A flexible turning and care bed and its control method

Abstract

This invention belongs to the field of medical device technology, specifically relating to a flexible turning nursing bed and its control method. The invention includes a bed frame, a body position changing mechanism mounted on the bed frame for changing human posture, and a turning mechanism hinged to the bed frame for turning the patient. The turning mechanism of this invention enables flexible turning of the patient, facilitating caregivers and preventing bedsores and pneumonia caused by prolonged bed rest. A roller motor on one side of the turning mechanism rises, driving the turning cloth. As the patient's body rotates, the turning cloth rises to a certain height, allowing medical staff to easily turn the patient with a gentle push. Compared to existing turning beds that tilt the bed or bed board at a large angle, the turning method proposed in this invention is safer and more reliable, reduces the workload of medical staff, and improves patient comfort during turning.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a flexible turning and nursing bed and its control method. Background Technology

[0002] Currently, my country has over 40 million partially or completely disabled elderly people. Addressing the most basic needs of this group for daily living care and effectively improving their dignity and quality of life has become a critical bottleneck in advancing my country's "healthy aging" initiative. Developing assistive robot systems for the partially or completely disabled elderly, suitable for use in homes, hospitals, and nursing homes, to meet their bedridden care needs, has become an essential path to breaking through the challenges of my country's aging population.

[0003] Elderly people with partial or complete disability often require prolonged bed rest, which can lead to continuous pressure on specific parts of the body. Due to lack of blood flow, this can cause pressure sores, or ulcers, in these areas. Furthermore, prolonged bed rest can cause mucus buildup in the lower respiratory tract, leading to bacterial infections and increasing the likelihood of viral pneumonia. Pressure sores and pneumonia exacerbate patient suffering and can trigger a range of complications. Traditional care involves family members or medical staff staying with the patient in bed and turning them over regularly. However, the lack of professionalism, the time-consuming nature of this approach, and the high workload limit its practical application.

[0004] Against this backdrop, flexible turning care beds have been developed. These beds are medical beds that can assist patients in turning over and changing positions. Currently, domestically developed flexible turning care beds have drawbacks such as complex structures, incomplete turning, and unstable position-changing mechanisms. Furthermore, some beds directly use a method of turning the patient by tilting the bed to the side, i.e., supporting one side of the bed board or tilting the bed at a large angle, which can easily cause injury. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a flexible turning care bed and its control method that allows for multiple posture changes and flexible turning.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a flexible turning nursing bed, including a bed frame, a body position changing mechanism installed on the bed frame for changing human posture, and a turning mechanism hinged to the bed frame for turning over human body.

[0007] The turning mechanism includes rollers symmetrically installed on both sides of the bed frame, a roller motor installed on one end of the roller near the end of the bed frame, a swivel rod with one end rotatably installed in the middle of the headboard and the other end coaxially arranged with the output end of the roller motor, and a swivel rod push rod rotatably installed on the headboard; the output ends of the two swivel rod push rods are respectively rotatably connected to the middle top corner of the corresponding swivel rod, and a turning cloth is rolled between the two rollers.

[0008] Furthermore, the body position changing mechanism includes a back plate, a buttock plate fixedly installed on the bed frame and hinged to the back plate, a thigh plate rotatably installed with the buttock plate, and a calf plate rotatably installed with the thigh plate, wherein the back plate, buttock plate, thigh plate, and calf plate are arranged in a straight line;

[0009] A push rod connecting shaft is provided between the support bars on both sides of the back plate and between the support bars on both sides of the thigh plate; a first electric push rod is rotatably mounted on the push rod connecting column on the back plate via a connecting seat, and the output end of the first electric push rod is rotatably mounted on the support bar on one side of the thigh plate; a second electric push rod is rotatably mounted on the push rod connecting column on the thigh plate via a connecting seat, and the output end of the second electric push rod is rotatably mounted on the support bar on one side of the back plate.

[0010] Furthermore, a base frame is provided below the bed frame, and a posture transformation mechanism is installed between the base frame and the bed frame; the posture transformation mechanism includes a left posture transformation lifting column and a right posture transformation lifting column fixedly installed at the front end of the base frame and opposite to each other on both sides of the base frame, and a rear posture transformation lifting column installed at the rear end of the base frame; the output ends of the left posture transformation lifting column, the right posture transformation lifting column and the rear posture transformation lifting column are all fixedly connected to the bed frame.

