Rehabilitation nursing bed device and using method thereof

Abstract

The invention discloses a rehabilitation nursing bed device and a use method thereof. The invention relates to the technical field of medical instruments. The macro-motion adjusting mechanism 2 is formed by sequentially overlapping an X-axis linear assembly 201, a Z-axis linear assembly 202 and a Y-axis linear assembly 203; the micro-motion adjusting mechanism 3 is driven and adjusted by the spatial orientation of the macro-motion adjusting mechanism 2, and can adjust the traction protector 4 along a certain spatial orientation at a universal angle; the traction protector 4 is used for wrapping the injured limb of the patient and conducting vibration pressing operation on the injured limb. When the rehabilitation bed is used, a patient lies on the bed body 1, and limbs needing rehabilitation of the patient are sleeved with the traction protectors 4; by introducing the macro-motion adjusting mechanism and the micro-motion adjusting mechanism, free motion, including rotation, inclination, stretching and the like, of the device in multiple directions is achieved, and the flexibility of the device is greatly improved. The universal adjusting capability enables the device to more accurately simulate the motion trail of the limbs of the patient in a natural state.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, in particular to a fracture rehabilitation nursing device, and in particular to a rehabilitation nursing bed device and a use method thereof. Background Art

[0002] After fracture surgery, local blood circulation is affected, and the healing of the fracture ends requires adequate blood supply. Through systematic rehabilitation exercises, such as muscle contraction exercises, blood circulation can be promoted, blood supply to the fracture ends can be increased, and fracture healing is beneficial. In addition, due to long-term immobilization of the limbs, muscles will atrophy due to disuse, and joints will become stiff due to lack of activity. Frequent rehabilitation movements can stimulate muscle contraction, prevent muscle atrophy, and maintain joint flexibility.

[0003] Rehabilitation exercises after fracture surgery need to be conducted under the guidance of professionals. Due to the lack of professional medical knowledge and rehabilitation skills, it is difficult for patients to accurately grasp the essentials and strength of rehabilitation movements, which easily leads to non-standard and irregular movements. In addition, patients are often accompanied by severe pain and fear of activities. This psychological state will affect the accuracy and standardization of patients' movements, making it difficult for them to complete rehabilitation movements as required.

[0004] In order to solve the problem that patients' independent rehabilitation movements are prone to non-standard and irregular, a variety of rehabilitation equipment has appeared on the market. For example: (1) CN201551497U discloses an adjustable spinal rehabilitation frame (publication date: August 18, 2010), which changes the position of the fixing belt by moving the pulley set. The back spine of the rehabilitator is lifted up at the required angle by the pulling force of the traction machine, and the cervical spine is pulled at the required angle to rehabilitate the back and cervical spine of the rehabilitator. However, the rehabilitation action that this device can perform is a simple reciprocating motion, which cannot well help the rehabilitation part to implement the multi-angle freedom adjustment that it should be able to and should do; it is easy to lead to poor rehabilitation effect; (2) CN213346223U discloses a postoperative rehabilitation traction device for orthopedics (publication date: June 4, 2021), CN109381842A discloses a rehabilitation bed for leg surgery rehabilitation traction (publication date: February 26, 2019), and CN115814348A discloses an orthopedic postoperative activity rehabilitation support and method (publication date: March 21, 2023). These three prior arts all use a liftable traction mechanism to help patients fix the postoperative part, and at the same time have the function of traction rehabilitation. Compared with the previous prior arts, these three prior arts have added multiple movable spatial linear degrees of freedom, but in essence these multiple linear degrees of freedom are still limited to a large external machine frame, and move perpendicularly and independently of each other, and in essence they still perform simple reciprocating rehabilitation movements; In summary, the technical problems to be solved at present can be summarized as: how to improve the degrees of freedom of the mechanism operation of the rehabilitation device, no longer limited to the perpendicularity and coordination between multiple linear degrees of freedom, but to enable the rehabilitation device to perform universal orientation and universal angle adjustment along the specified direction and angle when pulling the patient's limbs, so as to simulate the movements that the patient's limbs "should" do as rehabilitation movements, thereby improving the rehabilitation effect.

