring hole; 452-a tension spring; 453-a fixture block; 454-a connecting hole;

5, turning the body left; 50-left turn-over stand; 51-left flip link; 52-left turning electric push rod; 53-left turn axis;

6-a right turning device; 60-right turn-over bracket; 61-right turn-over connecting rod; 62-turning over the electric push rod right; 63-right rotating shaft;

7-leg raising device; 70-lifting the leg electric push rod; 71-V type leg raising bracket; 72-leg raising connecting rod; 73-a drive link;

8-urinal device; 80-a toilet bowl; 81-toilet lid; 82-a flushing mechanism; 83-a waste collection mechanism; 820, a flushing pipe; 821-a water supply device; 830-a collection pipe; 831-collecting vessel.

Detailed Description

The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or combinations thereof.

Example 1

As shown in fig. 1 to 16, the multifunctional medical nursing bed of the present embodiment includes a bed frame 1, a bed board 2 disposed on the bed frame 1, a back-up device 3, a left turn-over device 5, a right turn-over device 6, a leg-lifting device 7, a urinal device 8, and a linkage leg-supporting device 4;

the bed board 2 comprises an upper trunk supporting board 20, a lower trunk supporting board 21, a thigh supporting board 22 and a shank supporting board 23 which are sequentially and rotatably connected from the direction of the bed head to the direction of the bed tail;

the back lifting device 3 is used for driving the whole upper trunk supporting plate 20 to rotate upwards around the lower trunk supporting plate 21 so as to realize back lifting action, and in the process that the lower trunk supporting plate 21 starts to rotate from the horizontal state, the lower leg supporting plate 23 starts to turn upwards around the upper leg supporting plate 22 through the linkage effect of the linkage leg supporting device 4, so that the soles of the feet of a user are supported through the lower leg supporting plate 23.

For convenience of description, the left and right directions are referred to when the user normally lies on the bed plate 2.

In this embodiment, the upper torso support plate 20 includes a right upper turning plate 200, an upper torso middle support plate 201, and a left upper turning plate 202, which are rotatably connected in sequence, and the lower torso support plate 21 includes a right lower turning plate 210, a lower torso middle support plate 211, and a left lower turning plate 212, which are rotatably connected in sequence; the thigh supporting plate 22 comprises a thigh right supporting plate 220, a thigh middle supporting plate 221 and a thigh left supporting plate 222 which are rotatably connected in sequence; the lower leg support plate 23 comprises a lower leg right support plate 230, a lower leg middle support plate 231 and a lower leg left support plate 232 which are connected in turn in a rotatable manner;

the right upper turning plate 200, the right lower turning plate 210, the thigh right support plate 220 and the shank right support plate 230 are sequentially and rotatably connected, the upper trunk middle support plate 201, the lower trunk middle support plate 211, the thigh middle support plate 221 and the shank middle support plate 231 are sequentially and rotatably connected, and the left upper turning plate 202, the left lower turning plate 212, the thigh left support plate 222 and the shank left support plate 232 are sequentially and rotatably connected.

In this embodiment, the back lifting device 3 comprises a back lifting bracket 30 rotatably connected to the bed frame 1, a back lifting connecting rod 31 fixedly connected to the back lifting bracket 30, and two back lifting electric push rods 32 arranged on the bed frame 1, wherein the output rod of the back lifting electric push rod 32 is rotatably connected to the back lifting connecting rod 31.

When the back is raised, the output rod of the electric back raising push rod 32 is shortened, and the back raising bracket 30 is driven to rotate (in the direction shown in fig. 6) through the back raising connecting rod 31, so that the whole upper body supporting plate 20 (the right upper turning plate 200, the upper body middle supporting plate 201 and the left upper turning plate 202) is turned upwards, and the back raising action is realized.

In this embodiment, a limiting lifting plate 223 is disposed below the ends of the thigh right supporting plate 220, the thigh middle supporting plate 221 and the thigh left supporting plate 222, and when the shank right supporting plate 230, the shank middle supporting plate 231 and the shank left supporting plate 232 are rotated to be horizontal, the bottoms of the limiting lifting plates 223 are pressed against the shank right supporting plate 230, the shank middle supporting plate 231 and the shank left supporting plate 232, so as to support the shank right supporting plate 230, the shank middle supporting plate 231 and the shank left supporting plate 232 and prevent the shank right supporting plate 230, the shank middle supporting plate 231 and the shank left supporting plate 232 from continuously turning downwards.

Referring to fig. 13 to 14, in the present embodiment, the linkage leg-supporting device 4 includes a first guide pulley 40 rotatably connected to the frame 1 and located below the upper torso supporting plate 20, a pulley mounting bar 41 connected to the frame 1, a second guide pulley 42 rotatably connected to the pulley mounting bar 41 and located below the lower leg supporting plate 23, a linkage belt 43 disposed on the first guide pulley 40 and the second guide pulley 42, and a rotary linkage bar 44 having a lower end fixedly connected to the linkage belt 43 and an upper end fixedly connected to the inner end of the lower leg supporting plate 23;

the first end of the linkage belt 43 is fixedly connected with the back rising bracket 30, and the second end of the linkage belt 43 sequentially rounds the first guide pulley 40 and the second guide pulley 42 and then is fixedly connected with the lower end of the rotary linkage rod 44;

when the back-rising electric push rod 32 drives the back-rising bracket 30 to carry out back-rising action, the back-rising bracket 30 pulls the linkage belt 43, so that the linkage belt 43 part between the first guide pulley 40 and the second guide pulley 42 moves towards one side of the head of the bed frame 1, the linkage belt 43 part bypassing the second guide pulley 42 moves towards one side of the tail of the bed frame 1, and simultaneously, the lower end of the rotary linkage rod 44 is driven to move towards one side of the tail of the bed frame 1, so that the shank support plate 23 is turned upwards.

