WO2021068780A1 - 多功能运动模拟床 - Google Patents

多功能运动模拟床 Download PDF

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Publication number
WO2021068780A1
WO2021068780A1 PCT/CN2020/118340 CN2020118340W WO2021068780A1 WO 2021068780 A1 WO2021068780 A1 WO 2021068780A1 CN 2020118340 W CN2020118340 W CN 2020118340W WO 2021068780 A1 WO2021068780 A1 WO 2021068780A1
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Prior art keywords
actuators
segments
bed
frame
bed according
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PCT/CN2020/118340
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English (en)
French (fr)
Inventor
刘家环
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刘家环
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Publication date
Application filed by 刘家环 filed Critical 刘家环
Publication of WO2021068780A1 publication Critical patent/WO2021068780A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C20/00—Head -, foot -, or like rests for beds, sofas or the like
    • A47C20/04—Head -, foot -, or like rests for beds, sofas or the like with adjustable inclination
    • A47C20/041—Head -, foot -, or like rests for beds, sofas or the like with adjustable inclination by electric motors
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C19/00—Bedsteads
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C19/00—Bedsteads
    • A47C19/02—Parts or details of bedsteads not fully covered in a single one of the following subgroups, e.g. bed rails, post rails
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C19/00—Bedsteads
    • A47C19/22—Combinations of bedsteads with other furniture or with accessories, e.g. with bedside cabinets
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C20/00—Head -, foot -, or like rests for beds, sofas or the like
    • A47C20/04—Head -, foot -, or like rests for beds, sofas or the like with adjustable inclination
    • A47C20/048—Head -, foot -, or like rests for beds, sofas or the like with adjustable inclination by fluid means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C20/00—Head -, foot -, or like rests for beds, sofas or the like
    • A47C20/08—Head -, foot -, or like rests for beds, sofas or the like with means for adjusting two or more rests simultaneously
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C31/00—Details or accessories for chairs, beds, or the like, not provided for in other groups of this subclass, e.g. upholstery fasteners, mattress protectors, stretching devices for mattress nets
    • A47C31/008—Use of remote controls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C31/00—Details or accessories for chairs, beds, or the like, not provided for in other groups of this subclass, e.g. upholstery fasteners, mattress protectors, stretching devices for mattress nets
    • A47C31/12—Means, e.g. measuring means for adapting chairs, beds or mattresses to the shape or weight of persons
    • A47C31/123—Means, e.g. measuring means for adapting chairs, beds or mattresses to the shape or weight of persons for beds or mattresses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
    • A61M21/02—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis for inducing sleep or relaxation, e.g. by direct nerve stimulation, hypnosis, analgesia
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G31/00—Amusement arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
    • A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
    • A61M2021/0022—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the tactile sense, e.g. vibrations

Definitions

  • the invention is a multifunctional sports simulation bed, in particular to a multifunctional sports simulation bed with adjustable positions, and its purpose is to help and improve sleep, provide leisure entertainment and passive sports fitness functions.
  • a traditional bed usually includes a frame and a mattress.
  • the mattress lies flat on the frame.
  • Some traditional beds can be adjusted to make people feel comfortable.
  • FIG. 1 shows a prior art bed 100, which has a frame 101, a fixed portion 102, an adjustable head 103 and an adjustable foot 104.
  • the head and feet can be adjusted to different positions.
  • the settings of the traditional adjustable bed can be changed manually, electrically or automatically.
  • the last case is the use of electronics and automation technology.
  • a traditional bed can automatically change from one setting to another after pressing the control button.
  • the invention discloses a multifunctional sports simulation bed, which has a movement function of adjustable position.
  • the bed is adjustable for different shapes or positions, and can simulate many predetermined movements.
  • the combination of the selected shape or position and selected actions may be suffering from sleep disorders such as insomnia, apnea syndrome, snoring, acid reflux, back pain, muscle aches, etc. To improve, it can also provide facilities for relaxation, entertainment and sports.
  • the bed is constructed as follows.
  • the bed is designed as a platform that provides movement, the movement platform has an adjustable shape, provides different positions and simulates certain movements.
  • the bed includes:
  • the processor controls the actuators to maintain the shape of the motion platform and make the motion platform simulate motion.
  • the bed includes four segments.
  • the middle section is supported by three actuators.
  • the remaining segments are each supported by an actuator.
  • the bed includes four segments.
  • the middle section is supported by six actuators.
  • the remaining segments are each supported by an actuator.
  • the motion platform simulates six degrees of freedom (DOF) motion.
  • DOF degrees of freedom
  • sensors are arranged to monitor the operation of the actuators and the performance of the motion platform.
  • the bed may have another structure.
  • the bed includes:
  • the frame set above the base
  • Additional actuators are arranged on the base to carry and move the frame;
  • the processor controls the actuators to maintain the shape of the motion platform and make the frame and the motion platform simulate motion.
  • the bed includes four segments.
  • the middle section is installed on the frame.
  • the last segment of the foot is supported by connecting rods or sags naturally.
  • six actuators are provided on the base to support and manipulate the frame.
  • the frame and motion platform simulate six degrees of freedom motion.
  • sensors are arranged to monitor the operation of the actuators and the performance of the frame and motion platform.
  • a multifunctional sports simulation bed which simulates movement and provides an adjustable shape or position.
  • the bed can provide a variety of shapes, positions and motion simulations. For a person, this kind of exercise experience may calm the nerves, soften the mood, relieve some pain, benefit sleep and memory, or be a fun and relaxing thing.
  • Figure 1 shows a prior art adjustable bed.
  • 2A, 2B and 2C respectively show a front view, a top view and a side view of a multifunctional sports simulation bed with a motion platform according to an embodiment of the present invention.
  • Figures 3A, 3B, 3C and 3D respectively show four front views of a multifunctional sports simulation bed with a motion platform according to an embodiment of the present invention.
  • 4A, 4B and 4C show three front views of a multifunctional sports simulation bed with a movement platform according to an embodiment of the present invention.
  • Fig. 5 shows an example diagram of a multifunctional sports simulation bed with a motion platform according to an embodiment of the present invention.
  • Fig. 6 is a flowchart of an exemplary process of using a motion platform to operate a multifunctional motion simulation bed according to an embodiment of the present invention.