[0011] Furthermore, both the headboard and footboard of the bed frame are provided with arc-shaped sliding grooves for the sliding of the roller motor.

[0012] Furthermore, at least two sets of storage-type guardrail assemblies are symmetrically arranged on both sides of the bed frame. The guardrail assembly includes a guardrail connecting tube installed on the bed frame and a guardrail swing bar with one end rotatably installed on the guardrail connecting tube and the other end rotatably installed with a guardrail handrail.

[0013] Furthermore, a CPR handle mechanism for manually adjusting the pitch angle is installed on the side of the back panel.

[0014] Furthermore, it also includes a display screen assembly, which includes a display screen base mounted on the end frame of the bed, a display screen housing rotatably mounted on the display screen base at its upper end, a display screen fixedly mounted on the display screen housing, and a lifting assembly installed between the display screen housing and the display screen base;

[0015] When the display screen is needed, the lifting component is in a lifted state, and the display screen has a tilt angle that is close to the horizontal plane relative to the vertical direction.

[0016] Furthermore, a pedal assembly is installed on the base frame. The pedal assembly includes a pedal crossbeam and pedals installed at both ends of the pedal crossbeam. The pedals are located on both sides of the base frame and are used to control the start and stop of the roller motor.

[0017] A control method for a flexible turning nursing bed: when the patient needs to turn over, the operator operates the display screen and controls the left or right roller motor to rise to the highest point along the arc-shaped sliding groove through the turning mechanism.

[0018] The operator is positioned to the side of the nursing bed, with their foot on the pedal. The operator controls the corresponding left and right roller motors to rotate along the roller's own axis in a direction away from the patient's body.

[0019] When the patient needs to turn to the left, the right-side roller motor uses a single closed-loop speed control, while the left-side roller motor uses a dual closed-loop speed and current control.

[0020] Furthermore, the speed relationship between the drum motor using single-loop speed control and the drum motor using dual-loop speed and current control is as follows:

[0021]

[0022] Where d s The diameter d of the turning cloth wound on the roller motor, which is controlled by a single closed-loop speed control system. c The diameter of the turning cloth wound on the roller motor, which is controlled by a dual closed-loop system of speed and current, is added to the diameter of the roller motor. s and n c ∆l represents the rotational speed of the drum motor under single-loop speed control and dual-loop speed and current control, respectively; ∆l represents the deformation of the turning cloth perpendicular to the direction of the drum motor.

[0023] The beneficial effects of the flexible turning and care bed and its control method of the present invention are:

[0024] 1. This invention features a position-changing mechanism that enables patients to change positions in multiple ways. Compared to existing technologies, this mechanism not only allows for multiple angle adjustments of the back but also provides flexible angle adjustments for the legs to conform to various postures. The entire back and leg angle adjustment system more closely follows the natural posture changes of the human body, significantly improving comfort. Furthermore, the position switching in this invention is convenient and quick. In addition, the flexible turning bed can achieve four patient positions—forward, backward, left, and right—through three lifting columns on the bed base, adapting to different patient needs.

[0025] 2. The turning mechanism of this invention enables flexible turning of patients, facilitating caregivers and preventing bedsores and pneumonia caused by prolonged bed rest. A roller motor on one side of the turning mechanism rises, driving the turning cloth. As the patient's body rotates, the turning cloth rises to a certain height, allowing medical staff to easily turn the patient with a gentle push. Compared to existing turning beds that tilt the bed or bed board at a large angle, the turning method proposed in this invention is safer and more reliable, reducing the workload of medical staff and improving patient comfort during turning.