In a preferred embodiment, the linkage leg-supporting device 4 further comprises an auxiliary return mechanism 45 disposed on the bed frame 1 and connected to the second end of the linkage belt 43, the auxiliary return mechanism 45 comprises an outer sleeve 450 connected to the bed frame 1, a spring hole 451 formed in the outer sleeve 450, a tension spring 452 fixed in the spring hole 451, and a latch 453 connected to the movable end of the tension spring 452;

the end of the outer sleeve 450 is provided with a connecting hole 454 which is communicated with the spring hole 451 and is smaller than the fixture block 453, and the second end of the linkage belt 43 passes through the connecting hole 454 and then is connected with the fixture block 453.

In this embodiment, the lower leg support plate 23 is in a vertical state when being turned to the support state, so as to ensure a comfortable support effect for the sole of the foot.

In this embodiment, the rotation linkage rod 44 is obliquely arranged, and when the lower leg support plate 23 is horizontal, the lower end of the rotation linkage rod 44 is inclined toward one side of the bed head (denoted as a first inclined state), as shown in fig. 13; when the lower leg support plate 23 is turned to the vertical position, the lower end of the rotary link rod 44 is inclined toward the side of the bed tail (referred to as a second inclined state), and the two positions are substantially symmetrical, as shown in fig. 14.

The working principle of the linkage leg supporting device 4 is as follows:

referring to fig. 13 to 14, when the back-raising device 3 performs a back-raising action, the back-raising bracket 30 rotates upward to drive the first end of the linkage belt 43 to move, so that the linkage belt 43 between the first guide pulley 40 and the second guide pulley 42 moves toward the head side of the bed frame 1, and since the second guide pulley 42 performs a turning action on the linkage belt 43, the linkage belt 43 passing around the second guide pulley 42 moves toward the foot side of the bed frame 1, and simultaneously drives the lower end of the rotary linkage rod 44 to move toward the foot side of the bed frame 1 (as indicated by the arrow in fig. 14), the rotary linkage rod 44 changes from the first inclined state to the second inclined state, so that the lower leg support plate 23 is turned upward to a vertical position, thereby forming a comfortable support function for the sole of a foot; in one embodiment, the thigh support plate 22 at the left side of the lower leg support plate 23 can prevent the rotation thereof, so as to perform a limiting function, so that the back rising angle also reaches the maximum (preferably 30 ° or 45 ° or 60 ° or 75), the user is in a sitting state, and the sole of the foot can be supported on the turned lower leg support plate 23, thereby maintaining a good comfort and stable state;

in the process, the clamping block 453 is pulled by the linkage belt 43 to move to the left side of the connecting hole 454, and is clamped by the inner wall of the left side of the outer sleeve 450 so as not to move continuously, and the tension spring 452 is stretched to the longest, so that the limit position of the turning-over of the lower leg supporting plate 23 can be limited;

when the sitting posture is changed into the lying posture, the backrest lifting bracket 30 rotates downwards to reset, the tension spring 452 generates a leftward pulling force on the second end of the linkage belt 43 and drives the rotary linkage rod 44 to reset, the second inclined state is changed into the first inclined state, the lower leg support plate 23 and the backrest lifting bracket 30 are changed into the horizontal state, and the redundant linkage belt 43 is collected into the spring hole 451 of the outer sleeve 450.

It will be appreciated that the arrangement of the linkage band 43 in the linkage leg unit 4 is required to avoid interference with other components.

In one embodiment, the linking leg-supporting device 4 is included, the middle lower leg supporting plate 231 of the lower leg supporting plate 23 is linked with the back-raising support 30, that is, the rotary linking rod 44 is arranged at the inner end of the middle lower leg supporting plate 231, and since the middle lower leg supporting plate 231 has no turning action, the right lower leg supporting plate 230 and the left lower leg supporting plate 232 of the lower leg supporting plate 23 do not affect the linking leg-supporting device 4 when turning. It should be understood that when the shank support plate 23 performs the leg lifting action, the requirement is only in the non-back lifting state, that is, the support plate 231 in the shank is in the horizontal state, the linkage belt 43 can extend and retract to a certain extent, and the lower end of the rotary linkage rod 44 is connected with the linkage belt 43, so that when the shank support plate 23 rotates upwards to lift the leg, the linkage belt 43 can follow a certain amount, and the leg lifting action of the shank support plate 23 cannot be limited or restricted. Therefore, in this case, the linked leg supporter 4 does not interfere with the movement of other mechanisms. At this time, the interlocking belt 43 may be disposed at an intermediate position.

In another embodiment, the linkage leg-supporting device 4 comprises 2 devices which are arranged on two sides, wherein one device is linked with the lower leg right supporting plate 230, and the other device is linked with the lower leg left supporting plate 232, namely, the inner ends of the lower leg right supporting plate 230 and the lower leg left supporting plate 232 are both connected with a rotary linkage rod 44. At this time, since the right support plate 230 and the left support plate 232 have the turning action, the linkage belt 43 is driven to move within a certain range by the rotation linkage rod 44 during the turning process. When the same, the turning action is also the only requirement in the non-back-rising state, that is, the lower leg right support plate 230 and the lower leg left support plate 232 are also in the horizontal state, and the linkage belt 43 has a certain amount of mobility and can move within a certain range, it is only necessary to ensure that the range in which the linkage belt 43 is driven by rotating the linkage rod 44 is within the mobility range allowed by the linkage belt 43 during the turning process of the lower leg right support plate 230 and the lower leg left support plate 232, and obviously, the requirement is easily met. In addition, as described above, the linked leg support does not affect the leg raising action of the lower leg right support plate 230 and the lower leg left support plate 232. Therefore, in this case, the linked leg supporter 4 does not interfere with the movement of other mechanisms.

When the rotary linkage rod 44 is changed from the first inclined state to the second inclined state, the distance moved by the lower end of the rotary linkage rod 44 is the same as the distance of the first end of the linkage belt 43.

In the preferred embodiment, the linkage belt 43 is a steel wire or rope or other cord.