  • Fig. 2A shows a front view of an exemplary multifunctional sports simulation bed 200 in the X-Z plane according to an embodiment of the present invention.
  • the bed 200 is built on a fixed base 205 and includes a foot section 201, a head section 204, and two middle sections 202 and 203. These segments are hingedly connected together to form a moving platform. Between the segment and the base 205, actuators, such as actuators 206 and 207, are arranged for supporting and manipulating the segment. The synchronized motion of the actuators makes the motion platform simulate motion. Therefore, when a person is lying on the bed 200, the bed can be moved to simulate movement while supporting the person in different postures and giving him or her a certain feeling. Actions can include mooring boats, swings or customized actions for specific purposes. A person can select an action and/or a location and implement it through a control device (for example, a smart phone with a control application).
  • a control device for example, a smart phone with a control application.
  • the upper surface of the segment represents the shape of the motion platform.
  • the segments and the base may have the same or different materials and may be composed of one or more materials including wood, metal, plastic, polymer, and composite materials.
  • the upper surfaces of these segments may be covered with skirting boards, panels, interior trim and/or padding.
  • a soft mattress or any adjustable platform compatible mattress (not shown) can be placed on the segment.
  • Actuators are linear actuators, which can include electric actuators, pneumatic actuators, hydraulic actuators, screw-type slider actuators or other converted linear actuators, and include And a component driven by an actuator.
  • the actuators are respectively pivotally coupled to the base 205 and the segments.
  • the upper end of the actuator 206 is pivotally connected to the foot section 201 via a spherical bearing 208
  • the lower end of the actuator is pivotally connected to the base 205 via another spherical bearing at the base.
  • the configuration of the spherical bearing drives the actuator to move.
  • the spherical bearing can be replaced with other connectors, which can pivotally connect the actuator to the segment and the base 205.
  • a support rod replaces the position of the actuator, and the actuator is installed on the base to drive the support rod.
  • the actuator 206 may have an actuator body and an actuator rod.
  • the actuator rod may be supported in a passage (not shown) of the actuator body and move in the passage in a selective manner.
  • the actuator rod may extend outward from the actuator body or retract into the actuator body.
  • the actuator rod pivotally pushes the foot section 201 upward.
  • the actuator rod is pushed inward or pushed into the actuator body, it pivotally pulls the foot section 201 down.
  • the segments 201, 202, 203, and 204 are hingedly connected to form a movement platform.
  • the connecting member 209 and other identical connecting members are hingedly connected to the segments. Due to the hinged function of the coupling part, the segments are always kept together, showing the shape of the platform.
  • FIG. 2B exemplarily shows the bed 200 in a top view of the X-Y plane.
  • One segment is connected to the other segment by two coupling components.
  • the connecting member may be, for example, a hinge-shaped device. More than two coupling parts can be used to articulate two segments. When a segment moves, it applies force to its adjacent segment or segments through the connecting member.
  • Fig. 2C exemplarily shows the bed 200 in a side view of the Y-Z plane.
  • the figure shows in a schematic way the foot section 201, the base 205 and some (but not all) actuators.
  • the number, direction, and position of the actuators in the figure are for illustration purposes only.
  • Each segment is supported and driven by one or more actuators.
  • the middle section 203 is supported by three actuators, while the other three sections are each supported by only one actuator.
  • the middle section 203 may be supported by more than three actuators (for example, six or eight of them).
  • the segments 201, 202, and 204 may be supported by two or more actuators. In this figure and other figures, the orientation or posture of the actuator is for illustration purposes only.
  • the segment when the actuator is driven to expand or retract the actuator rod in a predefined manner, the segment will change direction and position, as in the front view on the XZ plane
  • Figure 3A shows an example.
  • the position of a segment is the position of the center of gravity of the segment.
  • the direction of the segment indicates the angle of inclination relative to the X, Y, and Y axis.
  • the multifunctional motion simulation bed 300 is similar to the bed 200, and may have the same structure, components, and materials.
  • the bed 300 may include segments 301, 302, 303, and 304, a fixed base 305, and actuators including actuators 306 and 307. These segments form a movement platform.
  • the upper surface of the segment represents the shape of the motion platform.
  • the bed 300 has six actuators, where the segment 303 is supported by three actuators, and the other segments are each supported by only one actuator.
  • each segment can be connected to more than one actuator.
  • each actuator of the bed 300 is pivotally connected to the segment and the base by two spherical bearings. As shown in the figure, when the actuator rod extends outward, it drives the connected segment to a higher position. Since each segment is also hingedly connected to one or two adjacent segments, the position and direction of the segment are determined by one or more actuators and one or two adjacent segments connected to it. For example, the position and direction of the segment 303 are determined by three actuators pivotally connected to its lower surface and the positions and directions of the segments 302 and 304. Therefore, the state of the bed 300, that is, the shape and movement of the bed and the height of the movement platform depends on all the actuators.
  • the six actuators of the bed 300 are also responsible for providing the controllability and stability of the motion platform. Since the actuator requires two spherical bearings, there are twelve spherical bearings in total. The positions of the twelve bearings are selected so that the actuator can manipulate the platform while keeping the platform stable for various orientation configurations.
  • the six actuators of the bed 300 are used to independently and synchronously drive the segments, so that the motion platform can simulate motion in a three-dimensional (3D) space.
  • the actuator can make the segment, the motion platform, simulate six DOF motions.
  • the motion platform can move forward or backward on the Y axis, move up or down on the Z axis, move left or right on the X axis, and go around three Vertical axis rotation.
  • 3B, 3C and 3D exemplarily show different movements of the bed 300 in the front view of the X-Z plane.
  • the motion platform moves on the Z axis.
  • the solid and dashed segments depict two positions due to the translational movement on the shaft.
  • the motion platform moves on the X axis.
  • the solid and dashed segments depict two positions due to the translational movement on the shaft.
  • the moving platform rotates around the Y axis.
  • the solid and dashed segments depict two positions due to rotation.
  • the actuator of the bed 300 is used to control the movement of the moving platform.
