Multifunctional nursing bed with lower limb rehabilitation axis adjusting function and use method

Abstract

The invention belongs to the technical field of medical rehabilitation, and particularly relates to a multifunctional nursing bed with a lower limb rehabilitation axis adjusting function and a use method. The multifunctional nursing bed for the lower limbs comprises a bed frame, a bed board installed on the bed frame, a containing cavity formed in the bed board and lower limb rehabilitation mechanical legs symmetrically installed on the bed board through a shaft adjusting mechanism. The shaft adjusting mechanism comprises a shaft adjusting air cylinder installed on the lower end face of the bed plate and a triangular special-shaped adjusting plate coaxially arranged with an output shaft of the shaft adjusting air cylinder. The lower limb rehabilitation mechanical legs and the bed board are connected and installed through the shaft adjusting mechanisms, the shaft adjusting air cylinders drive the triangular special-shaped adjusting plates to rotate around the inner side connecting points of the triangular special-shaped adjusting plates and the bed frame, the lower limb rehabilitation mechanical legs are driven to ascend or descend, and the rehabilitation axes of the lower limb rehabilitation mechanical legs coincide with the natural rotation axis of the hip joint of a patient; the problem that in the prior art, the rehabilitation axis is inconsistent with the rotation axis of the legs of the patient, and compulsory training injuries are caused to the patient is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical rehabilitation, and in particular relates to a multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation and a use method thereof. Background Art

[0002] Lower limb rehabilitation nursing beds are involved in both the medical field and the home rehabilitation field. They are specially designed for the elderly whose lower limb function deteriorates due to aging, and for people with temporary or long-term lower limb dysfunction due to illness or accidents.

[0003] People with lower limb dysfunction need to stay in bed or sit for a long time. Patients who stay in bed or sit for a long time are prone to weakened lower limb muscle strength, lack of activity leading to joint stiffness, and poor blood circulation causing venous thrombosis. To avoid the above problems, technical personnel in this field combine a lower limb training mechanism with a bed to form a multifunctional lower limb care bed. However, existing multifunctional lower limb care beds simply install a lower limb training mechanism on the bed, and simply fix the patient's legs on the lower limb training mechanism for lower limb rehabilitation training. The rehabilitation axis of the lower limb training mechanism is inconsistent with the natural rotation axis of the patient's legs, which can easily cause compulsory rehabilitation injuries to the patient. Summary of the invention

[0004] The purpose of the present invention is to overcome the defect that the nursing bed combined with lower limb rehabilitation training in the prior art cannot make targeted adaptive adjustments to the rotation axis of rehabilitation training for the patient's legs according to different patient postures, and to provide a multifunctional nursing bed with the function of adjusting the lower limb rehabilitation axis that can be adaptively adjusted according to the patient's leg movements and a method of use.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] As a first aspect, a multifunctional nursing bed with a function of adjusting the axis of lower limb rehabilitation is characterized in that it comprises a bed frame, a bed board mounted on the bed frame, a receiving cavity provided on the bed board, and a lower limb rehabilitation mechanical leg symmetrically mounted on the bed board through an axis adjustment mechanism; the lower limb rehabilitation mechanical leg is arranged in the receiving cavity;

[0007] The axis adjustment mechanism comprises an axis adjustment cylinder installed on the lower end surface of the bed plate and a triangular shaped adjustment plate coaxially arranged with the output shaft of the axis adjustment cylinder; the three vertices of the triangular shaped adjustment plate are rotatably connected to the output end of the axis adjustment cylinder, the inner connection point of the bed frame and the hip joint position connection point of the lower limb rehabilitation mechanical leg respectively;

[0008] The axis adjustment cylinder is extended and retracted to drive the connection point of the lower limb rehabilitation mechanical leg to move in an arc along the connection point of the bed frame, thereby adjusting the position and height of the rehabilitation axis of the lower limb rehabilitation mechanical leg relative to the bed board.

[0009] Furthermore, the triangular shaped adjustment plate is an equilateral triangular plate, and the position and height change formula of the rehabilitation axis of the lower limb rehabilitation mechanical leg relative to the bed board is:

[0010]

[0011] Wherein, θ is the change angle of the triangular shaped adjustment plate rising or falling, Lx is the position change of the lower limb rehabilitation mechanical leg toward the end of the bed, Ly is the height change of the lower limb rehabilitation mechanical leg relative to the bed board; Lc is the side length of the triangular shaped adjustment plate;

[0012] The calculation formula for the change angle of the rise or fall of the triangular shaped adjustment plate is:

[0013]

[0014] Wherein, La is the length of the shaft adjustment cylinder, Lb is the length from the fixed end of the shaft adjustment cylinder to the fixed end of the triangular shaped adjustment plate, Lc is the side length of the triangular shaped adjustment plate 42, and Lr is the elongation of the shaft adjustment cylinder.

[0015] Furthermore, the lower limb rehabilitation mechanical leg comprises a hip joint training mechanism, a thigh training mechanism, a knee joint training mechanism, a calf training mechanism, an ankle joint training mechanism and a foot pedal which are rotatably connected in sequence;

[0016] The hip joint training mechanism includes a hip joint motor, and the hip joint position connection point of the lower limb rehabilitation mechanical leg is on the output axis of the hip joint motor;

[0017] The thigh training mechanism comprises a thigh plate coaxially arranged with the output shaft of the hip joint motor, a thigh adjustment component installed on the thigh plate, and a thigh topology mechanism installed on the inner side of the thigh plate;

[0018] The calf training mechanism comprises a calf plate rotatably connected to the knee joint training mechanism, a calf adjustment component installed on the calf plate, and a calf topology mechanism installed on the inner side of the calf plate.