[0026] 3. The display screen mechanism mounted on the footboard of this invention has an elevation angle that matches the operator's viewing angle when raised, facilitating operation of the flexible turning and care bed. When lowered, it can be completely embedded in the footboard without occupying additional space. Furthermore, the care bed of this invention has a simple structure, and the bed frame mechanism, body position changing mechanism, turning mechanism, and display screen mechanism can be modularly spliced, greatly saving the cost of upgrades and replacements. Attached Figure Description

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0028] Figure 1 This is a perspective view of the flexible turning and care bed according to an embodiment of the present invention;

[0029] Figure 2 This is a partial structural diagram of the flexible turning and care bed according to an embodiment of the present invention;

[0030] Figure 3 This is a perspective view of the body position changing mechanism of the flexible turning and nursing bed according to an embodiment of the present invention;

[0031] Figure 4 This is a front view of the body position transformation mechanism of the flexible turning and care bed according to an embodiment of the present invention;

[0032] Figure 5 This is a perspective view of the flexible turning and care bed in the turning and care state according to an embodiment of the present invention;

[0033] Figure 6This is a structural diagram of the turning mechanism of the flexible turning care bed according to an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the internal structure of the turning mechanism of the flexible turning care bed according to an embodiment of the present invention;

[0035] Figure 8 This is a first-view structural schematic diagram of the display screen assembly of the flexible turning and care bed according to an embodiment of the present invention;

[0036] Figure 9 A schematic diagram of the display screen assembly of the flexible turning and care bed according to an embodiment of the present invention from a second perspective;

[0037] Figure 10 A schematic diagram of the guardrail assembly of the flexible turning and care bed according to an embodiment of the present invention;

[0038] Figure 11 This is a block diagram of the control system for a drum motor with single closed-loop speed control according to an embodiment of the present invention;

[0039] Figure 12 This is a block diagram of the control system for a drum motor with dual closed-loop control of speed and current according to an embodiment of the present invention.

[0040] In the diagram: 1. Bed frame; 11. Headboard; 12. Footboard; 13. Base frame; 2. Posture changing mechanism; 21. Backrest; 22. Hip board; 23. Thigh board; 24. Lower leg board; 25. Push rod connecting shaft; 26. First electric push rod; 27. Second electric push rod; 28. Lower leg limiting strip; 3. Turning mechanism; 31. Roller; 32. Roller motor; 33. Sign-shaped swing rod; 34. Swing rod push rod; 35. Turning cloth; 36. Arc-shaped sliding groove; 37. Wire pressure strip; 4. Posture changing mechanism; 42. 41. Left posture changing lifting column; 43. Right posture changing lifting column; 5. Rear posture changing lifting column; 5. Guardrail assembly; 51. Guardrail connecting pipe; 52. Guardrail handrail; 53. Guardrail swing arm; 6. CPR pull handle mechanism; 7. Display screen assembly; 71. Display screen base; 72. Display screen housing; 73. Display screen; 74. Lifting assembly; 741. First swing arm; 742. Second swing arm; 743. Magnetic top block; 8. Pedal assembly; 81. Pedal crossbeam; 82. Pedal; 9. Moving wheel; 10. Infusion stand. Detailed Implementation

[0041] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0042] like Figures 1-10The embodiment shown is a flexible turning and nursing bed of the present invention. In this embodiment, the patient's position on the bed is referenced in the front, back, left, right, up, and down directions. The bed includes a bed frame 1, a body position changing mechanism 2 mounted on the bed frame 1 for changing body posture, and a turning mechanism 3 hinged to the bed frame 1 for turning the patient over. The turning mechanism 3 includes rollers 31 symmetrically mounted on both sides of the bed frame 1, roller motors 32 mounted at both ends of the rollers 31, a checkered swing rod 33 with one end rotatably mounted in the middle of the headboard 11 and the other end coaxially arranged with the output end of the roller motor 32, and a swing rod push rod 34 rotatably mounted on the headboard 11. The output ends of the two swing rod push rods 34 are rotatably connected to the middle apex of the corresponding checkered swing rods 33. A turning cloth 35 is rolled between the two rollers 31. Both the headboard 11 and the footboard 12 of the bed frame 1 have arc-shaped sliding grooves 36 for the roller motors 32 to slide.

[0043] In this embodiment, the turning mechanism 3 includes a checkered swing rod 33, a swing rod push rod 34, a roller motor 32, and a turning cloth 35. There are four swing rods and four swing rod push rods 34, symmetrically arranged inside the headboard 11 and the footboard 12. One end of the swing rod is hinged to the bed frame 1, and the other end is hinged to the roller motor 32. One end of the swing rod push rod 34 is hinged to the bed frame 1, and the other end is hinged to the swing rod. There are two roller motors 32, symmetrically arranged on both sides of the bed frame 1, and both sides of the roller motor 32 are hinged to the swing rod. The swing rod push rod 34 extends and retracts to drive the swing rod to rotate, thereby realizing the rising and falling of the roller motor 32. In this embodiment, the two sides of the turning cloth 35 are connected to the roller motor 32 by Velcro. The turning mechanism 3 also includes a wire pressure strip 37, which is embedded in the upper side of the checkered swing rod 33. The wire pressure strip 37 fixes the wire inside the checkered swing rod 33, making the overall wiring of the nursing bed clear and neat.