  • the actuator can be adjusted so that when the platform moves, the shape of the moving platform can change from one shape to another. Therefore, when a person lies on the bed 300, the position of the bed or the position of the person may remain unchanged or may be changed during the movement. When changing the positioning from one setting to another, the speed of the change should be slowed to avoid sudden movement.
  • the bed 300 may have fewer or more than four segments to support the moving platform.
  • the beds can have the same structure, but the number of segments can be different.
  • the bed may include a total of two segments and/or less than six actuators.
  • the bed can also include five segments, where the middle segment can have at least three actuators, and the other segments can have one or more actuators.
  • FIG. 4A shows an exemplary multifunctional sports simulation bed 400 according to an embodiment of the present invention, which has a movement platform in a front view in the X-Z plane.
  • the bed 400 is built on a fixed base 405 and includes a foot section 401, a head section 404, and two middle sections 402 and 403. These segments are hingedly connected together to form a moving platform.
  • the frame 408 is arranged between each segment and the base 405.
  • Some actuators, such as actuators 406 and 407, are arranged to support and manipulate the frame 408.
  • the other actuators, namely the actuators 409 and 410 and the connecting rod 411 are configured to support and manipulate the segments connected thereto.
  • the connecting rod 411 and some parts of the actuators 409 and 410 are blocked by the frame 408 in the front view and are shown in dashed lines.
  • the segment 403 is fixed to the frame 408, so the movement platform and the frame move together. Therefore, the movement of the moving platform is controlled by an actuator mounted on the base 405 and coupled to the frame 408.
  • the upper surface of the segment represents the shape of the moving platform.
  • the shape can be adjusted by actuators 409 and/or 410.
  • the segments, frame 408, and base 405 may have the same or different materials, and may be composed of one or more materials including wood, metal, plastic, polymer, and composite materials.
  • the upper surfaces of these segments may be covered with skirting boards, panels, interior trim and/or padding. Similar to the bed 200, when the bed 400 is used, a soft mattress or any adjustable segment compatible mattress (not shown) can be placed on these segments.
  • the bed 400 may have the same type of linear actuator as the bed 200.
  • Six actuators are pivotally connected to the base 405 and the frame 408.
  • the upper end of the actuator 406 is pivotally connected to the frame 408 through a spherical bearing and a bearing.
  • the lower end of the actuator is pivotally connected to the base 405 through another spherical bearing.
  • the spherical bearing allows the actuator to rotate freely around it.
  • the six actuators have twelve spherical bearings. The position of the spherical bearing is selected so that the actuator achieves a stable posture and six degrees of freedom movement of the frame.
  • fewer or more than 6 actuators can be installed on the base to support and drive the frame 408.
  • the segments 401, 402, 403, and 404 are arranged above the frame 408 and based on the frame 408, the segments are hingedly connected.
  • the segment 403 is connected to the frame 408.
  • the segments 402 and 404 are respectively pivotally connected with a connecting rod, which is hinged to an actuator, namely an actuator 409 or 410.
  • the segment 401 is pivotally connected to a single connecting rod 411.
  • the shape of the moving platform is controlled by actuators 409 and 410.
  • the platform is carried by the frame 408 and moves with it.
  • Fig. 4B shows another front view of the bed 400 on the X-Z plane according to an embodiment of the present invention.
  • the actuators 409 and 410 are mounted on the frame 408.
  • the connecting rod is pivotally connected to the segment 402 through a bearing device.
  • the actuator 409 may be directly pivotally connected to the segment 402, which means that a connecting rod is no longer required.
  • the actuator 410 may also be directly pivotally connected to the segment 404.
  • the actuators 409 and 410 may be mounted on the lower surface of the segment 403 to provide the same function.
  • the bearing device may be a spherical bearing, which allows the connecting rod to rotate freely about it.
  • the bearing device can also have another structure and allow the connecting rod to rotate only around the Y axis.
  • the actuator rod of the actuator 409 When the actuator rod of the actuator 409 extends or retracts outward, it pulls or pushes the connecting rod. Then, the connecting rod acts on the segment 402 pivotally. The actuator 410 manipulates the segment 404 in the same manner.
  • the connecting rod 411 may be connected to the segment 401 and the frame 408 through the same bearing device.
  • the connecting rod 411 may have a fixed length. It holds the segment 401 and moves the segment 401 when the segment is pulled by its adjacent segment 402.
  • more than one connecting rod is pivotally connected to the segment 401 to support the segment.
  • the connecting rod 411 may be replaced by an actuator. This actuator allows the segment 401 to have more orientation and positional configurations.
  • the segments 402 and 404 may be supported by more than one actuator to enhance stability and reliability.
  • the movement of the moving platform is driven by an actuator provided between the frame 408 and the base 405.
  • the motion platform or frame 408 can be manipulated to simulate six DOF motions, that is, when a person lies on the bed 400, the bed 400 can provide a variety of motions, and the pre-configured motions can include mooring, swinging, etc .
  • One person or multiple people can select an action and issue a command to the bed through a control device (for example, a smart phone with a control application).
  • a control device for example, a smart phone with a control application.
  • the platform is rotated by an angle ⁇ around the Y axis, as exemplarily shown in the front view in the X-Z plane.
  • the platform can also rotate around other axes, travel along the X-axis, Y-axis, and/or Z-axis, or perform a combination of rotation and translation.
  • the bed 400 may have fewer or more than four motion platform segments.
  • the beds can have the same structure, but the number of segments is different.
  • the bed may include two segments, a foot segment attached to the frame 408 and a head segment adjustable by an actuator.
  • the bed 400 may also include five parts, wherein the middle part is mounted on the frame 408, and the remaining parts are pivotally connected to the actuator or the connecting rod.
  • the shape of the platform that is, the position of the bed or the position of the person may remain unchanged or change during the movement.
  • the speed of the change should be slowed to avoid the sensation of sudden movement.
  • FIG. 5 is an exemplary block diagram reflecting the structure of the multifunctional sports simulation bed 500.
  • the bed 500 may include a plurality of segments (not shown) forming a movement platform, a fixed base (not shown), a microprocessor or microcontroller 501, a data storage module 502, a communication module 503, a remote controller 504, a control
  • the panel 505 actuators and sensors installed on the bed 500.
  • the microcontroller 501 controls the actuators and manages the sensors.