[0019] Furthermore, the thigh topology mechanism comprises:

[0020] Two thigh topology plates arranged at opposite intervals on the inner side of the thigh plate;

[0021] The thigh manual screw is installed on a thigh topology board

[0022] A thigh nut slider is installed in cooperation with the thigh manual screw rod;

[0023] A thigh topology slide is arranged in parallel on the thigh topology plate, and the extension direction of the thigh topology slide is consistent with the moving direction of the thigh nut slider;

[0024] A thigh topology slide bar is slidably matched with the thigh topology slide groove and is fixedly installed with the thigh nut slider;

[0025] The thigh scissor-type opening and closing connecting rod is rotatably arranged between the two thigh topological plates, and one end of the thigh scissor-type opening and closing connecting rod is rotatably connected to the two thigh topological sliding rods respectively; by changing the distance Ld between the two ends of the thigh scissor-type opening and closing connecting rod, the spacing Dd between the two thigh topological plates is adjusted.

[0026] Furthermore, the calf topology mechanism comprises:

[0027] Two calf topology plates are arranged at opposite intervals on the inner side of the calf plate;

[0028] The calf manual screw is installed on a thigh topology board

[0029] A shank nut slider, mounted in cooperation with the shank manual screw rod;

[0030] A calf topology slide is arranged in parallel on the calf topology plate, and an extension direction of the calf topology slide is consistent with a moving direction of the calf nut slider;

[0031] A calf topology slide bar is slidably matched with the calf topology slide groove and is fixedly mounted with the calf nut slider;

[0032] The calf scissor-type opening and closing link is rotatably arranged between the two calf topology plates, and one end of the calf scissor-type opening and closing link is rotatably connected to the two calf topology sliding bars respectively; by changing the distance Lx between the two ends of the calf scissor-type opening and closing link, the spacing Dx between the two calf topology plates is adjusted.

[0033] Further, the thigh adjustment component comprises:

[0034] A thigh locking unit, fixedly mounted on the thigh plate;

[0035] At least one thigh adjustment shaft, one end of which is fixedly arranged on the knee joint training mechanism and the other end of which is inserted into the adjustment hole in the thigh locking unit;

[0036] A thigh adjustment slide, fixedly arranged on the thigh adjustment shaft;

[0037] The thigh adjustment slide groove is arranged on the thigh plate and cooperates with the thigh adjustment slide platform in a one-to-one correspondence.

[0038] Further, the calf adjustment assembly includes:

[0039] A calf locking unit, fixedly mounted on the calf plate;

[0040] At least one calf adjustment shaft, one end of which is fixedly arranged on the ankle joint training mechanism and the other end of which is inserted into the adjustment hole in the calf locking unit;

[0041] A calf adjustment slide, fixedly arranged on the calf adjustment shaft;

[0042] The calf adjustment sliding groove is arranged on the calf plate and cooperates with the calf adjustment sliding platform in a one-to-one correspondence.

[0043] Furthermore, it also includes a standing mechanism installed between the bed frame and the bed board; the standing mechanism includes: a standing motor installed on the bed frame, a first standing link connected to the output shaft of the standing motor through a gearbox, and a second standing link rotatably connected to the first standing link;

[0044] One end of the second standing link away from the first standing link is rotatably connected to the lower end surface of the bed board; the standing motor is started to drive the bed board to change between a standing posture and a lying posture through the transmission cooperation of the first standing link and the second standing link.

[0045] Further, the bed board includes a lower bed board and an upper bed board hinged to the lower bed board, and the lower limb rehabilitation mechanical leg is rotatably mounted on the lower bed board;

[0046] The nursing bed also includes a back lifting mechanism, which includes a back lifting mounting seat rotatably mounted on the lower bed board, a back lifting push rod mounted on the back lifting mounting seat, and a back lifting connecting plate rotatably connected to the telescopic end of the back lifting push rod; the back lifting connecting plate is fixedly arranged on the upper bed board.

[0047] As a second aspect, a method for using a multifunctional nursing bed having a function of adjusting a lower limb rehabilitation axis includes the following steps:

[0048] S1. Nursing bed posture switching, that is, the nursing bed lying posture mode, semi-lying posture mode, sitting posture mode and standing posture mode selection switch;

[0049] S2. Adjust the length of the lower limb rehabilitation mechanical leg, that is, adjust the length of the thigh training mechanism and the calf training mechanism according to the patient's leg length;

[0050] S3. Clamping the patient's legs, ie, manually adjusting the thigh topology mechanism and / or the calf topology mechanism, and clamping the patient's legs using the corresponding topology plate;

[0051] S4. Performing an axis adjustment operation on the lower limb rehabilitation mechanical leg, that is, starting the axis adjustment mechanism according to the posture mode of the nursing bed, adjusting the height of the lower limb rehabilitation mechanical leg relative to the bed board, so as to adjust the rehabilitation axis of the lower limb rehabilitation mechanical leg to coincide with the natural rotation axis of the patient's leg;

[0052] S5. Rehabilitation training, i.e. starting the lower limb rehabilitation mechanical leg and performing rehabilitation training on the patient's legs in a corresponding posture;

[0053] S6. After the rehabilitation is completed, the nursing bed is reset and waits for the next rehabilitation training operation.