Referring to fig. 15-16, in a preferred embodiment, the calf support plate 23 has an adjustable function, which can adjust the distance of the calf support plate 23 from the direction of the bed head after being turned over, for example, to a vertical state, so that the distance can be properly adjusted according to users of different heights, which can be convenient for providing comfortable support to the users. Specifically, the structure of the lower leg support plate 23 in this embodiment is as follows:

the structures of the lower leg right support plate 230, the lower leg middle support plate 231 and the lower leg left support plate 232 in the lower leg support plate 23 that realize the adjustable function are the same, and the lower leg middle support plate 231 is taken as an example for description. The surface of the supporting plate 231 in the shank is provided with a groove 233, the groove 233 is internally provided with a movable supporting plate 234, the back of the movable supporting plate 234 is provided with a stepped hole 235, and the stepped hole 235 comprises a small hole section 2350 and a large hole section 2351 which are sequentially arranged from outside to inside;

a plurality of adjusting studs 236 are connected to the support plate 231 in the shank through screw holes 239 in a matching manner, the outer ends of the adjusting studs 236 are connected with a rotating cap 237, the inner ends of the adjusting studs 236 are connected with a limiting disc 238, the adjusting studs 236 can be movably inserted into the small hole section 2350, the limiting disc 238 can be rotatably arranged in the large hole section 2351, so that when the rotating cap 237 is adjusted, the adjusting studs 236 can drive the limiting disc 238 to freely rotate, when the adjusting studs 236 move back and forth, the movable support plate 234 can be driven to move back and forth through the limiting disc 238, and therefore the distance adjusting function is achieved. For example, when the user is short, the adjusting stud 236 is rotated to move the movable support plate 234 toward the head of the bed, so that the sole of the user can be comfortably supported on the movable support plate 234 after getting up and sitting, and the user is prevented from sliding down.

Referring to fig. 4, 5 and 7, in the present embodiment, the left turn-over device 5 includes a left turn-over bracket 50 rotatably disposed on the bed frame 1 and below the right upper turn-over plate 200 and the right lower turn-over plate 210, a left turn-over connecting rod 51 fixedly connected with the left turn-over bracket 50, and a left turn-over electric push rod 52 disposed on the bed frame 1, an output rod of the left turn-over electric push rod 52 is rotatably connected with the left turn-over connecting rod 51;

the right turn-over device 6 comprises a right turn-over bracket 60 which is rotatably arranged on the bedstead 1 and is positioned below the left upper turn-over plate 202 and the left lower turn-over plate 212, a right turn-over connecting rod 61 which is fixedly connected with the right turn-over bracket 60, and a right turn-over electric push rod 62 which is arranged on the bedstead 1, wherein an output rod of the right turn-over electric push rod 62 is rotatably connected with the right turn-over connecting rod 61. The right turn-over device 6 has the same structure as the left turn-over device 5, and is not separately illustrated in the figure.

In this embodiment, the left turn-over bracket 50 is rotatably connected to the frame 1 via a left rotating shaft 53, and the right turn-over bracket 60 is rotatably connected to the frame 1 via a right rotating shaft 63.

When the patient turns over on the left, the output rod of the left turning electric push rod 52 extends, and the left turning bracket 50 is driven to rotate (in the reverse direction shown in fig. 7) through the left turning connecting rod 51, so that the right upper turning plate 200 and the right lower turning plate 210 drive the thigh right supporting plate 220 and the shank right supporting plate 230 to turn over to the left side together, and the left turning is realized; the right turn-over principle is the same and is not described in detail.

It should be understood that the back-lifting device 3, the left turn-over device 5 and the right turn-over device 6 are arranged to ensure that no movement interference exists between the two devices. In this embodiment, the left turn-over bracket 50 and the right turn-over bracket 60 are both arranged at staggered positions with respect to the back-up bracket 30, the left turn-over bracket 50 and the right turn-over bracket 60 are positioned above the back-up bracket 30, and the turning-over action is required only in a non-back-up state during use, that is, when the back-up bracket 30 is positioned horizontally, the turning-over action is required only for the left turn-over bracket 50 and the right turn-over bracket 60, and at this time, the left turn-over bracket 50 and the right turn-over bracket 60 are positioned above the back-up bracket 30, so that the back-up bracket 30 does not interfere with the movement of the left turn-over bracket 50 and the right turn-over bracket 60.

Referring to fig. 4, 8 and 9, in the present embodiment, the leg-raising device 7 includes a leg-raising electric push rod 70 disposed on the bed frame 1, a V-shaped leg-raising bracket 71 rotatably connected to the bed frame 1 and located below the thigh supporting plate 22, and a leg-raising link 72 having an upper end rotatably connected to the thigh middle supporting plate 221 and a lower end rotatably connected to the V-shaped leg-raising bracket 71;

the first end of the V-shaped leg-raising bracket 71 is rotatably connected with the bedstead 1, the second end of the V-shaped leg-raising bracket 71 is rotatably connected with the lower end of the leg-raising connecting rod 72, the V-shaped bottom end of the V-shaped leg-raising bracket 71 is connected with a driving connecting rod 73, and the output rod of the leg-raising electric push rod 70 is rotatably connected with the driving connecting rod 73.

When the leg-raising action is performed, the output rod of the leg-raising electric push rod 70 extends, so that the V-shaped leg-raising bracket 71 rotates counterclockwise around the first end thereof, the leg-raising connecting rod 72 drives the thigh middle support plate 221 to rotate upward, and drives the thigh right support plate 220 and the thigh left support plate 222 to rotate together; wherein, because of the lifting function of the spacing lifting plate 223, when the thigh supporting plate 22 rotates upwards, the shank supporting plate 23 can be driven to rotate together, thereby lifting the whole leg and meeting the requirements of users for adjusting different postures.

Referring to fig. 2, 10 and 11, in a preferred embodiment, the lower torso center support plate 211 is provided with an opening 2110 at a middle portion thereof, and the urinal device 8 includes a toilet bowl 80 provided at the opening 2110, a toilet bowl cover 81 provided on a rim of the toilet bowl 80, a flushing mechanism 82 connected to the toilet bowl 80, and a waste collection mechanism 83 connected to the toilet bowl 80; the flush mechanism 82 includes a flush pipe 820 provided inside the toilet 80 and a water supply device 821 connected to the flush pipe 820; the waste collection mechanism 83 includes a collection pipe 830 communicating with the bottom of the toilet bowl 80 and a collection tub 831 communicating with the collection pipe 830.