[0005] That is, rehabilitation movements require patients to manipulate their limbs to do the movements they "should" do, that is, the movements that the limbs need to do in daily activities, which can stimulate the relevant muscles and joints and promote their recovery and regeneration; because this movement pattern is more in line with the physiological characteristics of the limbs, it can help restore the normal function of the limbs. By simulating the movements required for daily activities, rehabilitation movements can more effectively improve patients' muscle strength, joint flexibility and coordination.

[0006] In the above-mentioned prior art, simple linear reciprocating motion is often too simple and mechanical, and does not conform to the physiological characteristics of limbs in daily activities. This movement pattern easily leads to overuse or damage of muscles and joints, increasing the burden on patients. In addition, linear reciprocating motion often lacks functionality, that is, it cannot simulate the specific movements required by limbs in daily activities. Therefore, this movement pattern has limited effect on improving patients' muscle strength, joint flexibility and coordination.

[0007] To this end, a rehabilitation nursing bed device and a method of using the same are proposed. Summary of the invention

[0008] In view of this, the embodiment of the present invention hopes to provide a rehabilitation nursing bed device and a method of using the same to solve or alleviate the technical problems existing in the prior art, namely, how to improve the degrees of freedom of the mechanism operation of the rehabilitation device, no longer limited to the verticality and mutual coordination between multiple linear degrees of freedom, but to enable the rehabilitation device to perform universal azimuth and universal angle adjustment along the specified direction and angle when pulling the patient's limbs, so as to simulate the movements that the patient's limbs "should" do as rehabilitation movements, improve the rehabilitation effect, and at least provide a beneficial choice for this; the technical solution of the present invention is implemented as follows: In the first aspect, a rehabilitation nursing bed device: A rehabilitation nursing bed device is mainly composed of a bed body, a macro-adjustment mechanism, a micro-adjustment mechanism and a traction brace. Specifically, the macro-adjustment mechanism is formed by sequentially linking an X-axis linear component, a Z-axis linear component and a Y-axis linear component. They can move linearly along the X-axis, Z-axis and Y-axis directions respectively. The macro-adjustment mechanism is installed on the outside of the bed body, and through the instructions of the control system, the entire mechanism can be driven to perform macro-adjustment of the three-dimensional position in space.

[0009] The micro-adjustment mechanism is spatially driven and adjusted by the macro-adjustment mechanism, and it has the ability to adjust the angle in all directions. The micro-adjustment mechanism can adopt structures such as multi-degree-of-freedom mechanical arms or spherical joints, so that the traction brace can perform more precise universal angle adjustment on the basis of macro-adjustment. The traction brace is designed to cover the patient's injured limb, and is equipped with a vibration pressing device inside to perform vibration pressing operations on the patient's limb.

[0010] When in use, the patient lies on the bed and puts the limb that needs rehabilitation into the traction brace. The therapist or control system, based on the patient's specific situation and rehabilitation needs, uses the operation interface or program settings to make the macro-adjustment mechanism perform macro-adjustments according to the optimal rehabilitation position compared to the patient's body position. At the same time, the micro-adjustment mechanism performs micro-adjustments of the traction brace to simulate the movements that the patient's limbs "should" do as rehabilitation movements.

[0011] In one implementation, an X-axis linear component, a Z-axis linear component, and a Y-axis linear component are used to achieve macro-adjustment in three-dimensional space.

[0012] The X-axis linear assembly includes a first frame as the supporting structure of the entire assembly. The first frame is equipped with a first motor, which drives the first lead screw to rotate, thereby driving the first slide connected to the moving nut of the first lead screw to move along the X-axis direction. The first slide is connected to the Z-axis linear assembly to realize the motion transmission between the X-axis and the Z-axis.

[0013] The Z-axis linear assembly includes a second frame fixedly connected to the first slide, ensuring that the Z-axis linear assembly can move with the X-axis linear assembly. The second frame is equipped with a second motor, which drives the second lead screw to rotate, driving the second slide connected to the moving nut of the second lead screw to move along the Z-axis direction. The second slide is connected to the Y-axis linear assembly to realize the motion transmission between the Z-axis and the Y-axis.