[0054] Specifically, the resetting of the nursing bed in step S6 specifically includes the following steps:

[0055] S601. Perform leveling and resetting of the lower limb rehabilitation mechanical leg;

[0056] S602. Reset the posture of the rehabilitation bed to a lying posture;

[0057] S603: Start the thigh topology mechanism and the calf topology mechanism to shorten the distance between their two ends until there is no clamping force on the patient's legs.

[0058] The beneficial effects of the multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation and the use method of the present invention are:

[0059] The present invention connects and installs the lower limb rehabilitation mechanical leg and the bed board through an axis adjustment mechanism. The axis adjustment mechanism drives the triangular special-shaped adjustment plate to rotate around the inner connection point between it and the bed frame through a power source of an axis adjustment cylinder, and lifts or lowers the lower limb rehabilitation mechanical leg installed at the other vertex of the triangular special-shaped adjustment plate, so that the rehabilitation axis of the lower limb rehabilitation mechanical leg coincides with the natural rotation axis of the patient's hip joint, avoiding the problem of compulsory training injury or bad training experience caused to the patient due to the inconsistency between the rehabilitation axis of the mechanical leg and the natural rotation axis of the patient's leg in the prior art. The axis adjustment mechanism of the present invention has a structure with a uniquely determined motion, which ensures the stability of the axis adjustment process and rehabilitation training while achieving axis adjustment, and has a simple structure and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0061] Figure 1 It is a first-view stereoscopic diagram of the multifunctional lower limb care bed in an embodiment of the present invention.

[0062] Figure 2 It is a second perspective stereoscopic image of the multifunctional lower limb care bed in an embodiment of the present invention.

[0063] Figure 3 It is a partial structural schematic diagram of a multifunctional lower limb nursing bed according to an embodiment of the present invention.

[0064] Figure 4 It is a schematic diagram of the installation of the lower limb rehabilitation mechanical leg and the bed board according to an embodiment of the present invention.

[0065] Figure 5 It is a simplified diagram of the shaft adjustment mechanism driving according to an embodiment of the present invention.

[0066] Figure 6 4 is a schematic diagram of the structure of a lower limb rehabilitation mechanical leg from a first perspective according to an embodiment of the present invention.

[0067] Figure 7 2 is a schematic diagram of the structure of the lower limb rehabilitation mechanical leg according to an embodiment of the present invention from a second viewing angle.

[0068] Figure 8 The present invention is a flowchart of a method for using the multifunctional lower limb nursing bed according to an embodiment of the present invention.

[0069] In the figure: 1. bed frame, 2. bed board, 21. upper bed board, 22. lower bed board, 3. accommodating chamber, 4. axis adjustment mechanism, 41. axis adjustment cylinder, 42. triangular special-shaped adjustment plate, 5. lower limb rehabilitation mechanical leg, 51. hip joint training mechanism, 511. hip joint motor, 53. thigh training mechanism, 531. thigh board, 532. thigh adjustment component, 5321. thigh locking unit, 5322. thigh adjustment shaft, 5323. thigh adjustment slide, 533. thigh topology mechanism, 5331. thigh topology board, 5332. thigh manual screw rod, 5333. thigh nut slider, 5334. thigh topology slide, 5335. thigh topology slide rod, 5336. thigh scissor-type opening and closing connecting rod, 54. calf training mechanism, 541. calf board , 542, calf adjustment assembly, 5421, calf locking unit, 5422, calf adjustment shaft, 5423, calf adjustment slide, 5424, calf adjustment slide, 543, calf topology mechanism, 5431, calf topology plate, 5432, calf manual screw, 5433, calf nut slider, 5434, calf topology slide, 5435, calf topology slide, 5436, calf scissor-type opening and closing connecting rod, 55, ankle joint training mechanism, 56, foot pedal, 57, knee joint training mechanism, 571, knee joint motor, 6, standing mechanism, 61, standing motor, 62, gearbox, 63, first standing connecting rod, 64, second standing connecting rod, 7, back lifting mechanism, 71, back lifting mounting seat, 72, back lifting push rod, 73, back lifting connecting plate. DETAILED DESCRIPTION

[0070] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0071] like Figure 1-Figure 7 The specific embodiment of a multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation of the present invention shown in the figure comprises a bed frame 1, a bed board 2 mounted on the bed frame 1, a receiving cavity 3 provided on the bed board 2, and a lower limb rehabilitation mechanical leg 5 symmetrically mounted on the bed board 2 through an axis adjustment mechanism 4; the lower limb rehabilitation mechanical leg 5 is arranged in the receiving cavity 3. The axis adjustment mechanism 4 comprises an axis adjustment cylinder 41 mounted on the lower end surface of the bed board 2 and a triangular shaped adjustment plate 42 coaxially arranged with the output shaft of the axis adjustment cylinder 41; the three vertices of the triangular shaped adjustment plate 42 are rotatably connected with the output end of the axis adjustment cylinder 41, the inner side connection point of the bed frame 1, and the hip joint position connection point of the lower limb rehabilitation mechanical leg 5 respectively. The axis adjustment cylinder 41 is extended and retracted to drive the connection point of the lower limb rehabilitation mechanical leg 5 to move in an arc along the connection point of the bed frame 1, so as to adjust the position and height of the rehabilitation axis of the lower limb rehabilitation mechanical leg 5 relative to the bed board 2. The bed frame 1 in this embodiment is the foundation for supporting the entire nursing bed. The whole is a fixed frame composed of multiple steel pipes and steel rods with a welded structure. It can be adaptively modified according to actual needs. The bed frame 1 will not be elaborated on in detail here.