The multifunctional medical nursing bed provided by the invention has the functions of getting up the back, turning over left and right and lifting legs, and can meet the requirements of users on adjusting different postures to obtain comfortable states; according to the nursing bed, the linkage leg supporting device 4 is arranged, so that the nursing bed further has the function of supporting the soles of the user when the user backs up and sits up, the user can be prevented from naturally sliding downwards when sitting up, and the comfort level of the user when sitting up can be greatly improved; when the patient lies on the back, the lower leg support plate 23 is in a horizontal state, the lying function is not influenced, only when the patient is in a back-up state, the lower leg support plate 23 automatically rotates to a support state, and the use of the nursing bed is more convenient through a linkage function; furthermore, the invention is also provided with a urinal device 8, which is convenient for users who are inconvenient to get out of bed to solve the toilet problem on the bed, and further enriches the functions of the nursing bed.

Example 2

When a person is in a fast-falling sleep state, a light sleep state or a normal sleep state, turning actions or intentions usually exist so as to adjust the person to a comfortable sleep posture; for a plurality of patients with related diseases or groups such as the old, the turning-over can be difficult to realize or difficult due to difficulties in turning over; at the moment, people are in a state of getting lost and getting awake, and can not or be inconvenient for others to ask for help or control a relevant button of the nursing bed by oneself to turn over, so that the sleeping quality or the health state is influenced. In the present embodiment, the above problems are further improved on the basis of embodiment 1, which is specifically as follows.

The multifunctional medical nursing bed provided by the embodiment further comprises a turning assisting unit, the turning assisting unit comprises a pressure detection module, an intention sensing module and an assisting control module, and the assisting control module is electrically connected with the left turning electric push rod 52 and the right turning electric push rod 62, so that the left turning electric push rod 52 and the right turning electric push rod 62 can be controlled through the assisting control module.

The pressure detection module is used for monitoring the pressure distribution condition on the bed surface of the bed plate 2 in real time, the intention sensing module analyzes and judges whether a sleeper on the bed surface has the intention of turning over and the direction of the intention of turning over according to the pressure distribution condition on the bed surface, and when the sleeper has the intention of turning over, the power-assisted control module controls the left turning-over electric push rod 52 or the right turning-over electric push rod 62 according to the judgment result of the intention sensing module to assist the sleeper to turn over.

Can discern the intention of standing up of the person of lying through intention perception module to stand up the helping hand through electric putter is automatic to realization that can be fine lies up the person and in falling asleep state soon, shallow sleep state or the standing up under the circumstances such as normal sleep state, can be convenient for improve the sleep quality, promote the result of use of nursing bed.

In this embodiment, the pressure detection module monitors the pressure value of each unit point on the entire bed surface to form a pressure distribution map of the bed surface, and stores the pressure distribution map, and the pressure value of any unit point on the bed surface at any time and the total pressure value on the entire bed surface can be obtained according to the pressure distribution map. The pressure detection module has higher sensitivity, and the monitoring range can cover the whole bed surface.

In a preferred embodiment, the pressure detection module is a plurality of groups of flexible pressure sensor arrays, which are formed by splicing a plurality of flexible pressure sensors (such as piezoresistive, capacitive or piezoelectric) arranged in an array, and the surface areas of a right upper turn-over plate 200, an upper torso middle support plate 201, a left upper turn-over plate 202, a right lower turn-over plate 210, a lower torso middle support plate 211, a left lower turn-over plate 212, a thigh right support plate 220, a thigh middle support plate 221, a thigh left support plate 222, a shank right support plate 230, a shank middle support plate 231 and a shank left support plate 232 are all tiled in one group; the flexible pressure sensor arrays on each plate are independent of each other (i.e., are split from each other, not connected) so as not to interfere with the rotation of the individual panels. And the flexible pressure sensor array can not influence the movement of other mechanisms.

In another preferred embodiment, the pressure detection module is a flexible pressure sensor mattress, which comprises 12 pieces covered on a right upper turning plate 200, an upper torso middle support plate 201, a left upper turning plate 202, a right lower turning plate 210, a lower torso middle support plate 211, a left lower turning plate 212, a thigh right support plate 220, a thigh middle support plate 221, a thigh left support plate 222, a shank right support plate 230, a shank middle support plate 231, a shank left support plate 232; the same flexible pressure sensor mattress on each panel is independent of each other so that the rotation of each panel is not affected. Likewise, the flexible pressure sensor mattress does not affect the movement of other mechanisms.

In this embodiment, the analysis method of the intention perception module includes the following steps:

s1) setting a normal lying total pressure range F_T(F_min,F_max) Minimum area threshold S_TAnd effective pressure threshold f_TMinimum area threshold S_TIndicating that the pressure value is greater than the effective pressure threshold f when lying down_TThe minimum area of the region in which all the unit sites are formed;

wherein, the normal lying total pressure range is set according to the weight of a user, and when the total pressure on the bed surface is more than F_minWhen the total pressure is greater than F, the bed surface is indicated to be occupied by people_maxThe phenomenon that pressure measurement is wrong and the like can exist is illustrated, and only the total pressure is between F_minAnd F_maxMeanwhile, only one person is considered on the bed surface, and the subsequent treatment is carried out. Therefore, different values should be set for users of different weights, e.g. user weight m, setting F_min＝m*9.8*0.8，F_maxM 9.8 1.5. It can be seen that by setting the appropriate F_minAnd F_maxCan recognize abnormal conditions in the stepAnd further monitoring is not carried out, so that monitoring resources can be saved.