  • the actuator is used to manipulate the moving platform.
  • the sensor may include a detector that monitors the state of the actuator, such as the position of the actuator rod.
  • Sensors can also include accelerometers and 1-axis or 3-axis gyroscope sensors. Accelerometers and gyroscopes can be installed on each segment to measure acceleration and rotation values. The movement of the segment can also be detected by optical sensors (e.g. one or more cameras). The camera can be placed on a base, for example.
  • the data storage module 502 stores software or application programs installed on the control system of the bed 500.
  • the software may include motion programs designed to drive the actuators.
  • the motion program contains an instruction set that can be implemented by the microcontroller 501 to make the motion platform simulate six DOF motions. Some simulation software can be used to create motion programs.
  • the simulation software can determine the movement of the actuator rod according to the required position and direction of the segment.
  • the data storage module 502 may also store measurement results and performance data obtained from the sensors.
  • the storage module may include volatile memory such as RAM, non-volatile memory such as flash memory, and storage devices such as hard disk drives.
  • the communication module 503 may include a network interface. Via the communication module 503, the microcontroller 501 can communicate with a remote server via the Internet. For example, updated or new programs can be downloaded from a remote server to improve the performance of the bed. The microcontroller 501 can also communicate with the remote controller 504 and the control panel 505 through the communication module 503.
  • the remote controller 504 and the control panel 505 are control devices that allow a person to select the shape of the platform and predetermined actions.
  • the remote control may be a portable gadget with a keyboard (for example, a smart phone with a control application).
  • the control panel can be installed on the headboard of the bed.
  • the two control devices can also be directly connected to the microcontroller 501.
  • Fig. 6 shows a flow chart of a multifunctional sports simulation bed 600 according to an embodiment of the present invention.
  • the bed includes four parts, six or nine actuators, a microprocessor and a remote control, and other components. These segments form a moving platform, and the upper surface of the segments represents the shape of the platform.
  • step 601 when a person is lying on the bed, after viewing the preset action list, press a button on the remote control to select an action.
  • the preset actions may include floating on the lake, swinging in one direction, swinging in another direction, shaking in a selected direction, customized actions for a specific purpose, and so on.
  • VR glasses can be combined to experience VR entertainment.
  • Pressing the button means submitting an order to simulate the selection movement of the bed.
  • the person can select the shape of the motion platform and determine whether the shape should be changed in the process.
  • the shape of the motion platform determines the position of the person.
  • the person can also set the intensity level for the selected action. A higher intensity level means faster and more vigorous exercise.