[0072] In this embodiment, the lower limb rehabilitation mechanical leg 5 is connected and installed with the bed board 2 through an axis adjustment mechanism 4. The axis adjustment mechanism 4 drives the triangular special-shaped adjustment plate 42 to rotate around its inner connection point with the bed frame 1 through a power source of an axis adjustment cylinder 41, and lifts or lowers the lower limb rehabilitation mechanical leg 5 installed at the other vertex of the triangular special-shaped adjustment plate, so that the rehabilitation axis of the lower limb rehabilitation mechanical leg 5, that is, the hip joint rotation axis, coincides with the patient's natural hip joint rotation axis. The axis adjustment mechanism 4 has a structure with a unique determined motion, which ensures the stability of the axis adjustment process and rehabilitation training while achieving axis adjustment, and has a simple structure and low cost.

[0073] The schematic diagram of the drive of the adjustment mechanism and the lower limb rehabilitation mechanical leg 5 of the present invention is shown in FIG. Figure 5As shown, the output end of the axis adjustment cylinder 41 is connected to the hinge point A of the triangular shaped adjustment plate 42, and the axis adjustment cylinder 41 pulls the triangular shaped adjustment plate 42 to rotate around the hinge point B, and the intersection point C makes an arc motion during this rotation. At this time, the rotation of the triangular shaped adjustment plate 42 drives the lower limb rehabilitation mechanical leg 5 to be lifted to a suitable height to adjust the central axis of the hip joint motor 511 of the lower limb rehabilitation mechanical leg 5 to a position that coincides with the rotation axis of the patient's hip joint. According to the calculation formula of the degree of freedom DOF, it can be calculated that the adjustment mechanism has only a unique and determined movement. It can effectively make adaptive adjustments to the rehabilitation axis of the lower limb rehabilitation mechanical leg 5, so as to be suitable for rehabilitation training of different patients and different postures. This axis adjustment mechanism 4 has a simple structure and low cost, and the interchangeability of each component is also relatively high.

[0074] The calculation formula of the degree of freedom DOF in this embodiment is:

[0075]

[0076] Where n is the total number of active components in the system, m is the number of common constraints in the system, i is the number of constraints of the i-level kinematic pair, and p is i is the number of kinematic pairs of level i.

[0077] In this embodiment, the triangular shaped adjustment plate 42 is an equilateral triangular plate, and the calculation formula of the rising (falling) angle of the triangular shaped adjustment plate 42 in the shaft adjustment mechanism 4 is:

[0078]

[0079] Wherein, La is the length of the shaft adjusting cylinder 41, Lb is the length from the fixed end of the shaft adjusting cylinder 41 to the fixed end of the triangular shaped adjusting plate 42, Lc is the side length of the triangular shaped adjusting plate 42, and Lr is the elongation of the shaft adjusting cylinder 41.

[0080] The corresponding position change formula of the lower limb rehabilitation mechanical leg 5 is:

[0081]

[0082] Wherein, θ is the change angle of the triangular shaped adjustment plate 42, Lx is the position change of the lower limb rehabilitation mechanical leg 5 toward the end of the bed, and Ly is the height change of the lower limb rehabilitation mechanical leg 5 relative to the bed board 2.

[0083] like Figure 2As shown, the nursing bed in this embodiment also includes a standing mechanism 6 installed between the bed frame 1 and the bed board 2; the standing mechanism 6 includes a standing motor 61 installed on the bed frame 1, a first standing link 63 that is arranged to be driven by the output shaft of the standing motor 61 through a gearbox 62, and a second standing link 64 that is rotatably connected to the first standing link 63. One end of the second standing link 64 that is away from the first standing link 63 is rotatably connected to the lower end surface of the bed board 2; the standing motor 61 is started, and the bed board 2 is driven to change between the standing posture and the lying posture through the transmission cooperation of the first standing link 63 and the second standing link 64. In this embodiment, the flip angle of the standing mechanism 6 is between 0° and 75°.

[0084] like Figure 3 As shown, the bed board 2 in this embodiment includes a lower bed board 22 and an upper bed board 21 hinged to the lower bed board 22, the lower limb rehabilitation mechanical leg 5 is rotatably mounted on the lower bed board 22, and the nursing bed also includes a back lifting mechanism 7, which includes a back lifting mounting seat 71 rotatably mounted on the lower bed board 22, a back lifting push rod 72 mounted on the back lifting mounting seat 71, and a back lifting connecting plate 73 rotatably connected to the telescopic end of the back lifting push rod 72; the back lifting connecting plate 73 is fixedly arranged on the upper bed board 21, and the flip angle of the upper bed board 21 in this embodiment is between 0° and 75°. One end of the back lifting push rod 72 is connected to the lower bed board 22 by a rotating pair so as not to interfere with the standing mechanism 6, which has the advantages of a small number of components, a simple structure, a low cost, and easy replacement of accessories.