Wherein by setting the effective pressure threshold f_TSo as to reduce the misjudgment of the pressure generated by the clothes, the bedding articles and other objects on the bed surface, namely when the pressure on the unit point is more than f_TThe pressure is considered to be the pressure generated by the user, so that the judgment accuracy can be improved.

S2) collecting a pressure distribution map every unit time delta t, and when the total pressure value is in the normal lying total pressure range F_T(F_min,F_max) In and the pressure value is greater than the effective pressure threshold f_TAll unit-site formed region S of_roiIs greater than a minimum area threshold S_TWhen the user lies on the bed, the user can be judged to lie on the bed, and the next step is carried out; otherwise, collecting the next pressure distribution map; wherein, if the pressure value is larger than the effective pressure threshold value f_TAll unit-site formed region S_roiIs not greater than a minimum area threshold S_TWhen the user lies, only a small part of the trunk of the user is in contact with the bed surface, and the user is judged to be not lying;

s3) pressure fluctuation analysis:

s3-1) on the pressure distribution map, the width direction of the bed surface is taken as an X axis, and the length direction is taken as a Y axis;

the pressure value in the pressure distribution map is larger than the effective pressure threshold value f_TAll unit-site formed region S_roiExtracting to be used as an interested area, acquiring the maximum width D of the interested area along the X-axis direction, selecting an area with the width not less than k X D as a target area in the interested area, wherein k is more than or equal to 0.5 and less than or equal to 1; let the straight line of the maximum width D be L_Dmax；

Referring to fig. 17, which is a schematic diagram of a pressure distribution map and a sampling line, when a person lies normally, the collected pressure distribution map is substantially consistent with a human body contour region, and pressure fluctuation data having a higher reference value for judging a turning-over intention is pressure fluctuation of a human body trunk part, because actions such as lifting up hands and feet of a human body do not necessarily indicate that the human body needs to turn over, but the whole turning of the trunk probably indicates that the person has the turning-over intention. Therefore, the target region should be selected as far as possible to the region corresponding to the torso, and this is achieved by the setting of "selecting a region having a width not less than k × D as the target region" in the present embodiment.

In one embodiment, the maximum width D is preferably the maximum width of a portion of the region of interest where the pressure distribution is continuous, that is, the regions through which the straight line of the maximum width D passes are all the regions of interest, and the middle of the region of interest does not pass through the non-region of interest. In this case, the value of k may be selected to be 0.6 to 1. When two hands (or two feet) of a person are opened on the bed surface, the width between the two hands is generally larger than the width of other parts of the human body outline, obviously, when the width is taken as the maximum width D, if the value of k is selected to be equal to 1 or close to 1, the torso part in the target area is relatively less, and the subsequent judgment precision is reduced, so the width at the moment is not a more preferable item of the required width; with this width as the maximum width, the width line will necessarily pass through the region of non-interest (the pressure is less than the pressure threshold f)_TThe area of (b), the present embodiment can avoid selecting the maximum width D as such, and can select the area corresponding to the trunk as much as possible as the target area.

In another alternative embodiment, the maximum width D is not limited, preferably to the maximum width of the portion of the region of interest where the pressure distribution is continuous. In this case, the value of k is preferably 0.5 to 0.8. In this case, the sampling range includes more regions corresponding to the torso region by mainly using the value of k and subsequently acquiring more sampling lines. However, it should be understood that in the subsequent pressure fluctuation analysis algorithm, through the design of the pressure analysis method, the misjudgment of non-turn-over intentions such as hand lifting, foot lifting and the like can be reduced to a certain extent.

S3-2) drawing M sampling lines which are uniformly spaced along the Y direction and are parallel to the X axis in the target area, and respectively marking two intersection points of the sampling lines and two boundaries of the target area along the X axis as a starting point and an end point;

s3-3) for any one sampling line L_iAt L_iUniformly taking N sampling points at intervals along the X-axis direction, wherein the N sampling points comprise sampling lines L_iN is an even number;

at t₁At that moment, a sampling line L is obtained_iThe pressure values of the N sampling points are sequentially marked as X from the starting point to the end point₁，X₂，...，X_N；

At the next instant t₂，t₂＝t₁+ Δ t, again taking the sample line L_iThe pressure values of the N sampling points are sequentially marked as X from the starting point to the end point₁′，X₂′，...，X_N′；

S3-4) calculating the sampling line L_iPressure fluctuation parameters at adjacent times:

A₁＝|X₁′-X₁|+|X₂′-X₂|+...+|X_N′-X_N|；

A₂＝(X₁′+X₂′+...+X_N/2′)-(X₁+X₂+...+X_N/2)；

A₃＝(X_N/2+1′+X_N/2+2′+...+X_N′)-(X_N/2+1+X_N/2+2+...+X_N)；

s3-4-1) presetting a minimum fluctuation threshold value delta F, and recording the middle discrimination parameters as follows: p is a radical of₁、p₂Finally judging the parameter to be P;

s3-4-2) when A₁When > Δ F, let p ₁1 and go to the next step; otherwise let p₁Step S3-4-4) is skipped to when P is 0;

in the embodiment, the general idea is to arrange a plurality of sampling lines along the length direction, take a plurality of sampling points along the width direction for each sampling line, divide the sampling points into a left part and a right part, and judge the intention of turning over by comparing the pressure change conditions of the left part and the right part at adjacent moments; and finally, synthesizing the judgment conditions of the plurality of sampling lines to make final judgment, or further combining the judgment conditions of a plurality of moments to make final judgment.

Wherein A is₁0 means that there is no fluctuation in the pressure at the same location at two times, sinceBreathing of the target subject during sleep, or some minor movement not intended for turning over, a₁The case of 0 is substantially absent. Therefore, in this embodiment, a minimum fluctuation threshold Δ F larger than 0 is used as a₁The value of Δ F is selected according to the weight of the target subject, and the larger the weight is, the larger the value is, for example, the value of Δ F may be selected as the weight of the target subject multiplied by a proportionality coefficient. Further, the selection of Δ F may refer to the number of sampling points, and the larger the number of sampling points, the larger the value may be set.