[0044] The turning mechanism 3 of this invention enables flexible turning of patients, facilitating caregivers and preventing bedsores and pneumonia caused by prolonged bed rest. A roller motor 32 on one side of the turning mechanism 3 rises, driving the turning cloth 35. As the patient's body rotates, the turning cloth 35 rises to a certain height, allowing medical staff to easily turn the patient with a gentle push. Compared to existing turning beds that tilt the bed or bed board at a large angle, the turning method proposed in this invention is safer and more reliable, reducing the workload of medical staff and improving patient comfort during turning.

[0045] like Figure 3 and Figure 4As shown, the body position changing mechanism 2 includes a backrest 21, a buttock plate 22 fixedly mounted on the bed frame 1 and hinged to the backrest 21, a thigh plate 23 rotatably mounted to the buttock plate 22, and a lower leg plate 24 rotatably mounted to the thigh plate. The backrest 21, buttock plate 22, thigh plate 23, and lower leg plate are arranged in a straight line. Push rod connecting shafts 25 are provided between the support bars on both sides of the backrest 21 and between the support bars on both sides of the thigh plate 23. A first electric push rod 26 is rotatably mounted on the push rod connecting column on the backrest 21 via a connecting seat. The output end of the first electric push rod 26 is rotatably mounted on a support bar on one side of the thigh plate 23. A second electric push rod 27 is rotatably mounted on the push rod connecting column on the thigh plate 23 via a connecting seat. The output end of the second electric push rod 27 is rotatably mounted on a support bar on one side of the backrest 21. The body position changing mechanism 2 can realize multiple body position changes for patients, and the posture switching is convenient and quick. The position change lever extends and retracts, causing the bed backrest 21 to rise, helping patients to eat, drink, and perform other tasks; the position change lever also extends and retracts, causing the lower leg board and upper leg board to rise, enabling patients to raise and bend their legs, thus aiding in their recovery.

[0046] In this embodiment, the back panel 21 is fixed to the support bar corresponding to the back panel 21, the thigh panel 23 is fixed to the support bar corresponding to the thigh panel 23, and the calf panel 24 is fixed to the support bar corresponding to the calf panel 24; the support bars corresponding to the back panel 21, hip panel 22, thigh panel 23, and calf panel 24 are hinged in sequence. It should be noted that a calf panel 24 limiting strip is hinged to the side frame of the bed frame 1 used to place the support bar, and the calf limiting strip 28 is hinged to the support bar corresponding to the calf panel 24 to fix the position of the calf panel 24.

[0047] Reference Figure 2 A base frame 13 is provided below the bed frame 1, and a posture changing mechanism 4 is installed between the base frame 13 and the bed frame 1. The posture changing mechanism 4 includes a left posture changing lifting column 42 and a right posture changing lifting column 41 fixedly installed at the front end of the base frame 13 and positioned opposite each other on both sides of the base frame 13, and a rear posture changing lifting column 43 installed at the rear end of the base frame 13. The output ends of the left posture changing lifting column 42, the right posture changing lifting column 41, and the rear posture changing lifting column 43 are all fixedly connected to the bed frame 1. The flexible turning nursing bed of the present invention can realize four body positions of the patient—forward tilt, backward tilt, left tilt, and right tilt—through the three lifting columns on the bed base frame 13: the left posture changing lifting column 42, the right posture changing lifting column 41, and the rear posture changing lifting column 43, to adapt to different needs of patients, making the present invention widely applicable. In this embodiment, four casters 9 are provided on the lower end surface of the base frame 13 to facilitate the movement of the entire rehabilitation bed.