  • the microprocessor receives the order and starts the execution process. First, it identifies the corresponding program in step 602. In step 603, it retrieves the identified program from the hard drive. Next, it executes the instructions obtained from the program in step 604 and starts to simulate the selection movement.
  • step 605 the microprocessor monitors the performance of the actuator and the movement of the segment, and records the measurement data in the hard disk drive.
  • the microprocessor compares the measured data with the target value, and adjusts it with a fine-tuning instruction in step 606.
  • step 607 the microprocessor executes the modified instruction, and in step 608, it detects and analyzes the execution again.
  • the performance of the device and the segment If the performance deviation still exceeds the threshold, more fine-tuning can be made.
  • the microprocessor can execute the modified instruction and continue to execute it within a given period of time.
  • the portable device may include motion and positioning sensors, such as one or more accelerometers, 1-axis or 3-axis gyroscope sensors, and/or electronic compasses.
  • the device can use sensors to measure acceleration, rotation and position to reflect the movement experienced by the person. Then, the device records the measurement results along the timeline. For example, a person may turn on the device before traveling and ask him to collect and store related exercise information.
  • Motion information can include data obtained from accelerometers, gyroscopes, and electronic compasses, as well as measured time. When people go to places on buses, trains and boats, or ride roller coasters, skiing or skydiving, different sports characteristics, including video characteristics, are recorded at different time periods.
  • the person can later upload the data to the bed's control system.
  • the person can select a time period and request the bed to simulate the movement corresponding to that time period.
  • the control system can retrieve and analyze the measurement data accordingly.
  • the control system can make the bed simulate the motion mode.
  • a program or application can be created. One person can install the application on a smartphone. Once the application is launched, it can continuously collect and store the mobile data of the mobile phone, and transmit the data to the bed upon request.

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Abstract

一种多功能运动模拟床（200，300，400，500），多功能运动模拟床（200，300，400，500）具有多个节段（201，202，203，204，301，302，304，401，402，403，404）并模拟预编程的运动。节段（201，202，203，204，301，302，304，401，402，403，404）被铰接连接以形成运动平台。在一实施例中，这些节段（201，202，203，204，301，302，304）设置在基座（205，305）上方，致动器（206，207，306，307）安装在基座（205，305）上，并与基座（205，305）和节段（201，202，203，204，301，302，304）枢轴连接，微处理器（501）分别驱动致动器（206，207，306，307），并使运动平台模拟运动。在另一个实施例中，这些节段（401，402，403，404）布置在框架（408）上方，框架（408）布置在基座（405）上方，一节段（403）固定在框架（408）上，一些致动器（409，410）与框架（408）和一些节段（402,404）枢转地连接。其他致动器（406,407）与框架（408）和基座（205，305）枢转地连接，微处理器（501）分别驱动致动器（406，407，409，410），并使框架（408）和运动平台模拟运动。

Description

多功能运动模拟床 技术领域
本发明为一种多功能运动模拟床，特别是指具有可调位置的多功能运动模拟床，其目的是为了帮助和改善睡眠、提供休闲娱乐和被动运动健身功能。
背景技术
传统的床通常包括框架和床垫。床垫平放在框架上。一些传统的床为使人感到舒适而可调节位置。例如，图1示出了现有技术的床100，其具有框架101，固定部分102，可调节的头部103和可调节的脚部104。头部和脚部可以调节成不同的位置。传统可调节床的设置可以手动、电动或自动更改。最后一种情况是使用了电子和自动化技术。例如，传统床可以在按下控制按钮后自动从一种设置更改为另一种设置。