Therefore, in this embodiment, when A₁When the pressure is smaller than deltaF, the pressure at the same position is considered to have only slight fluctuation at two moments, and the target object is considered to have no obvious action intention; when A is₁When the pressure is larger than deltaF, the pressure at the same position at two moments is obviously fluctuated, which indicates that the target object has certain movement at the position and may have the intention of turning over, but may also have other small movements which are not the intention of turning over, and in this case, further judgment is needed.

S3-4-3) when A₂> 0, and A₃When > 0, let p ₂1 is ═ 1; when A is₂< 0, and A₃When < 0, let p₂＝2；

This step is a further analysis in the case where it is assumed that there is a significant fluctuation in pressure:

when A is₂> 0 and A₃> 0, denotes the sum of t₁To t₂At the moment, the sampling line L_iThe total pressure from the first point (starting point) to the nth/2 point is decreased, and the total pressure from the N/2+1 point to the nth point (ending point) is increased; if the sampling line L is used_iThe perpendicular bisector of (a) is a central dividing line, which indicates that one side of the central dividing line has a tendency of rising upward, and the other side has a heavier tendency of pressing downward, and can illustrate that the intention of turning over from the first point (starting point) to the Nth point (ending point) exists at this time;

similarly, when A₂< 0, and A₃If < 0, it can be said that there is an intention to turn over from the Nth point (end point) to the first point (start point).

S3-4-4) calculating the final discrimination parameter P, P ═ P₁*p₂(ii) a P is 0, which indicates no intention of turning over; p is 1, which indicates that the user intends to turn over from the starting point to the ending point; p is 2, which indicates that the user intends to turn over from the ending point to the starting point;

s3-5) calculating the final discrimination parameters of the M sampling lines according to the methods from the steps S3-3) to S3-4), and respectively marking as P₁、P₂、...P_MThen, calculating an average value P of the M final discrimination parameters;

deriving t from the value of P₂Identifying the turning intention at each moment: if P is more than or equal to 0 and less than or equal to a, the intention of turning over is not indicated; a is more than P and less than or equal to b, which shows that the intention of turning over from the starting point to the ending point is realized; b is more than or equal to 2, which shows that the intention of turning over from the ending point to the starting point is realized; wherein a is more than 0 and less than 0.5, and b is more than or equal to 1 and less than 2;

through carrying out analysis and judgment respectively to many sampling lines, then go the average value again, synthesize the result of many sampling lines and judge, can improve the judgement precision greatly. For example, if the analysis and determination results of all the sampling lines have the intention of turning from the first point (starting point) to the Nth point (ending point), P is₁、P₂、...P_MThe values of (a) and (b) are all 1, and the final value of P is also 1; if the analysis and judgment results of all the sampling lines have the intention of turning over from the Nth point (the termination point) to the first point (the starting point), P₁、P₂、...P_MAll of them are 2, and the final value of P is also 2.

Wherein, a and b are used as correction parameters for improving the judgment precision, and can be selected according to the value of N and the weight of the target object. In a preferred embodiment, N is 20, a is 0.15, and b is 1.15.

Wherein, turning over from the starting point to the ending point corresponds to turning over to the left, and turning over from the ending point to the starting point corresponds to turning over to the right; or, turning over from the starting point to the ending point corresponds to turning over to the right, and turning over from the ending point to the starting point corresponds to turning over to the left.

In one embodiment, the maximum is monitored from a time of dayAnd finally, judging the parameter P as a turning intention recognition result, and sending the turning intention recognition result to the power assisting control module to perform corresponding power assisting control, namely: when P is larger than a, the power-assisted control module generates a power-assisted control instruction C_helpThe central control unit controls the electric push rod group to assist the lying person to turn over;

in another embodiment, the final discrimination parameters obtained by monitoring at a plurality of continuous moments are integrated to judge the turning intention of the user, so as to further improve the precision. Namely: if the turning-over intention recognition results at H continuous moments are the same and all have the turning-over intention (the pressure fluctuation trend is the same in the H continuous moments and a user has the same continuous intention), generating a power-assisted control command C according to the turning-over intention recognition results_helpThe central control unit controls the electric push rod group 12 to assist the lying person to turn over; wherein H is more than or equal to 2 and less than or equal to 6. H may be selected according to the requirement, and in a preferred embodiment, H is 3, that is, the pressure fluctuation trend is the same at 3 consecutive times, and the turning intention recognition result is the same, the current result is output as the final intention recognition result. E.g. t₁To t₂Trend of pressure fluctuation at time t₂To t₃Trend of pressure fluctuation at time t₃To t₄Pressure fluctuation trend at time t₂、t₃、t₄And outputting the right turn-over as the current intention identification result if the intention identification results at all times are right turn-over. And it is to be understood that t₂The fluctuation of the time is t₂Time of day pressure and t₁The moments are compared t₃The fluctuation of the time is t₃Time of day pressure and t₂The moments are compared t₄The fluctuation of the time is t₄Time of day pressure and t₃The time of day is compared.

After the user finishes turning over, the electric push rod for assisting the turning-over control resets, and the judgment basis for finishing turning over by the user is as follows: in the pressure distribution map, the pressure value is greater than the effective pressure threshold value f_TAll unit-site formed region S_roiIs not greater than a minimum area threshold S_TNamely, the user is explained to change from lying to turning over to lying on one's side.

To the work of intention perception module, when this intelligent nursing bed system used, according to user's height, weight setting main parameter value earlier, for example: total pressure range F_T(F_min,F_max) Minimum area threshold S_TEffective pressure threshold f_TAcquiring interval time delta t, a value k, a value N, values of a and b, a value H and the like of a primary pressure distribution map, recording each parameter when the pressure distribution map is used every time, judging the overturn intention through a user feedback intention sensing module, and adjusting corresponding parameters; with the accumulation of use, each parameter can be adjusted to a more appropriate range, and the accuracy of intention recognition can be increased continuously.