[0048] like Figure 8 and Figure 9As shown, this nursing bed also includes a display screen assembly 7. The display screen assembly 7 includes a display screen base 71 mounted on the end frame 12, a display screen housing 72 rotatably mounted on the display screen base 71, a display screen 73 fixedly mounted on the display screen housing 72, and a lifting assembly 74 installed between the display screen housing 72 and the display screen base 71. When the display screen 73 is needed, the lifting assembly 74 is in a raised state, and the display screen 73 has an inclination angle close to the horizontal plane relative to the vertical direction. The lifting assembly 74 includes a first swing arm 741 symmetrically rotatably mounted on the upper surface of the display screen base 71, a second swing arm 742 rotatably mounted on the first swing arm 741, a magnetic suction block 743 mounted on the lower surface of the display screen base 71, and a metal block mounted on the display screen housing 72 corresponding to the magnetic suction block 743. The end of the second swing arm 742 away from the first swing arm 741 is rotatably mounted on the display screen housing 72. When the operator needs to use the display screen 73 to operate the nursing bed, pressing down on the display screen housing 72 causes the magnetic top block 743 to pop out. The display screen housing 72 and the display screen 73 then form a certain angle with the horizontal plane under the action of the first swing arm 741 and the second swing arm 742, facilitating operation. After operation, pressing down on the display screen housing 72 again causes the magnetic top block 743 to retract, completing the retrieval of the display screen 73. When the display screen assembly 7 is raised, the elevation angle of the display screen 73 on the display screen housing 72 matches the operator's viewing angle, facilitating operation of the flexible turning nursing bed. When lowered, it can be completely embedded in the bed end frame 12 without occupying extra space.

[0049] Reference Figure 1 , Figure 2 and Figure 10 At least two sets of retractable guardrail assemblies 5 are symmetrically arranged on both sides of the bed frame 1. Each guardrail assembly 5 includes a guardrail connecting tube 51 mounted on the bed frame 1 and a guardrail swing arm 53 with one end rotatably mounted on the guardrail connecting tube 51 and the other end rotatably mounted on a guardrail handrail 52. In this embodiment, there are two guardrail connecting tubes 51, symmetrically arranged on both sides of the bed frame 1. The connections between the guardrail connecting tubes 51 and the guardrail swing arm 53, and between the guardrail handrail 52 and the guardrail swing arm 53, are all hinged. In this embodiment, two IV stands 10 are installed on both sides of the guardrail connecting tubes 51 to facilitate IV infusion operations for the patient.

[0050] When the patient gets in or out of bed, the handrail 52 can be pulled, and the handrail 52 will be lowered under the action of the handrail swing arm 53; when the patient is lying in bed, the handrail 52 can be pulled, and the handrail 52 will be raised under the action of the handrail swing arm 53. This handrail component 5 can be retracted and stored, saving space when not in use.

[0051] like Figure 3As shown, it should be further explained that a CPR handle mechanism 6 for manually adjusting the tilt angle is installed on the side of the backrest 21. Two backrest 21 CPR handle mechanisms 6 are symmetrically installed below the backrest 21. Pressing the CPR handle mechanism 6 allows for manual adjustment of the tilt angle of the bed backrest 21. In this embodiment, the specific structure of the CPR handle mechanism 6 is a relatively conventional existing technology, but its application has a certain degree of innovation. The specific structure of the CPR handle mechanism 6 will not be described in detail in this text.

[0052] A pedal assembly 8 is mounted on the base frame 13. The pedal assembly 8 includes a pedal crossbeam 81 and pedals 82 installed at both ends of the pedal crossbeam 81. The pedals 82 are located on both sides of the base frame 13 and are used to control the start and stop of the roller motor 32. When the operator turns the patient over, the operator does not need to go to the foot of the bed to operate the display screen 73, thus achieving start and stop control of the roller motor 32 and saving manpower. In this embodiment, the body position changing mechanism 2 is installed on the bed frame 1 to realize various posture changes of the patient when lying down; the turning mechanism 3 is hinged to the bed frame 1 to drive the patient to perform 90° and 180° turning movements; the display screen 73 is installed on the bed frame 1 to realize the control of the flexible turning nursing bed.

[0053] When it is necessary to turn the patient over, the swing lever push rod 34 extends, causing the swing lever to rotate around the hinge point, thereby raising the roller motor 32. When the foot pedal 82 is pressed, one side of the roller motor 32 rotates with speed PID closed-loop control, and the other side of the roller motor 32 rotates with speed and current dual PID closed-loop control, helping the patient to complete the turning action.