传统的可调节床可以满足一部分人的需求。然而，床通常保持静止并且缺乏模拟运动的能力。某些运动可能会产生特定的生理刺激。刺激继而产生人可能期望的感觉。例如，当一个人想要入睡时，他/她可能喜欢体验在安静的海中漂浮的浮标或停泊的船舶那样的运动。当一个人快乐且放松时，他/她可能喜欢体验秋千的运动，因为秋千会产生一种飘浮在空中的欣快感。正如最近的研究表明，整夜连续摇摆会带来自发性神经振荡，并有益于睡眠和记忆。但是传统的床或可调节床不提供这种运动功能。
因此，需要一种模拟某些运动的床。可以对运动进行预先编程，并为人提供所需的感觉，以达到睡眠，放松或娱乐的目的。
发明内容
本发明公开了一种多功能运动模拟床，其具有可调节位置的运动功能。该床对于不同的形状或位置是可调节的，并且可模拟许多预定的运动。所选形状或位置以及所选动作(包括自定义动作和具有特定目的的自定义动作)的组合可能为患有失眠，呼吸暂停综合症，打呼噜，反酸，背部酸痛，肌肉酸痛等睡眠障碍带来改善，还可以是提供放松，娱乐和运动的设施。
为了实现上述目的，床的构造如下。
床被设计成一个提供运动的平台，该运动平台具有可调节的外形，提供不同的位置并模拟某些运动。
该床包括：
一个固定基座；
多个节段铰接在一起以形成运动平台；
安装在基座上的多个致动器，分别承载和移动各个节段；
处理器控制致动器以保持运动平台的外形并使运动平台模拟运动。
可选地，床包括四个节段。中间的节段由三个致动器支撑。其余节段分别由一个致动器支撑。
可选地，床包括四个节段。中间节段由六个致动器支撑。其余节段分别由一个致动器支撑。
可选地，运动平台模拟六个自由度(DOF)运动。
可选地，布置传感器以监视致动器的操作和运动平台的性能。
或者，床可以具有另一种结构。
该床包括：
固定基座；
设置在基座上方的框架；
基于框架并铰接连接以形成运动平台的多个节段；
多个致动器，用于驱动某些节段；
附加的致动器，布置在基座上以承载和移动框架；
处理器控制致动器以保持运动平台的外形并使框架和运动平台模拟运动。
可选地，床包括四个节段。中间节段安装在框架上。脚部最后的节段由连接杆支撑或者自然下垂。
可选地，六个致动器设置在基座上以支撑和操纵框架。
可选地，框架和运动平台模拟六个自由度运动。
可选地，布置传感器以监视致动器的操作以及框架和运动平台的性能。
因此，提出了一种多功能运动模拟床，其模拟运动并提供可调节的外形或位置。床可以提供多种形状，位置和运动模拟。对于一个人来说，这种运动的体验可能使神经平静，情绪柔和，减轻某些痛苦，使睡眠和记忆得到好处，亦或是一件有趣而轻松的事情。
附图说明
本说明书的权利要求特别指出并明确要求了被视为发明的主题。本发明的上述特点和其他特点以及优点将从下列与附图一起进行的详细说明中明显地体现出来。此外，附图最左边的数字标识表示该附图为首次出现的附图。
图1示出了现有技术的可调节床。
图2A，2B和2C分别示出了根据本发明的一个实施例，即具有运动平台的多功能运动模拟床的主视图，俯视图和侧视图。
图3A，3B，3C和3D分别示出了根据本发明一个实施例，即具有运动平台的多功能运动模拟床的四个主视图。
图4A，4B和4C示出了根据本发明一个实施例的，即具有运动平台的多功能运动模拟床的三个主视图。
图5示出了根据本发明的一个实施例，即具有运动平台的多功能运动模拟床的示例图。
图6是本发明的一个实施例利用运动平台来操作多功能运动模拟床的示例性过程的流 程图。
符号说明
床                       100，200,300,400，500,600
通信模块                 503
数据存储模块             502
微控制器                 501
致动器                   206,207，306,307，406，407,409,410
框架                     101，408
基座                     101，205,305,405
连接杆                   411
控制面板                 505
头部                     103
球形轴承                 208
节段，脚部段，头部段，   102,103,104,201,202,203,204,301,302,302,304,401,402,403,404，
中间段，段
遥控器                   504
步骤                     601,602,603,604,605,606,607,608
具体实施方式
下面结合附图和实施例提供对本发明的详细描述，进一步阐明本发明的目的、技术方案和优点。请注意，本文讨论的示意性实施例仅用于说明本发明。所公开的实施例不对本发明做任何的限制，本发明的保护范围以权利要求范围为限。其中，下文中的“脚部段”、“头部段”、“中间段”“节段”都表达“节段”的含义，结合“节段”所在的位置进行论述。
图2A示出了根据本发明的一个实施例的示例性多功能运动模拟床200在X-Z平面的主视图。床200建立在固定的基座205上，并且包括脚部段201，头部段204以及两个中间段202和203。这些节段铰接地连接在一起以形成运动平台。在节段和基座205之间，布置有致动器，例如致动器206和207，用于支撑和操纵节段。致动器的同步运动使运动平台模拟运动。因此，当一个人躺在床200上时，床可以移动以模拟运动，同时以不同的姿势支撑该 人并给他或她带来某种感觉。动作可以包括系泊船的动作，秋千或用于特定目的的定制动作等。人可以选择一个动作和/或一个位置，并通过控制装置来实现(例如，具有控制应用程序的智能手机)。
结合图2A。节段的上表面代表运动平台的外形。当某些段的方向发生变化时，外形也会发生变化，从而为人提供了各种位置。因此，可以通过致动器来调整外形。段和基座可以具有相同或不同的材料并且可以由包括木材、金属、塑料、聚合物和复合材料的一种或多种材料构成。可选地，这些节段的上表面可以覆盖有踢脚板、面板、内饰和/或衬垫。当使用床时，可以将软床垫或任何可调节的与平台兼容的床垫(未显示)放置在节段上。
致动器是线性致动器，其可以包括电动致动器，气动致动器，液压致动器以及螺杆式滑块致动器或其他转换过的线性致动器，以及包含连接到致动器并由致动器驱动的部件。致动器分别与基座205和节段枢转耦合地连接。例如，致动器206的上端经由球形轴承208可枢转地连接至脚部段201，并且致动器的下端经由位于基座处的另一球形轴承可枢转地连接至基座205。球形轴承的配置驱使致动器运动。球形轴承可以用其他连接器代替，这些连接器可以使致动器与节段和基座205进行枢轴连接。当使用连接部件时，例如支撑杆取代致动器的位置，而把致动器安装在底座上驱动支撑杆。
如图2A所示，致动器206可具有致动器主体和致动器杆。致动器杆可以被支撑在致动器主体的通道(未示出)内并且以选择性的方式在该通道内移动。例如，致动器杆可从致动器主体向外延伸或缩回到致动器主体中。当致动器杆从致动器本体向外驱动时，其可枢转地向上推动脚部段201。当将致动器杆向内推入或推入致动器本体时，它可枢转地将脚部段201拉下。
节段201、202、203和204铰接连接以形成运动平台。在一个实施例中，连接部件209和其他相同的连接部件铰接连接各节段。由于耦合部件的铰接功能，各节段始终保持在一起，显示出平台的外形。
图2B以X-Y平面的俯视图示例性地示出了床200。一个节段通过两个耦合组件连接到另一节段。连接部件例如可以是铰链状的装置。可以使用两个以上的耦合部件来铰接两个节 段。当一个节段移动时，它通过连接部件向其相邻节段或多个节段施加力。
图2C以Y-Z平面的侧视图示例性地示出了床200。该图以示意性方式示出了脚部段201，基座205和一些(但不是全部)致动器。图中致动器的数量、方向和位置仅是为了说明目的。
回到图2A。每个节段由一个或多个致动器支撑和驱动。在一个实施例中，中间段203由三个致动器支撑，而其他三个节段均仅由一个致动器支撑。可替代地，中间段203可以由三个以上的致动器(例如其中的六个或八个)支撑。同样可替代地，节段201、202和204可以由两个或两个以上的致动器支撑。在该附图和其他附图中，致动器的取向或姿势仅用于说明目的。