In a preferred embodiment, the pressure detection module, the intention sensing module and the power-assisted control module are electrically connected in sequence. The intention sensing module, the power assisting control module and the like can adopt a conventional control chip to realize the corresponding functions. Furthermore, the intention sensing module and the power-assisted control module are integrally arranged on the bedstead 1.

While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.

Claims (10)

1. A multifunctional medical nursing bed comprises a bed frame and a bed board arranged on the bed frame, and is characterized by also comprising a back lifting device, a left turning device, a right turning device, a leg lifting device, a urinal device and a linkage leg supporting device;

the bed plate comprises an upper trunk supporting plate, a lower trunk supporting plate, a thigh supporting plate and a shank supporting plate which are sequentially and rotatably connected from the direction of the bed head to the direction of the bed tail;

the back lifting device is used for driving the upper trunk supporting plate to integrally rotate upwards around the lower trunk supporting plate so as to realize back lifting action, and in the process that the lower trunk supporting plate starts to rotate from a horizontal state, the shank supporting plate starts to turn upwards around the thigh supporting plate through the linkage effect of the linkage leg supporting device, so that the soles of the feet of a user are supported through the shank supporting plate.

2. The multifunctional medical nursing bed of claim 1, wherein the back lifting device comprises a back lifting bracket rotatably connected to the bed frame, a back lifting connecting rod fixedly connected to the back lifting bracket, and at least one back lifting electric push rod provided on the bed frame, the output rod of the back lifting electric push rod being rotatably connected to the back lifting connecting rod.

3. The multifunctional medical care bed according to claim 2, wherein the linkage leg supporting device comprises a first guide pulley rotatably connected to the frame and below the upper torso supporting plate, a pulley mounting bar connected to the frame, a second guide pulley rotatably connected to the pulley mounting bar and below the lower leg supporting plate, a linkage belt disposed on the first guide pulley and the second guide pulley, and a rotation linkage bar having a lower end fixedly connected to the linkage belt and an upper end fixedly connected to an inner end of the lower leg supporting plate;

the first end of the linkage belt is fixedly connected with the back lifting support, and the second end of the linkage belt is fixedly connected with the lower end of the rotary linkage rod after sequentially passing around the first guide pulley and the second guide pulley;

when the back lifting electric push rod drives the back lifting support to carry out back lifting action, the back lifting support pulls the linkage belt, so that the linkage belt part between the first guide pulley and the second guide pulley moves towards one side of the bed head of the bedstead, the linkage belt part bypassing the second guide pulley moves towards one side of the tailstock of the bedstead, and meanwhile, the lower end of the rotary linkage rod is driven to move towards one side of the tailstock of the bedstead, so that the shank supporting plate is turned upwards.

4. The multifunctional medical nursing bed of claim 3, wherein the linkage leg supporting device further comprises an auxiliary reset mechanism disposed on the bed frame and connected to the second end of the linkage belt, the auxiliary reset mechanism comprises an outer sleeve connected to the bed frame, a spring hole formed in the outer sleeve, a tension spring fixedly connected to the spring hole, and a clamping block connected to the movable end of the tension spring;

the tail end of the outer sleeve is provided with a connecting hole which is communicated with the spring hole and is smaller than the clamping block in size, and the second end of the linkage belt penetrates through the connecting hole and then is connected with the clamping block.

5. The multifunctional medical nursing bed of claim 4, wherein the upper trunk supporting plate comprises a right upper turning plate, an upper trunk middle supporting plate and a left upper turning plate which are rotatably connected in sequence, and the lower trunk supporting plate comprises a right lower turning plate, a lower trunk middle supporting plate and a left lower turning plate which are rotatably connected in sequence; the thigh supporting plate comprises a thigh right supporting plate, a thigh middle supporting plate and a thigh left supporting plate which are sequentially and rotatably connected; the shank supporting plate comprises a shank right supporting plate, a shank middle supporting plate and a shank left supporting plate which are sequentially connected in a rotatable manner;

the right upper turning plate, the right lower turning plate, the thigh right supporting plate and the shank right supporting plate are sequentially and rotatably connected, the upper trunk middle supporting plate, the lower trunk middle supporting plate, the thigh middle supporting plate and the shank middle supporting plate are sequentially and rotatably connected, and the left upper turning plate, the left lower turning plate, the thigh left supporting plate and the shank left supporting plate are sequentially and rotatably connected;

the left turning device comprises a left turning support, a left turning connecting rod and a left turning electric push rod, wherein the left turning support is rotatably arranged on the bedstead and is positioned below the right upper turning plate and the right lower turning plate;

the right turning device comprises a right turning support, a right turning connecting rod and a right turning electric push rod, wherein the right turning support is rotatably arranged on the bed frame and is positioned below the left upper turning plate and the left lower turning plate, the right turning connecting rod is fixedly connected with the right turning support, the right turning electric push rod is arranged on the bed frame, and an output rod of the right turning electric push rod is rotatably connected with the right turning connecting rod.

6. The multifunctional medical nursing bed of claim 5, wherein the leg-raising device comprises a leg-raising electric push rod disposed on the bed frame, a V-shaped leg-raising bracket rotatably connected to the bed frame and located below the thigh supporting plate, and a leg-raising link rod having an upper end rotatably connected to the thigh middle supporting plate and a lower end rotatably connected to the V-shaped leg-raising bracket;

the first end of the V-shaped leg lifting support is rotatably connected with the bedstead, the second end of the V-shaped leg lifting support is rotatably connected with the lower end of the leg lifting connecting rod, the V-shaped bottom end of the V-shaped leg lifting support is connected with a driving connecting rod, and the output rod of the leg lifting electric push rod is rotatably connected with the driving connecting rod.

7. The multifunctional medical nursing bed of claim 6 wherein the lower torso middle support plate is provided with an opening at the middle part thereof, the urinal device comprises a toilet bowl provided at the opening, a toilet lid provided at the rim of the toilet bowl, a flushing mechanism connected to the toilet bowl, and a waste collecting mechanism connected to the toilet bowl;

the flushing mechanism comprises a flushing pipe arranged in the closestool and a water supply device connected with the flushing pipe;

the waste collection mechanism comprises a collection pipe communicated with the bottom of the closestool and a collection barrel communicated with the collection pipe.