[0085] The setting of the back-lifting mechanism 7 and the standing mechanism 6 can help the patient to switch between lying, sitting and standing positions on the nursing bed. The setting of the lower limb rehabilitation mechanical leg 5 can perform lower limb rehabilitation for the patient. At the same time, the lower limb rehabilitation mechanical leg 5 of the present invention is installed on the bed board 2 through a specially designed axis adjustment mechanism 4. When the patient is in different positions, the axis adjustment mechanism 4 can adjust the rehabilitation axis of the lower limb rehabilitation mechanical leg 5, thereby ensuring that the patient can receive rehabilitation training without secondary injuries regardless of whether the patient is in a lying position, a semi-lying position or a sitting position. Of course, the rehabilitation axis of the lower limb rehabilitation mechanical leg 5 can also be adaptively adjusted to correspond to the natural rotation axis of the patient according to the body shape of different patients, ensuring that the lower limb rehabilitation mechanical leg 5 will not cause compulsory training injuries to the patient while increasing the scope of application.

[0086] Reference Figures 3 to 7 The lower limb rehabilitation mechanical leg 5 in this embodiment includes a hip joint training mechanism 51, a thigh training mechanism 53, a knee joint training mechanism 57, a calf training mechanism 54, an ankle joint training mechanism 55 and a foot pedal 56 which are rotatably connected in sequence.

[0087] The hip joint training mechanism 51 includes a hip joint motor 511, and the hip joint position connection point of the lower limb rehabilitation mechanical leg 5 is on the output axis of the hip joint motor 511. The thigh training mechanism 53 includes a thigh plate 531 coaxially arranged with the output shaft of the hip joint motor 511, a thigh adjustment component 532 installed on the thigh plate 531, and a thigh topology mechanism 533 installed on the inner side of the thigh plate 531. The knee joint training mechanism 57 includes a knee joint motor installed at the end of the thigh adjustment component 532, and the calf training mechanism 54 includes a calf plate 541 rotatably connected to the knee joint training mechanism 57, a calf adjustment component 542 installed on the calf plate 541, and a calf topology mechanism 543 installed on the inner side of the calf plate 541, wherein the calf plate 541 is coaxially arranged with the output shaft of the knee joint motor, and the rotation of the knee joint motor drives the calf plate 541 to move, so as to realize the flexion / extension movement of the patient's knee joint.

[0088] The ankle joint training mechanism 55 includes an ankle joint motor installed at the end of the calf adjustment component 542. The foot pedal 56 is coaxially arranged with the output shaft of the ankle joint motor. The foot pedal 56 rotates with the rotation of the ankle joint to achieve flexion / extension movement of the patient's ankle joint.

[0089] In order to better integrate the lower limb rehabilitation mechanical leg 5 on the bed body, a receiving cavity 3 is provided on the bed board 2. Instead of setting two additional leg boards for placing the patient's legs, a thigh topology mechanism 533 and a calf topology mechanism 543 are provided instead, and the foot pedal 56 is rotated to cover the bottom of the calf topology mechanism. Specifically, in this embodiment, the thigh topology mechanism 533 includes: two thigh topology plates 5331 relatively spaced apart on the inner side of the thigh plate 531, a thigh manual screw rod 5332, a thigh nut slider 5333, a thigh topology slide 5334, a thigh topology slide rod 5335, and a thigh scissor-type opening and closing connecting rod 5336. Among them, the thigh manual screw rod 5332 is installed on a thigh topology plate 5331, the leg nut slider is installed in conjunction with the thigh manual screw rod 5332, the thigh topology slide 5334 is arranged in parallel on the thigh topology plate 5331, and the extension direction of the thigh topology slide 5334 is consistent with the moving direction of the thigh nut slider 5333. The thigh topology slide bar 5335 is slidably matched with the thigh topology slide groove 5334 and fixedly installed with the thigh nut slider 5333. The thigh scissor-type opening and closing link 5336 is rotatably arranged between the two thigh topology plates 5331, and one end of the thigh scissor-type opening and closing link 5336 is rotatably connected with the two thigh topology slide bars 5335 respectively; by changing the distance Ld between the two ends of the thigh scissor-type opening and closing link 5336, the spacing Dd between the two thigh topology plates is adjusted.

[0090] In this embodiment, the distance Ld between the two ends of the thigh scissor-type opening and closing connecting rod 5336 is calculated as follows:

[0091]

[0092] Le1 is the shortest distance between the thigh topology plate 5331 and the lower limb rehabilitation mechanical leg 5, Lg1 is the length of the thigh scissor-type opening and closing link 5336, Lf1 is the longest distance of the thigh scissor-type opening and closing link 5336 in the direction of the lower limb rehabilitation mechanical leg 5, and Lh1 is the lead of the thigh manual screw 5332.

[0093] Furthermore, the calculation formula of the distance Dd between the two topological plates 5331 of the thigh is:

[0094] D d =L i -(L d1 +L d2 );

[0095] Wherein, Li is the distance between the two mechanical legs 5, Ld1 and Ld2 are the distances between the two ends of the thigh scissor-type opening and closing connecting rods 5336 on both sides.

[0096] like Figure 7 As shown, the calf topology mechanism 543 in this embodiment includes two calf topology plates 5431 relatively spaced apart on the inner side of the calf plate 541, a calf manual screw rod 5432 installed on one calf topology plate 5431, a calf nut slider 5433 installed in cooperation with the calf manual screw rod 5432, a calf topology slide 5434, a calf topology slide rod 5435, and a calf scissor-type opening and closing connecting rod 5436; wherein, the calf topology slide 5434 is arranged in parallel on the calf topology plate 5431, and the extension direction of the calf topology slide 5434 is consistent with the moving direction of the calf nut slider 5433. The calf topology slide rod 5435 is slidably matched with the calf topology slide 5434, and is fixedly installed with the calf nut slider 5433. The calf scissor-type opening and closing link 5436 is rotatably set between the two calf topology plates 5431, and one end of the calf scissor-type opening and closing link 5436 is rotatably connected to the two calf topology sliding bars 5435 respectively. By changing the distance Lx between the two ends of the calf scissor-type opening and closing link 5436, the spacing Dx between the two calf topology plates is adjusted.