根据本发明的一个实施例，当驱动所述致动器以预定义的方式展开或撤回所述致动器杆时，所述节段将改变方向和位置，如X-Z平面上的主视图中的图3A示例所示。如本文所用，节段的位置是节段重心的位置。节段的方向表示相对于X，Y和Y轴的倾斜角度。在该图中，多功能运动模拟床300类似于床200，并且可以具有相同的结构、部件和材料。床300可包括节段301、302、303和304，固定基座305以及包括致动器306和307的致动器。这些节段形成运动平台。节段的上表面代表运动平台的外形。
在一个实施例中，床300具有六个致动器，其中节段303由三个致动器支撑，而其他节段每个仅由一个致动器支撑。可选地，每个节段可以与一个以上的致动器连接。像床200一样，床300的每个致动器通过两个球形轴承可枢转地连接到节段和基座。如图所示，当致动器杆向外伸出时，它会将所连接的节段驱动到更高的位置。由于每个节段也铰接连接至一个或两个相邻节段，因此，节段的位置和方向由与其相连的一个或多个致动器以及一个或两个相邻节段来确定。例如，节段303的位置和方向由枢转地连接到其下表面的三个致动器以及节段302和304的位置和方向确定。因此，床300的状态，即床的形状和运动以及运动平台的高度取决于所有致动器。
床300的六个致动器还负责提供运动平台的可控制性和稳定性。由于致动器需要两个球面轴承，因此总共有十二个球面轴承。选择十二个轴承的位置，以使致动器可以操纵平台，同时针对各种定向配置保持平台稳定。
床300的六个致动器用于独立且同步地驱动节段，从而运动平台可以模拟三维(3D)空间中的运动。利用给定的软件或程序，致动器可以使节段即运动平台模拟六个DOF运动。例如，通过控制指令(编程)的致动，运动平台可以在Y轴上向前或向后移动，在Z轴上向上或向下移动，在X轴上向左或右移动，并绕三个垂直轴旋转。
图3B、3C和3D在X-Z平面的主视图中示例性地示出了床300的不同运动。在图3B中，运动平台在Z轴上移动。实线和虚线的节段描绘了由于轴上的平移运动而产生的两个位置。在图3C中，运动平台在X轴上移动。实线和虚线的节段描绘了由于轴上的平移运动而产生的两个位置。在图3D中，运动平台绕Y轴旋转。实线和虚线的节段描绘了由于旋转的两个位置。
床300的致动器用于控制运动平台的运动。当平台移动时，其外形可以保持不变。可选地，可以调节致动器，使得当平台运动时，运动平台的外形可以从一种形状改变为另一种形状。因此，当人躺在床300上时，床的位置或人的位置在移动期间可以保持不变或可以改变。当将定位从一种设置更改为另一种设置时，更改速度应减慢，以免突然移动。
可选地，床300可具有少于或多于四个的节段以支撑运动平台。床可以具有相同的结构，但是节段的数量可以不同。例如，床可以包括总共两个节段和/或少于六个致动器。床还可以包括五个节段，其中中间段可以具有至少三个致动器，而其他节段可以具有一个或多个致动器。
图4A示出了根据本发明的一个实施例的示例性多功能运动模拟床400，其具有在X-Z平面中的主视图中的运动平台。床400建立在固定的基座405上，并且包括脚部段401，头部段404以及两个中间段402和403。这些节段铰接地连接在一起以形成运动平台。框架408布置在各节段和基座405之间。一些致动器，例如致动器406和407，被布置用于支撑和操纵框架408。其他致动器，即致动器409和410以及连接杆411被配置用于支撑和操纵连接再其上的节段。连接杆411以及致动器409和410的一些部分在主视图中被框架408阻挡并且以虚线示出。节段403固定在框架408上，因此运动平台和框架一起移动。因此，运动平台的运动由安装在基座405上并耦合到框架408的致动器控制。
像前述实施例一样，节段的上表面代表运动平台的外形。外形可以通过致动器409和/或410来调节。节段、框架408和基座405可以具有相同或不同的材料，并且可以由包括木材、金属、塑料、聚合物和复合材料的一种或多种材料构成。可选地，这些节段的上表面可以覆盖有踢脚板、面板、内饰和/或衬垫。类似于床200，当使用床400时，可将软床垫或任何可调节的与节段兼容的床垫(未示出)放置在这些节段上。
床400可以具有与床200相同类型的线性致动器。六个致动器可枢转地连接到基座405和框架408。例如，致动器406的上端通过球面轴承和轴承可枢转地连接到框架408。致动器的下端通过另一个球形轴承与基座405枢转地连接。球形轴承允许致动器围绕它自由旋转。六个致动器有十二个球形轴承。选择球面轴承的位置，以使致动器实现稳定的姿势以及框架的六自由度运动。可选地，可以在基座上安装少于或多于6个的致动器，以支撑和驱动框架408。
节段401、402、403和404设置在框架408上方并基于框架408，节段被铰接连接。节段403连接在框架408上。节段402和404分别与连接杆枢转地连接，该连接杆铰接至致动器，即致动器409或410。节段401枢转地连接至单个连接杆411。运动平台的外形由致动器409和410控制。该平台由框架408承载并随其移动。
图4B示出了根据本发明的一个实施例的在X-Z平面上的床400的另一主视图。与图4A相比，运动平台的外形由致动器409和410改变。致动器409和410安装在框架408上。以致动器409为例，其主体固定在框架408的下表面上，并且其致动杆的外端铰接在连接杆上。连接杆通过轴承装置可枢转地连接到节段402。可替代地，致动器409可以直接枢转地连接到节段402，这意味着不再需要连接杆。类似地，致动器410也可以直接枢转地连接到节段404。可替代地，致动器409和410可以安装在节段403的下表面上以提供相同的功能。
轴承装置可以是球形轴承，其允许连接杆绕其自由旋转。轴承装置还可以具有另一种结构，并允许连接杆仅绕Y轴旋转。
当致动器409的致动器杆向外延伸或缩回时，其拉动或推动连接杆。然后，连接杆枢 转地作用在节段402上。致动器410以相同的方式操纵节段404。
连接杆411可以通过相同的轴承装置连接到节段401和框架408。连接杆411可以具有固定的长度，它握住节段401，并在该节段被其相邻节段402拉动时使节段401随着移动。
可选地，一个以上的连接杆可枢转地连接到节段401以支撑该节段。另外，连接杆411可以由致动器代替。该致动器使节段401具有更多的取向和位置配置。另外，节段402和404可以由一个以上的致动器支撑以增强稳定性和可靠性。
运动平台的运动由设置在框架408和基座405之间的致动器驱动。当平台运动时，其外形可以保持相同的形状或使用致动器409和410进行更改。运动平台或框架408可以被操纵以模拟六个DOF运动，即，当人躺在床上400时，床400可以提供各种各样的运动，预先配置的动作可以包括系泊船，秋千等的动作。一个人或多个人可以选择一个动作并通过控制装置(例如，具有控制应用程序的智能手机)向床发出命令。例如在图4-C中，平台围绕Y轴旋转角度α，如在X-Z平面中的前视图中示例性地示出的。平台还可以绕其他轴旋转，沿X轴，Y轴和/或Z轴行进，或执行旋转加平移的组合。
可选地，床400可具有少于或多于四个运动平台的节段。床可以具有相同的结构，但是节段的数量不同。例如，代替四个节段，床可以包括两个节段，附接到框架408的脚部段和通过致动器可调节的头部段。床400还可包括五个部分，其中中间部分安装在框架408上，其余部分可枢转地连接至致动器或连接杆。
当人躺在床400上时，平台的外形，即床的位置或人的位置在移动期间可以保持不变或改变。当将定位从一种设置更改为另一种设置时，更改速度应减慢以避免突然移动的感觉。
图5是反映多功能运动模拟床500的结构的示例性框图。床500可以包括形成运动平台的多个节段(未示出)、固定基座(未示出)、微处理器或微控制器501、数据存储模块502、通信模块503、遥控器504、控制面板505、致动器和安装在床500上的传感器。微控制器501控制致动器并管理传感器。致动器用于操纵运动平台。