[0014] The Y-axis linear assembly includes a third frame body fixedly connected to the second slide, ensuring that the Y-axis linear assembly can move with the X-axis and Z-axis linear assemblies. The third frame body is equipped with a first servo electric cylinder, and the piston rod of the electric cylinder is vertically equipped with a horizontal motor. The output shaft of the horizontal motor is connected to a connecting arm, which is further connected to the micro-adjustment mechanism. In this way, the Y-axis linear assembly can not only move in the Y-axis direction, but also can drive the micro-adjustment mechanism and the traction guard carried by the horizontal motor to adjust the angle on the horizontal plane.

[0015] In one embodiment, the micro-adjustment mechanism is a structure with high precision and universal angle adjustment capability. The micro-adjustment mechanism mainly includes a housing and a plurality of feed assemblies arranged in a circular array outside the housing. One end of each feed assembly is fixedly connected to the housing, and the other end is connected to the connecting table. The connecting table, as the output end of the micro-adjustment mechanism, is tightly connected to the traction guard. In this way, when the feed assemblies perform displacement actions, they will apply feeding actions to different positions of the connecting table, thereby driving the traction guard to perform universal angle adjustment. In order to achieve universal angle adjustment, each feed assembly needs to be executed separately according to the preset feed amount and time. This can be precisely controlled by the control system to ensure that the actions of each feed assembly are coordinated, thereby achieving arbitrary angle adjustment of the traction guard in three-dimensional space.

[0016] In one embodiment, the design of the micro-adjustment mechanism adopts at least three feed components, which together with the housing and the connecting platform form a closed motion chain. This design not only enhances the stability of the structure, but also realizes high-precision universal angle adjustment of the connecting platform (i.e., the connection point of the traction guard). Each feed component includes an adjustment motor, whose output shaft drives the first rocker arm to perform articulated motion. The motion of the first rocker arm is converted by the second rocker arm, and the two ends of the second rocker arm are universally hinged to the connecting platform and the first rocker arm through a spherical coupling. The design of this spherical coupling allows the second rocker arm to rotate freely in multiple directions, thereby realizing complex motion conversion.

[0017] When the adjustment motor is executed, it drives the first rocker arm to perform an articulated motion. This motion is converted into a feeding motion of the connection table through the second rocker arm. Since the feeding components are arranged in a circular array outside the housing and together with the housing and the connection table form a closed motion chain, when any one or more feeding components are executed according to the preset feeding amount and time, they can work together to achieve universal angle adjustment of the connection table.

[0018] In one embodiment, the traction brace includes a shell, in which a cyclically gradual elastic component is mounted. This component is connected to a vibration motor via a connecting block, so that the vibration force generated by the vibration motor can be transmitted to the cyclically gradual elastic component. The cyclically gradual elastic component is designed to be inserted into the outside of a patient's limb, thereby directly contacting the patient's skin or clothing. When the vibration motor is executed, the vibration force it generates is transmitted to one end of the cyclically gradual elastic component through the connecting block. Due to the special design of the cyclically gradual elastic component, the vibration force is transmitted to the periphery of the patient's limb along the component in a rotating form.

[0019] In one embodiment, in order to further improve the accuracy and stability of the adjustment, a special intermediate receiving mechanism is designed, which is placed between the micro-adjustment mechanism and the macro-adjustment mechanism. This design is intended to receive the spatial orientation drive adjustment generated by the macro-adjustment mechanism, while eliminating the error generated during the adjustment process, and transmit the precisely adjusted orientation information to the micro-adjustment mechanism.

[0020] In one embodiment, the intermediate receiving mechanism is designed as a structure of two disks, which are connected by a second servo electric cylinder mounted in a ring array. This design is intended to eliminate the error generated by the macro-adjustment mechanism when performing spatial orientation drive adjustment, and transmit the precisely adjusted orientation to the micro-adjustment mechanism.

[0021] The two discs are respectively fixed on the micro-adjustment mechanism (housing) and the macro-adjustment mechanism (connecting arm) to serve as supporting and connecting parts of the intermediate receiving mechanism.

[0022] The second servo electric cylinder is mounted between the two discs in a circular array, and their cylinders and piston rods are universally articulated with the discs through universal joint couplings. This design enables the second servo electric cylinder to freely extend and retract in multiple directions, providing flexibility for error compensation.