[0097] In this embodiment, the calculation formula of the distance Lx between the two ends of the calf scissor-type opening and closing connecting rod 5436 is:

[0098]

[0099] Among them, Le2 is the shortest distance between the calf topology plate 5431 and the lower limb rehabilitation mechanical leg 5, Lg2 is the length of the calf scissor-type opening and closing link 5436, Lf2 is the longest distance of the calf scissor-type opening and closing link 5436 in the direction of the lower limb rehabilitation mechanical leg 5, and Lh2 is the lead of the calf manual screw 5432.

[0100] Furthermore, the calculation formula of the distance Dx between the two topological plates 5431 of the calf is:

[0101] D x =L i -(L x1 +L x2 );

[0102] Wherein, Li is the distance between the two mechanical legs 5, and Lx1 and Lx2 are the distances between the two ends of the scissor-type opening and closing connecting rods 5436 on both sides of the lower legs.

[0103] The manually adjustable thigh topology mechanism 533 and calf topology mechanism 543 are designed to support the patient's body from below when the patient is not using the lower limb rehabilitation mechanical leg 5, that is, when the patient is resting. The thigh topology mechanism 533 and the calf topology mechanism 543 are both in a retracted state, so that the two thigh topology plates 5331 and the two calf topology plates 5431 do not clamp the patient's legs. When lower limb rehabilitation training is required, the thigh manual screw rod 5332 and / or the calf manual screw rod 5432 are manually rotated to adjust the distance Dd between the two thigh topology plates and / or the distance Dx between the two calf topology plates. By adjusting the opening and closing of the scissor-type opening and closing links, when in the expanded state, the two thigh topology plates 5331 and the two calf topology plates 5431 both clamp the patient's legs, and together with other structures of the lower limb rehabilitation mechanical leg 5, they play a role in rehabilitation treatment for the patient.

[0104] like Figure 6 As shown, the thigh adjustment assembly 532 in this embodiment includes: a thigh locking unit 5321 fixedly mounted on the thigh plate 531, at least one thigh adjustment shaft 5322, a thigh adjustment slide 5323, and a thigh adjustment slot. There are two thigh adjustment shafts 5322 in this embodiment, one end of the thigh adjustment shaft 5322 is fixedly mounted on the knee joint training mechanism 57, and the other end is inserted into the adjustment hole in the thigh locking unit 5321. The thigh adjustment slide 5323 is fixedly mounted on the thigh adjustment shaft 5322. The thigh adjustment slot is provided on the thigh plate 531, and corresponds to the thigh adjustment slide 5323 one by one.

[0105] The structure of the calf adjustment component 542 in this embodiment is the same as that of the thigh adjustment component 532. The calf adjustment component 542 includes: a calf locking unit 5421, at least one calf adjustment shaft 5422, a calf adjustment slide 5423, and a calf adjustment slot; the calf locking unit 5421 is fixedly mounted on the calf plate 541, at least one calf adjustment shaft 5422 is fixedly mounted on the ankle joint training mechanism 55 at one end, and the other end is inserted into the adjustment hole in the calf locking unit 5421, the calf adjustment slide 5423 is fixedly mounted on the calf adjustment shaft 5422, and the calf adjustment slot is provided on the calf plate 541, and corresponds one-to-one with the calf adjustment slide 5423.

[0106] Leg length adjustment devices in the prior art mostly use threaded connections or push rods to drive directly, which are not strong enough and are easily deformed due to radial force, affecting the normal operation of the rehabilitation mechanical leg. The thigh adjustment component 532 and the calf adjustment component 542 in this embodiment both use two parallel adjustment shafts. When the length of the thigh and calf parts need to be adjusted, it is only necessary to adjust the position of the adjustment shaft relative to the corresponding insertion locking unit, and fix it with the latch lock on the insertion unit. The structure is simple and the rigidity is relatively large. It should be understood that the locking unit used in this embodiment is a structure that can be purchased on the market, and its specific structure will not be described in detail here.

[0107] like Figure 8 As shown, the method for using the multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation comprises the following steps:

[0108] S1. Rest mode or recovery mode selection;

[0109] S2. Nursing bed posture switching, the nursing bed posture includes lying posture mode, semi-lying posture mode, sitting posture mode and standing posture mode;

[0110] Specifically, when the lying posture is changed to the standing posture, the standing motor 61 is started to drive the first standing link 63 and the second standing link 64 to change the nursing bed to the standing posture. When the lying posture is changed to the semi-lying posture or the sitting posture, the back lifting push rod 72 is started to control the telescopic length of the back lifting push rod 72 to achieve the change of the semi-lying posture or the sitting posture.

[0111] S3. If the mode is rehabilitation, the length of the lower limb rehabilitation mechanical leg 5 is adjusted, that is, the length of the thigh training mechanism 53 and the calf training mechanism 54 is adjusted according to the length of the patient's leg;

[0112] S4. Clamping the patient's legs, ie, manually adjusting the thigh topology mechanism 533 and / or the calf topology mechanism 543, and clamping the patient's legs using the corresponding topology plate;

[0113] It should be noted that when the multifunctional nursing bed in this embodiment is in lying posture mode, semi-lying posture mode and standing posture mode, and the patient needs rehabilitation training, the thigh topology mechanism 533 and the calf topology mechanism 543 are first operated to be in a closed state to clamp the patient's legs.