[0054] A specific embodiment of the control method for the flexible turning nursing bed described above is as follows: When the patient needs to turn over, the operator operates the display screen 73 and controls the left or right roller motor 32 to rise to the highest point along the arc-shaped sliding groove 36 through the turning mechanism 3; the operator is positioned on the side of the nursing bed and steps on the pedal 82, controlling the corresponding left and right roller motors 32 to rotate along the axis of the roller 31 away from the patient's body through the pedal 82; when the patient needs to turn to the left, the right roller motor 32 rotates using a single closed-loop speed control, and the left roller motor 32 rotates using a dual closed-loop speed and current control; when the patient needs to turn to the right, the left roller motor 32 rotates using a single closed-loop speed control, and the left roller motor 32 rotates using a dual closed-loop speed and current control.

[0055] like Figure 11 This is a control block diagram for a single closed-loop speed control roller motor 32, where ASR stands for Automatic Speed ​​Regulator, which uses a PID controller and its adjustment formula is as follows:

[0056]

[0057] Where K P It is the proportionality coefficient, T i It is the integral coefficient, T d These are the differential coefficients.

[0058] Figure 12 This is a control block diagram for a roller motor 32 with dual closed-loop control of speed and current. ASR stands for Automatic Speed ​​Regulator, and ACR stands for Automatic Current Regulator, both employing PID controllers. Their adjustment formulas are as follows:

[0059]

[0060] Where K Pn ,T in ,T dn These are the proportional coefficient, integral coefficient, and differential coefficient of ASR, respectively; K Pi ,T ii ,T di These are the proportional coefficient, integral coefficient, and differential coefficient of ACR, respectively.

[0061] During the turning process, the roller motor 32, which is controlled by dual closed-loop speed and current, takes in the fabric, while the roller motor 32, which is controlled by single closed-loop speed, releases the fabric. The diameter of the roller motor 32 for taking in the fabric gradually increases, while the diameter of the roller motor 32 for releasing the fabric gradually decreases. Therefore, the roller motor 32 and the turning fabric 35 also satisfy the following relationship:

[0062]

[0063] Where d s The diameter d of the roller motor 32 with its single closed-loop speed control plus the diameter of the turning cloth 35 wound on it. c The diameter of the turning cloth 35 wound around the roller motor 32, which is controlled by dual closed-loop speed and current control; n s and n c ∆l represents the rotational speed of the roller motor 32 under single-loop speed control and dual-loop speed and current control, respectively; ∆l represents the deformation of the turning cloth 35 perpendicular to the direction of the roller motor 32.

[0064] This application has broad applicability to different groups of people, and the scenarios are mainly but not limited to homes, nursing homes, rehabilitation and nursing care facilities. The main places of use are indoors. The device is easy to move and transport, the mechanism is safe and reliable, the human-machine compatibility is high, the parts are easy to maintain, the cost is low, and it is easy to be widely popularized.