[0023] Every three second servo cylinders are arranged in an "И" shape. This arrangement not only ensures the stability of the structure, but also provides redundancy for error compensation. When one second servo cylinder reaches the limit travel point, the other two second servo cylinders can compensate for it.

[0024] In the second aspect, a method for using a rehabilitation nursing bed device: S1, put the patient's limb that needs rehabilitation into the corresponding traction brace: First, choose the corresponding traction brace according to the patient's specific rehabilitation needs.

[0025] Then, the patient's limbs that need rehabilitation (such as arms, legs, etc.) are put into the traction brace and fit tightly with the traction brace to facilitate subsequent precise adjustment and vibration stimulation.

[0026] S2, the macro-adjustment mechanism performs macro-adjustment according to the rehabilitation position relative to the patient's body position: Next, the macro-adjustment mechanism is activated to adjust the spatial position of the patient's limbs over a large range according to the preset rehabilitation position.

[0027] At the same time, the micro-adjustment mechanism performs micro-adjustment of the traction brace to simulate the rehabilitation movements that the patient's limbs should make. This micro-adjustment can ensure that the patient's limbs maintain the correct posture and angle during the rehabilitation process.

[0028] S3, universal angle adjustment and vibration stimulation, as well as error elimination and transmission: During the universal angle adjustment process, the vibration ribs inside the traction brace will reciprocate to apply vibration force to stimulate the patient's tissue cells and muscles. This vibration stimulation can help promote blood circulation, relieve muscle tension, and promote muscle recovery.

[0029] At the same time, the receiving mechanism receives the spatial orientation drive adjustment position transmitted by the macro-adjusting mechanism and eliminates the error generated therein. Then, the receiving mechanism transmits the precisely adjusted orientation information to the micro-adjusting mechanism to ensure the accuracy and stability of the micro-adjustment.

[0030] S4, repeat S1 to S3 until the rehabilitation action is completed: According to the patient's rehabilitation plan and needs, repeat steps S1 to S3 until the entire rehabilitation action is completed. During the cycle, parameters such as rehabilitation position, vibration frequency, and universal angle adjustment range can be adjusted in a timely manner according to the patient's feedback and rehabilitation effect to optimize the rehabilitation treatment effect.

[0031] Compared with the prior art, the present invention has the following beneficial effects: 1. High flexibility and universal adjustment capability: The present invention introduces macro-adjustment mechanism and micro-adjustment mechanism to achieve free movement of the device in multiple directions, including rotation, tilt, extension, etc., which greatly improves the flexibility of the device. The universal adjustment capability enables the device to more accurately simulate the movement trajectory of the patient's limbs in a natural state, thereby meeting complex and changing rehabilitation needs.

[0032] 2. High precision and error elimination: The receiving mechanism of the present invention eliminates the errors generated during the macro-adjustment process, ensuring that the micro-adjustment mechanism can make more accurate and stable adjustments based on the macro-adjustment. High-precision adjustment capability is crucial for rehabilitation treatment, because it can ensure that the patient's limbs maintain the correct posture and angle during the rehabilitation process, thereby improving the treatment effect.

[0033] 3. Rich and diverse rehabilitation movements: Since the device of the present invention has universal adjustment capabilities, it can perform more diverse rehabilitation movements, which are closer to the natural movement of the patient's limbs. Rich rehabilitation movements can stimulate the patient's muscles and nervous system, promote functional recovery and strength enhancement of the limbs.

[0034] 4. Personalized treatment and strong adaptability: The present invention allows the device to be personalized according to the specific conditions of the patient, including adjusting parameters such as range of motion, speed, and strength. The personalized treatment capability enables the device to better adapt to the needs of different patients, and no matter what the patient's limb condition is, they can find the most suitable rehabilitation plan for them.

[0035] 5. Vibration stimulation and promotion of rehabilitation: The vibration ribs inside the traction brace of the present invention exert vibration force during the process of universal angle adjustment. This vibration stimulation can help promote blood circulation, relieve muscle tension, and promote muscle recovery. The combination of vibration stimulation and universal adjustment forms a new rehabilitation treatment method that can more effectively promote the patient's rehabilitation process.