[0114] When the multifunctional nursing bed is in the sitting posture mode and rehabilitation training is required for the patient, the thigh topology mechanism 533 is operated to be in the open state and the calf topology mechanism 543 is operated to be in the closed state.

[0115] S5. The lower limb rehabilitation mechanical leg 5 is adjusted, that is, according to the posture mode of the nursing bed, the axis adjustment mechanism 4 is started to adjust the height of the lower limb rehabilitation mechanical leg 5 relative to the bed board 2, so as to adjust the rehabilitation axis of the lower limb rehabilitation mechanical leg 5 to coincide with the natural rotation axis of the patient's leg;

[0116] S6. Rehabilitation training, i.e. starting the lower limb rehabilitation mechanical leg 5 to perform rehabilitation training on the patient's legs in a corresponding posture;

[0117] S7. After the rehabilitation is completed, the nursing bed is reset and waits for the next rehabilitation training operation. The nursing bed reset in step S7 specifically includes the following steps:

[0118] S701. Perform leveling and resetting of the lower limb rehabilitation mechanical leg 5;

[0119] S702. Reset the posture of the rehabilitation bed to a lying posture;

[0120] S703: Start the thigh topology mechanism 533 and the calf topology mechanism 543 to shorten the distance between their respective ends until there is no clamping force on the patient's legs.

[0121] The method of using the multifunctional nursing bed with the function of adjusting the lower limb rehabilitation axis of this embodiment can ensure in real time that the rehabilitation axis of the lower limb rehabilitation mechanical leg is consistent with the natural rotation axis of the lower limbs of different patients or the same patient in different nursing bed positions, thereby avoiding the forced training injuries to the patient caused by the inconsistency between the rehabilitation axis of the mechanical leg and the natural rotation axis of the patient's leg in the prior art.

[0122] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation, characterized in that: The invention comprises a bed frame (1), a bed board (2) mounted on the bed frame (1), a receiving cavity (3) provided on the bed board (2), and a lower limb rehabilitation mechanical leg (5) symmetrically mounted on the bed board (2) via an axis adjustment mechanism (4); the lower limb rehabilitation mechanical leg (5) is arranged in the receiving cavity (3); The axis adjustment mechanism (4) comprises an axis adjustment cylinder (41) mounted on the lower end surface of the bed plate (2) and a triangular shaped adjustment plate (42) coaxially arranged with the output axis of the axis adjustment cylinder (41); three vertices of the triangular shaped adjustment plate (42) are rotatably connected to the output end of the axis adjustment cylinder (41), the inner side connection point of the bed frame (1) and the hip joint position connection point of the lower limb rehabilitation mechanical leg (5); The axis adjustment cylinder (41) is extended and retracted to drive the connection point of the lower limb rehabilitation mechanical leg (5) to move in an arc along the connection point of the bed frame (1), thereby adjusting the position and height of the rehabilitation axis of the lower limb rehabilitation mechanical leg (5) relative to the bed board (2).

2. The multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation according to claim 1, characterized in that: The triangular special-shaped adjustment plate (42) is an equilateral triangular plate, and the position and height change formula of the rehabilitation axis of the lower limb rehabilitation mechanical leg (5) relative to the bed board (2) is: In the formula, θ is the change angle of the triangular shaped adjustment plate (42) when it rises or falls, Lx is the position change of the lower limb rehabilitation mechanical leg (5) toward the end of the bed, Ly is the height change of the lower limb rehabilitation mechanical leg (5) relative to the bed board (2); Lc is the side length of the triangular shaped adjustment plate (42); The calculation formula for the change angle of the rise or fall of the triangular shaped adjustment plate (42) is: In the formula, La is the length of the shaft adjustment cylinder (41), Lb is the length from the fixed end of the shaft adjustment cylinder (41) to the fixed end of the triangular shaped adjustment plate (42), Lc is the side length of the triangular shaped adjustment plate 42, and Lr is the elongation of the shaft adjustment cylinder (41).

3. The multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation according to claim 1, characterized in that: The lower limb rehabilitation mechanical leg (5) comprises a hip joint training mechanism (51), a thigh training mechanism (53), a knee joint training mechanism (57), a calf training mechanism (54), an ankle joint training mechanism (55) and a foot pedal (56) which are rotatably connected in sequence; The hip joint training mechanism (51) comprises a hip joint motor (521), and the hip joint position connection point of the lower limb rehabilitation mechanical leg (5) is on the output axis of the hip joint motor (521); The thigh training mechanism (53) comprises a thigh plate (531) coaxially arranged with the output shaft of the hip joint motor (521), a thigh adjustment component (532) installed on the thigh plate (531), and a thigh topology mechanism (533) installed on the inner side of the thigh plate (531); The calf training mechanism (54) comprises a calf plate (541) rotatably connected to the knee joint training mechanism (57), a calf adjustment component (542) mounted on the calf plate (541), and a calf topology mechanism (543) mounted on the inner side of the calf plate (541).