传感器可以包括检测器，该检测器监测致动器的状态，例如致动器杆的位置。传感器还可以包括加速度计和1轴或3轴陀螺仪传感器。加速度计和陀螺仪可以安装在每个节段上，以测量加速度和旋转值。节段的移动也可以由光学传感器(例如一个或多个摄像机)检测。摄像机可以放置在例如基座上。
数据存储模块502存储安装在床500的控制系统上的软件或应用程序。该软件可以包括设计用于驱动致动器的运动程序。运动程序包含可由微控制器501实现以使运动平台模拟六个DOF运动的指令集。可以使用某些仿真软件来创建运动程序。仿真软件可以根据所需的节段的位置和方向来确定致动器杆的运动。数据存储模块502还可以存储从传感器获得的测量结果和性能数据。存储模块可以包括诸如RAM之类的易失性存储器和诸如闪存之类的非易失性存储器以及诸如硬盘驱动器之类的存储设备。
通信模块503可以包括网络接口。经由通信模块503，微控制器501可以经由互联网与远程服务器通信。例如，可以从远程服务器下载更新的或新的程序以改善床的性能。微控制器501还可以通过通信模块503与遥控器504和控制面板505通信。
遥控器504和控制面板505是允许人选择平台的外形和预定动作的控制装置。遥控器可以是带有键盘的便携式小工具(例如，具有控制应用程序的智能手机)。控制面板可以安装在床的床头板上。两个控制设备也可以直接连接到微控制器501。
图6示出了根据本发明的一个实施例的多功能运动模拟床600的流程图。假设床包括四个部分，六个或九个执行器，一个微处理器和一个遥控器，以及其他组件。这些节段形成运动平台，节段的上表面代表平台的外形。在步骤601中，一个人躺在床上时，在查看预设动作列表之后，按下遥控器上的按钮以选择动作。预设动作可以包括在湖上漂浮、沿一个方向摆动、沿另一方向摆动、沿选定方向摇动、针对特定目的的定制动作等等。进一步地，可以结合VR眼镜，体验VR娱乐。
按下按钮表示提交订单以模拟床的选择运动。在按下按钮之前，人可以选择运动平台的外形，并确定外形在过程中是否应改变。运动平台的外形确定人的位置。该人还可以为所选动作设置强度级别。较高的强度水平意味着更快，更剧烈的运动。微处理器收到订单并开 始执行过程。首先，它在步骤602中识别相应的程序。在步骤603中，它从硬盘驱动器中检索所标识的程序。接下来，它执行在步骤604中从程序获得的指令，并开始模拟选择运动。
在执行了指令之后，在步骤605中，微处理器监视致动器的性能和节段的运动，将测量数据记录在硬盘驱动器中。微处理器将测量数据与目标值进行比较，并在步骤606中以微调指令进行调整，接下来，在步骤607中，微处理器执行修改后的指令，并在步骤608中再次检测和分析执行器和节段的性能。如果性能偏差仍然超出阈值，则可以进行更多次微调。当偏差在一定范围内时，微处理器可以执行修改后的指令，并在给定时间段内继续执行。
可选地，可以设计小工具或便携式电子设备。便携式设备可以包括运动和定位传感器，例如一个或多个加速度计、1轴或3轴陀螺仪传感器和/或电子罗盘。该设备可以使用传感器来测量加速度，旋转和位置，以反映人所经历的运动。然后，设备会沿着时间线记录测量结果。例如，一个人可能在旅行前打开设备并让其收集并存储相关的运动信息。运动信息可以包括从加速度计、陀螺仪和电子罗盘获得的数据以及测量时间。当人去坐公共汽车、火车和船上的地方时，或者坐过山车、滑雪或跳伞时，在不同的时间段记录了不同的运动特征，包括视频特征。该人以后可以将数据上传到床的控制系统。接下来，该人可以选择一个时间段并请求床模拟与该时间段相对应的运动。控制系统可以相应地检索和分析测量数据，在使用测量数据和算法计算运动模式之后，控制系统可以使床模拟该运动模式。可选地，由于智能手机可以携带加速度计、陀螺仪和/或电子罗盘，以及视频记录的功能，因此可以创建程序或应用。一个人可以在智能手机上安装该应用程序。一旦启动该应用程序，它就可以连续收集和存储手机的移动数据，并根据请求将数据传输到床上。
尽管已经公开了本发明的特定实施例，但是本领域普通的技术人员会理解可以在不脱离本发明的精神和范围的情况下对特定实施例进行改变。因此，本发明的范围不限于特定实施例。此外，意图是所附权利要求覆盖本发明范围内的任何和所有这样的应用、修改和实施例。

Claims (20)

  1. 一种床，其特征在于，包括：
    一基座；
    安装在所述基座上的一多个致动器；
    一种用于支撑躺在床上的人并同时模拟运动的平台，该平台包括多个节段，其中每个节段由所述多个致动器中的至少一个致动并铰接至另一节段；
    处理器，控制所述多个致动器分别驱动所述多个节段，并根据存储在存储器中的预编程指令来移动所述平台以模拟运动。
  2. 根据权利要求1所述的一种床，其特征在于，其中所述运动包括具有六个自由度的运动。
  3. 根据权利要求1所述的一种床，其特征在于，还包括用于人控制所述运动的遥控器和/或控制面板。
  4. 根据权利要求1所述的一种床，其特征在于，所述多个节段中的任一个由所述多个致动器中的至少三个致动器支撑。
  5. 根据权利要求4所述的一种床，其特征在于，所述多个节段中的任一个由所述多个致动器中的六个致动器支撑。
  6. 根据权利要求1所述的一种床，其特征在于，所述多个节段中的至少一个由所述多个致动器中的一个致动器支撑。
  7. 根据权利要求1所述的一种床，其特征在于，所述多个致动器与所述多个节段和所述基座枢转地连接。
  8. 根据权利要求1所述的一种床，其特征在于，所述多个节段的上表面形成外形，并且所述外形在运动期间保持不变。
  9. 根据权利要求1所述的一种床，其特征在于，所述多个节段的上表面形成外形，并且所述外形在运动期间改变。
  10. 一种床，其特征在于，包括：
    一基座；
    设置在所述基座上方的一框架；
    多个一第一致动器安装在基座上，用于支撑所述框架并使所述框架模拟运动；
    至少两个一第二致动器；
    一个用于支撑躺在床上的人的平台，所述平台包括一多个节段，所述多个节段上表面形成一外形，其中至少两个第二致动器被配置在所述框架和/或所述多个节段之间，每个节段被铰接连接到另一个节段，并由所述框架、至少两个所述第二致动器之一或安装在所述框架上的支撑元件支撑；
    处理器分别控制多个第一致动器和至少两个第二致动器以根据存储在存储器中的预编程指令来移动所述框架和所述平台以模拟运动。
  11. 根据权利要求10所述的一种床，其特征在于，所述多个第一致动器和所述至少两个第二致动器包括一电致动器、一气动致动器、一液压致动器或一螺杆式滑块致动器的一个或多个，所述第一致动器还包括一连接部件，所述连接部件被配置在所述第一致动器与所述框架和/或所述多个节段之间，所述第一致动器驱动所述连接部件。
  12. 根据权利要求10所述的一种床，其特征在于，所述运动包括具有六个自由度的运动。
  13. 根据权利要求10所述的一种床，其特征在于，还包括用于人控制所述外形和运动的遥控器和/或控制面板。
  14. 根据权利要求10所述的一种床，其特征在于，所述多个节段中的一个固定在所述框架上。
  15. 根据权利要求10所述的一种床，其特征在于，所述框架由所述多个第一致动器中的至少六个第一致动器支撑。
  16. 根据权利要求10所述的一种床，其特征在于，所述外形可通过至少两个所述第二致动器来调节。
  17. 根据权利要求16所述的一种床，其特征在于，所述外形在运动期间保持不变或改变。
  18. 根据权利要求10所述的一种床，其特征在于，多个所述第一致动器与所述框架和所述基座枢转地连接。
  19. 根据权利要求10所述的一种床，其特征在于，至少两个所述第二致动器和所述支撑元件分别与所述框架和所述多个节段之一枢转地连接。
  20. 根据权利要求10所述的一种床，其特征在于至少两个所述第二致动器分别与连接部件铰接连接，所述连接部件与所述多个节段之一枢转地连接。
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