8. The multifunctional medical nursing bed of any one of claims 5-7, further comprising a turn-over assisting unit, wherein the turn-over assisting unit comprises a pressure detection module, an intention sensing module and an assisting force control module, and the assisting force control module is electrically connected with both the left turn-over electric push rod and the right turn-over electric push rod;

the pressure detection module is used for right the pressure distribution condition on the bed surface of bed board carries out real-time supervision, intention perception module judges whether the person of lying on the bed surface has the direction of standing up the intention and the intention is stood up according to the analysis of the pressure distribution condition on the bed surface, when the person of lying has the intention of standing up, helping hand control module basis intention perception module's judgement result is right the electric putter is stood up on a left side or the electric putter is stood up on the right side is controlled, and supplementary person of lying stands up.

9. The multifunctional medical nursing bed of claim 8, wherein the pressure detecting module monitors the pressure value of each unit point on the whole bed surface to form a pressure distribution map of the bed surface, and stores the pressure distribution map, and the pressure value of any unit point on the bed surface and the total pressure value on the whole bed surface at any moment can be obtained according to the pressure distribution map;

the analysis method of the intention perception module comprises the following steps:

s1) setting a normal lying total pressure range F_T(F_min,F_max) Minimum area threshold S_TAnd effective pressure threshold f_TMinimum area threshold S_TIndicating that the pressure value is greater than the effective pressure threshold f when lying down_TThe minimum area of the region in which all the unit sites are formed;

s2) collecting a pressure distribution map every unit time delta t, and when the total pressure value is in the normal lying total pressure range F_T(F_min,F_max) In and the pressure value is greater than the effective pressure threshold f_TAll unit-site formed region S of_roiIs greater than a minimum area threshold S_TWhen the user lies on the bed, the user can be judged to lie on the bed, and the next step is carried out; otherwise, collecting the next pressure distribution map; wherein, if the pressure value is larger than the effective pressure threshold value f_TAll of (2)Region S formed of unit site_roiIs not greater than a minimum area threshold S_TWhen the user lies, only a small part of the trunk of the user is in contact with the bed surface, and the user is judged to be not lying;

s3) pressure fluctuation analysis:

s3-1) on the pressure distribution map, the width direction of the bed surface is taken as an X axis, and the length direction is taken as a Y axis;

the pressure value in the pressure distribution map is larger than the effective pressure threshold value f_TAll unit-site formed region S_roiExtracting to be used as an interested area, acquiring the maximum width D of the interested area along the X-axis direction, selecting an area with the width not less than k X D as a target area in the interested area, wherein k is more than or equal to 0.5 and less than or equal to 1;

s3-2) drawing M sampling lines which are uniformly spaced along the Y direction and are parallel to the X axis in the target area, and respectively marking two intersection points of the sampling lines and two boundaries of the target area along the X axis as a starting point and an end point;

s3-3) for any one sampling line L_iAt L_iUniformly taking N sampling points at intervals along the X-axis direction, wherein the N sampling points comprise sampling lines L_iN is an even number;

at t₁At that moment, a sampling line L is obtained_iThe pressure values of the N sampling points are sequentially marked as X from the starting point to the end point₁，X₂，...，X_N；

At the next instant t₂，t₂＝t₁+ Δ t, again taking the sample line L_iThe pressure values of the N sampling points are sequentially marked as X from the starting point to the end point₁′，X₂′，...，X_N′；

S3-4) calculating the sampling line L_iPressure fluctuation parameters at adjacent times:

A₁＝|X₁′-X₁|+|X₂′-X₂|+...+|X_N′-X_N|；

A₂＝(X₁′+X₂′+...+X_N/2′)-(X₁+X₂+...+X_N/2)；

A₃＝(X_N/2+1′+X_N/2+2′+...+X_N′)-(X_N/2+1+X_N/2+2+...+X_N)；

s3-4-1) presetting a minimum fluctuation threshold value delta F, and recording the middle discrimination parameters as follows: p is a radical of₁、p₂Finally judging the parameter to be P;

s3-4-2) when A₁When > Δ F, let p₁1 and go to the next step; otherwise let p₁Step S3-4-4) is skipped to when P is 0;

s3-4-3) when A₂> 0, and A₃When > 0, let p₂1 is ═ 1; when A is₂< 0, and A₃When < 0, let p₂＝2；

S3-4-4) calculating the final discrimination parameter P, P ═ P₁*p₂(ii) a P is 0, which indicates no intention of turning over; p is 1, which indicates that the user intends to turn over from the starting point to the ending point; p is 2, which indicates that the user intends to turn over from the ending point to the starting point;

s3-5) calculating the final discrimination parameters of the M sampling lines according to the methods from the step S3-3) to the step S3-4), and respectively marking the parameters as P₁、P₂、...P_MThen, the average value of the M final discrimination parameters is calculated

According to

Is worth t₂Identifying the turning intention at each moment: if it is

The intention of turning over is not explained;

the intention of turning over from the starting point to the ending point is explained;

the intention of turning over from the ending point to the starting point is explained; wherein a is more than 0 and less than 0.5, and b is more than or equal to 1 and less than 2;

wherein, turning over from the starting point to the ending point corresponds to turning over to the left, and turning over from the ending point to the starting point corresponds to turning over to the right; or, turning over from the starting point to the ending point corresponds to turning over to the right, and turning over from the ending point to the starting point corresponds to turning over to the left.

10. The multi-functional medical care bed according to claim 9,

when in use

The power-assisted control module generates a power-assisted control instruction C_helpThe central control unit controls the electric push rod group to assist the lying person to turn over;

or if the turning intention recognition results at H continuous moments are the same and all the turning intention results have the turning intention, generating a power-assisted control instruction C according to the turning intention recognition results_helpThe central control unit controls the electric push rod group to assist the lying person to turn over; wherein H is more than or equal to 2 and less than or equal to 6.

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