[0036] 6. Improving rehabilitation efficiency and patient comfort: Since the device can more accurately simulate the natural movement of the patient's limbs and has personalized treatment capabilities, the present invention can help improve rehabilitation efficiency when applied in practice. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 It is a perspective schematic diagram of the present invention; Figure 2 It is a schematic diagram of the macro-adjustment mechanism of the present invention from one viewing angle; Figure 3 It is a schematic diagram of the macro adjustment mechanism of the present invention when viewed from the bottom; Figure 4 It is a schematic diagram of another perspective composition of the macro-adjusting mechanism of the present invention; Figure 5 It is a schematic diagram of the cooperation between the Y-axis linear assembly and the micro-adjustment mechanism of the present invention; Figure 6 It is a three-dimensional schematic diagram of the cooperation between the micro-adjustment mechanism and the traction protective gear of the present invention; Figure 7 This is a schematic diagram showing the internal structure of the traction protective gear of the present invention after removing part of the outer shell; Figure 8 It is a schematic diagram of the cooperation between the Y-axis linear assembly of the present invention, the intermediate receiving mechanism (covered by the external flexible protective cover), and the micro-adjustment mechanism; Fig. 9 It is a schematic diagram of the cooperation between the Y-axis linear assembly, the intermediate receiving mechanism, and the micro-adjustment mechanism of the present invention; Fig.10 A schematic diagram of a method for using the present invention; Figure numerals: 1, bed; 2, macro-motion adjustment mechanism; 201, X-axis linear assembly; 2011, first frame; 2012, first motor; 2013, first lead screw; 2014, first slide; 202, Z-axis linear assembly; 2021, second frame; 2022, second motor; 2023, second lead screw; 2024, second slide; 203, Y-axis linear assembly; 2031, third frame; 2032, first Servo electric cylinder; 2033, horizontal motor; 2034, connecting arm; 3, micro-adjustment mechanism; 301, housing; 302, adjustment motor; 303, first rocker arm; 304, second rocker arm; 305, connecting platform; 4, traction protective gear; 401, housing; 402, vibration motor; 403, connecting block; 404, vibration rib; 5, intermediate receiving mechanism; 501, disk; 502, second servo electric cylinder; 503, universal joint coupling. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below; In the present invention, all axial descriptions such as the X-axis, the Y-axis, the Z-axis, one end of the X-axis, the other end of the Y-axis or the other end of the Z-axis, etc., are based on the Cartesian coordinate system.

[0040] Example 1: Rehabilitation movements require patients to manipulate their limbs to do the movements they "should" do, that is, the movements that the limbs need to do in daily activities. This movement pattern is more in line with the physiological characteristics of the limbs and can help promote the patient's comprehensive recovery. Simple linear reciprocating movements are often too simple and mechanical, lacking functionality, and easily causing fatigue and boredom in patients, increasing their burden. For this purpose, please refer to Figure 1-9 , this specific implementation will provide relevant technical solutions to solve the above technical problems: A rehabilitation nursing bed device comprises a traditional bed body 1, and a device is provided outside the traditional bed body 1. A macro-adjustment mechanism 2 formed by sequentially linking an X-axis linear component 201, a Z-axis linear component 202, and a Y-axis linear component 203; A micro-adjustment mechanism 3 which is driven and adjusted in spatial orientation by a macro-adjustment mechanism 2 and can adjust the traction guard 4 in a universal angle to adjust it in a certain spatial orientation; The traction brace 4 is used to cover the patient's injured limb and perform vibration and compression operations on it.

[0041] When in use, the patient lies on the bed 1 and puts the limb that needs rehabilitation into the traction brace 4. The macro-motion adjustment mechanism 2 performs macro-motion adjustment according to the optimal rehabilitation position compared with the patient's body position. During this period, the micro-motion adjustment mechanism 3 performs micro-motion universal angle adjustment on the traction brace 4, thereby simulating the movement that the patient's limb "should" do as a rehabilitation movement. Due to the characteristics of the universal angle adjustment, the muscle bundles and joints on the patient's limbs can get sufficient movement coordination, thereby improving the rehabilitation effect.