4. The multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation according to claim 1, characterized in that: The thigh topology mechanism (533) comprises: Two thigh topology plates (5331) are arranged at a relative interval on the inner side of the thigh plate (531); A thigh manual screw rod (5332) is installed on one of the thigh topology boards (5331); A thigh nut slider (5333) is installed in cooperation with the thigh manual screw rod (5332); A thigh topology slide groove (5334) is arranged in parallel on the thigh topology plate (5331), and the extension direction of the thigh topology slide groove (5334) is consistent with the moving direction of the thigh nut slider (5333); A thigh topology slide bar (5335) is slidably matched with the thigh topology slide groove (5334) and fixedly mounted with the thigh nut slider (5333); The thigh scissor-type opening and closing link (5336) is rotatably arranged between the two thigh topological plates (5331), and one end of the thigh scissor-type opening and closing link (5336) is rotatably connected to the two thigh topological sliding bars (5335) respectively; by changing the distance Ld between the two ends of the thigh scissor-type opening and closing link (5336), the spacing Dd between the two thigh topological plates is adjusted.

5. The multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation according to claim 1, characterized in that: The calf topology mechanism (543) comprises: Two calf topology plates (5431) are arranged relatively spaced apart on the inner side of the calf plate (541); The calf manual screw rod (5432) is installed on a thigh topology board (5331) A shank nut slider (5433) is installed in cooperation with the shank manual screw rod (5432); A calf topology slide groove (5434) is arranged in parallel on the calf topology plate (5431), and the extension direction of the calf topology slide groove (5434) is consistent with the moving direction of the calf nut slider (5433); A calf topology slide bar (5435) is slidably matched with the calf topology slide groove (5434) and fixedly mounted with the calf nut slider (5433); The calf scissor-type opening and closing link (5436) is rotatably arranged between the two calf topology plates (5431), and one end of the calf scissor-type opening and closing link (5436) is rotatably connected to the two calf topology sliding bars (5435) respectively; by changing the distance Lx between the two ends of the calf scissor-type opening and closing link (5436), the spacing Dx between the two calf topology plates is adjusted.

6. The multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation according to claim 1, characterized in that: The thigh adjustment assembly (532) includes: A thigh locking unit (5321) is fixedly mounted on the thigh plate (531); at least one thigh adjustment shaft (5322), one end of which is fixedly arranged on the knee joint training mechanism (57) and the other end of which is inserted into the adjustment hole in the thigh locking unit (5321); A thigh adjustment slide (5323) is fixedly arranged on the thigh adjustment shaft (5322); The thigh adjustment groove is provided on the thigh plate (531) and is matched with the thigh adjustment slide (5323) in a one-to-one correspondence.

7. The multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation according to claim 1, characterized in that: It also includes a standing mechanism (6) installed between the bed frame (1) and the bed board (2); the standing mechanism (6) includes: a standing motor (61) installed on the bed frame (1), a first standing link (63) which is arranged to be driven by the output shaft of the standing motor (61) through a gearbox (62), and a second standing link (64) which is rotationally connected to the first standing link (63); One end of the second standing link (64) away from the first standing link (63) is rotatably connected to the lower end surface of the bed board (2); the standing motor (61) is started, and the bed board (2) is driven to change between a standing posture and a lying posture through the transmission cooperation of the first standing link (63) and the second standing link (64).

8. The multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation according to claim 1, characterized in that: The bed board (2) comprises a lower bed board (22) and an upper bed board (21) hinged to the lower bed board (22), and the lower limb rehabilitation mechanical leg (5) is rotatably mounted on the lower bed board (22); The nursing bed also includes a back-lifting mechanism (7); the back-lifting mechanism (7) includes a back-lifting mounting seat (71) rotatably mounted on the lower bed board (22), a back-lifting push rod (72) mounted on the back-lifting mounting seat (71), and a back-lifting connecting plate (73) rotatably connected to the telescopic end of the back-lifting push rod (72); the back-lifting connecting plate (73) is fixedly arranged on the upper bed board (21).

9. The method for using the multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation according to claim 2, characterized in that: The following steps are involved: S1. Rest mode or recovery mode selection; S2. Nursing bed posture switching, that is, the nursing bed lying posture mode, semi-lying posture mode, sitting posture mode and standing posture mode selection switch; S3. If it is the rehabilitation mode, the length of the lower limb rehabilitation mechanical leg (5) is adjusted, that is, the length of the thigh training mechanism (53) and the calf training mechanism (54) is adjusted according to the length of the patient's leg; S4. Clamping the patient's legs, that is, manually adjusting the thigh topology mechanism (533) and / or the calf topology mechanism (543), and using the corresponding topology plate to clamp the patient's legs; S5. Performing an axis adjustment operation on the lower limb rehabilitation mechanical leg (5), that is, starting the axis adjustment mechanism (4) according to the posture mode of the nursing bed, adjusting the height of the lower limb rehabilitation mechanical leg (5) relative to the bed board (2), so as to adjust the rehabilitation axis of the lower limb rehabilitation mechanical leg (5) to coincide with the natural rotation axis of the patient's leg; S6. Rehabilitation training, i.e. starting the lower limb rehabilitation mechanical leg (5) to perform rehabilitation training on the patient's legs in a corresponding posture; S7. After the rehabilitation is completed, the nursing bed is reset and waits for the next rehabilitation training operation.

10. The method for using the multifunctional nursing bed with the function of adjusting the axis of lower limb rehabilitation according to claim 9, characterized in that: The nursing bed resetting in step S7 specifically includes the following steps: S701. Performing leveling and resetting of the lower limb rehabilitation mechanical leg (5); S702. Reset the posture of the rehabilitation bed to a lying posture; S703. Start the thigh topology mechanism (533) and the calf topology mechanism (543) to shorten the distance between their two ends until there is no clamping force on the patient's legs.

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