[0065] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A flexible turning and care bed, characterized in that: It includes a bed frame (1), a body position changing mechanism (2) mounted on the bed frame (1) for changing human posture, and a turning mechanism (3) hinged to the bed frame (1) for turning over. The turning mechanism (3) includes rollers (31) symmetrically installed on both sides of the bed frame (1), a roller motor (32) installed on one end of the roller (31) near the end of the bed frame (12) of the bed frame (1), a pair-shaped swing rod (33) with one end rotatably installed in the middle position of the headboard (11) and the other end coaxially arranged with the output end of the roller motor (32), and a swing rod push rod (34) rotatably installed on the headboard (11); the output ends of the two swing rod push rods (34) are respectively rotatably connected to the middle top corner of the corresponding pair-shaped swing rod (33), and a turning cloth (35) is rolled between the two rollers (31). A base frame (13) is provided below the bed frame (1); a footboard assembly (8) is installed on the base frame (13). The headboard (11) and footboard (12) of the bed frame (1) are provided with arc-shaped sliding grooves (36) for the sliding of the roller motor (32). It also includes a display assembly (7); The control method for the flexible turning and care bed includes the following: When the patient needs to be turned over, the operator operates the display assembly (7) to control the left or right roller motor (32) to rise to the highest point along the arc-shaped sliding groove (36) through the turning mechanism (3); The operator is positioned on the side of the nursing bed and steps on the pedal assembly (8). The pedal assembly (8) controls the corresponding left and right roller motors (32) to rotate along the axis of the roller (31) away from the patient's body. When the patient needs to turn to the left, the right roller motor (32) uses a single closed-loop speed control to rotate, while the left roller motor (32) uses a double closed-loop speed and current control to rotate; when the patient needs to turn to the right, the left roller motor (32) uses a single closed-loop speed control to rotate, while the left roller motor (32) uses a double closed-loop speed and current control to rotate. The speed relationship between the roller motor (32) using single-loop speed control and the roller motor (32) using dual-loop speed and current control is as follows: ， in d s The diameter of the turning cloth (35) wound around the roller motor (32) which is controlled by a single closed loop for speed is added. d c The diameter of the turning cloth (35) rolled on it is added to the roller motor (32) which is controlled by dual closed-loop speed and current. n s and n c The rotational speeds of the drum motor (32) are respectively controlled by a single closed-loop speed control and a dual closed-loop speed and current control; ∆ l The deformation of the turning cloth (35) perpendicular to the direction of the roller motor (32).

2. The flexible turning and care bed according to claim 1, characterized in that: The body position changing mechanism (2) includes a back plate (21), a buttock plate (22) fixedly installed on the bed frame (1) and hinged to the back plate (21), a thigh plate (23) rotatably installed with the buttock plate (22), and a calf plate (24) rotatably installed with the thigh plate. The back plate (21), buttock plate (22), thigh plate (23) and calf plate (24) are arranged in a straight line. Push rod connecting shafts (25) are provided between the support bars on both sides of the back plate (21) and between the support bars on both sides of the thigh plate (23); a first electric push rod (26) is rotatably mounted on the push rod connecting column on the back plate (21) through a connecting seat, and the output end of the first electric push rod (26) is rotatably mounted on the support bar on one side of the thigh plate (23); a second electric push rod (27) is rotatably mounted on the push rod connecting column on the thigh plate (23) through a connecting seat, and the output end of the second electric push rod (27) is rotatably mounted on the support bar on one side of the back plate (21).

3. The flexible turning and nursing bed according to claim 1, characterized in that: An attitude transformation mechanism (4) is installed between the base frame (13) and the bed frame (1); the attitude transformation mechanism (4) includes a left attitude transformation lifting column (42) and a right attitude transformation lifting column (41) fixedly installed at the front end of the base frame (13) and respectively installed on both sides of the base frame (13), and a rear attitude transformation lifting column (43) installed at the rear end of the base frame (13); the output ends of the left attitude transformation lifting column (42), the right attitude transformation lifting column (41) and the rear attitude transformation lifting column (43) are all fixedly connected to the bed frame (1).

4. The flexible turning and care bed according to claim 1, characterized in that: At least two sets of storage-type guardrail assemblies (5) are symmetrically arranged on both sides of the bed frame (1). The guardrail assembly (5) includes a guardrail connecting pipe (51) installed on the bed frame (1) and a guardrail swing bar (53) with one end rotatably installed on the guardrail connecting pipe (51) and the other end rotatably installed with a guardrail handrail (52).

5. A flexible turning and care bed according to claim 2, characterized in that: The back panel (21) is equipped with a CPR handle mechanism (6) for manually adjusting the pitch angle.

6. The flexible turning and care bed according to claim 1, characterized in that: The display assembly (7) includes a display base (71) mounted on the end frame (12), a display housing (72) rotatably mounted on the display base (71), a display (73) fixedly mounted on the display housing (72), and a lifting assembly (74) mounted between the display housing (72) and the display base (71). When the display screen (73) is needed, the lifting component (74) is in a lifted state, and the display screen (73) has a tilt angle that is close to the horizontal plane relative to the vertical direction.

7. The flexible turning and care bed according to claim 1, characterized in that: The pedal assembly (8) includes a pedal beam (81) and pedals (82) installed at both ends of the pedal beam (81); the pedals (82) are located on both sides of the base frame (13), and the pedals (82) are used to control the start and stop of the roller motor (32).

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