[0042] Specifically: The design principle of the rehabilitation nursing bed device is based on three-dimensional space kinematics and ergonomics. The macro-motion adjustment mechanism 2 is formed by the linear components of the three axes of X, Z, and Y, realizing the macro-motion adjustment capability in three-dimensional space. This design enables the device to quickly and accurately move the traction brace 4 to the optimal rehabilitation position according to the patient's body position and rehabilitation needs. The micro-motion adjustment mechanism 3 adopts a multi-degree-of-freedom mechanical structure or spherical joint design to realize the universal angle adjustment of the traction brace 4 based on macro-motion adjustment. This design principle enables the traction brace 4 to fit closely to the patient's limb movement trajectory and simulate a more natural movement pattern. At the same time, the vibration pressing device inside the traction brace 4 further promotes the recovery of the patient's muscles and joints through the effects of vibration and pressing.

[0043] It can be understood that in the technical solution provided in this embodiment: the rehabilitation nursing bed device has significant functional advantages. The combined use of the macro-adjustment mechanism 2 and the micro-adjustment mechanism 3 enables the device to achieve all-round and multi-angle adjustment of the patient's limbs. This adjustment ability not only improves the accuracy and effectiveness of rehabilitation, but also enhances the patient's comfort and participation. The design of the traction brace 4 enables it to tightly wrap the patient's injured limbs and stimulate and restore the patient's muscles and joints through vibration pressing operations. This design not only helps relieve the patient's pain and stiffness, but also promotes muscle contraction and joint flexibility. The rehabilitation nursing bed device is also highly personalized and customizable. The therapist can formulate a personalized rehabilitation plan for the patient by adjusting the parameter settings of the macro-adjustment mechanism 2 and the micro-adjustment mechanism 3, as well as the vibration pressing mode of the traction brace 4 according to the patient's specific situation and rehabilitation stage. This personalized rehabilitation plan not only improves the effect and efficiency of rehabilitation, but also enhances the patient's confidence and enthusiasm for rehabilitation.

[0044] In this example, see Figures 2~5 : The X-axis linear component 201, the Z-axis linear component 202 and the Y-axis linear component 203 are used to realize macro-adjustment in three-dimensional space.

[0045] The X-axis linear assembly 201 includes a first frame 2011 as a supporting structure of the entire assembly. The first frame 2011 is equipped with a first motor 2012, which drives the first lead screw 2013 to rotate, thereby driving the first slide 2014 connected to the moving nut of the first lead screw 2013 to move along the X-axis direction. The first slide 2014 is connected to the Z-axis linear assembly 202 to achieve motion transmission between the X-axis and the Z-axis.

[0046] The Z-axis linear assembly 202 includes a second frame 2021 fixedly connected to the first slide 2014, ensuring that the Z-axis linear assembly 202 can move with the X-axis linear assembly 201. The second frame 2021 is equipped with a second motor 2022, which drives the second lead screw 2023 to rotate, driving the second slide 2024 connected to the moving nut of the second lead screw 2023 to move along the Z-axis direction. The second slide 2024 is connected to the Y-axis linear assembly 203 to achieve motion transmission between the Z-axis and the Y-axis.

[0047] The Y-axis linear assembly 203 includes a third frame 2031 fixedly connected to the second slide 2024, ensuring that the Y-axis linear assembly 203 can move with the X-axis and Z-axis linear assemblies 202. The third frame 2031 is equipped with a first servo electric cylinder 2031, and the piston rod of the electric cylinder is vertically equipped with a horizontal motor 2033. The output shaft of the horizontal motor 2033 is connected to a connecting arm 2034, and the connecting arm 2034 is further connected to the micro-adjustment mechanism 3. In this way, the Y-axis linear assembly 203 can not only move in the Y-axis direction, but also drive the micro-adjustment mechanism 3 and the traction guard 4 carried by the horizontal motor 2033 to adjust the angle on the horizontal plane.

[0048] Specifically: Based on the kinematic principle of the three-dimensional space coordinate system, the X-axis linear component 201, the Z-axis linear component 202 and the Y-axis linear component 203 correspond to the X-axis, Z-axis and Y-axis in the three-dimensional space respectively, and realize linear movement along their respective axes through the drive of the motor and the transmission of the lead screw. This design enables the entire macro-motion adjustment mechanism 2 to perform precise position adjustment in the three-dimensional space.

[0049] The introduction of the horizontal motor 2033 provides additional horizontal plane angle adjustment capability for the micro-adjustment mechanism 3 and the traction brace 4 carried thereon. By controlling the rotation angle of the horizontal motor 2033, the micro-adjustment mechanism 3 and the traction brace 4 carried thereon can be driven to rotate at any angle on the horizontal plane, thereby further improving the flexibility and adaptability of the rehabilitation action.

[0050] It can be understood that in the technical solution provided in this embodiment: through the cooperation of the X-axis linear component 201, the Z-axis linear component 202 and the Y-axis linear component 203, the precise position adjustment of the micro-adjustment mechanism 3 and the traction brace 4 carried thereon in three-dimensional space is realized. This enables the therapist to quickly and accurately move the traction brace 4 to the optimal rehabilitation position according to the patient's body position and rehabilitation needs. The introduction of the horizontal motor 2033 provides the traction brace 4 with additional horizontal plane angle adjustment capabilities. This adjustment capability enables the traction brace 4 to fit the patient's limb movement trajectory more closely and simulate a more natural movement pattern, thereby improving the rehabilitation effect. Through the combined use of three-dimensional macro-adjustment and horizontal plane angle adjustment, this implementation significantly improves the flexibility and adaptability of rehabilitation movements. This enables therapists to formulate more personalized and accurate rehabilitation plans for patients to meet the different rehabilitation needs of patients.

[0051] It should be pointed out that if Figure 1~2As shown, in order to make the overall diagram of the device concise and clear, only one group of Z-axis linear components 202 and Y-axis linear components 203 is shown, corresponding to two traction guards 4; under normal circumstances, the Z-axis linear components 202 and Y-axis linear components 203 should be opposite to each other in pairs, corresponding to four traction guards 4.

[0052] In this example, see Figures 5 and 6 : The fine-motion adjustment mechanism 3 includes a housing 301 and feeding components arranged in a circular array outside thereof, each of which is connected to a connecting platform 305 and applies a feeding action to different positions of the connecting platform 305; the connecting platform 305 is connected to the traction guard 4; When each feeding component is executed according to the preset feeding amount and time, universal angle adjustment can be achieved.

[0053] Specifically: The design principle of the micro-adjustment mechanism 3 is based on space vector mechanics and parallel mechanism mechanics. The feeding components arranged in a circular array are equivalent to a parallel mechanism. By working together, they can achieve all-round and multi-angle adjustment of the connecting platform 305 (i.e., the traction brace 4). The displacement and time of each feeding component are pre-set, and these set values ​​are based on the rehabilitation needs and movement trajectory of the patient's limbs. When the control system issues an instruction, each feeding component will perform a displacement action according to the preset parameters, and by applying forces of different directions and magnitudes to the connecting platform 305, the universal angle adjustment of the traction brace 4 can be achieved.

[0054] It is understandable that in the technical solution provided in this embodiment: through the feeding components arranged in a circular array and the precise control system, the micro-adjustment mechanism 3 can realize the adjustment of the traction brace 4 at any angle in three-dimensional space. This enables the therapist to provide more natural and flexible rehabilitation movements for the patient's limbs according to the patient's specific needs and rehabilitation stage. Each feeding component has precise displacement control capabilities, which enables the micro-adjustment mechanism 3 to achieve high-precision angle adjustment. This high-precision control not only improves the effect and efficiency of rehabilitation, but also enhances the patient's comfort and participation.

[0055] In this example, see Figures 5 and 6:The design of the micro-adjustment mechanism 3 adopts at least three feed components, which together with the housing 301 and the connecting platform 305 form a closed motion chain. This design not only enhances the stability of the structure, but also realizes high-precision universal angle adjustment of the connecting platform 305 (i.e., the connection point of the traction guard 4). Each feed component includes an adjustment motor 302, whose output shaft drives the first rocker arm 303 to perform articulated motion. The movement of the first rocker arm 303 is converted by the second rocker arm 304, and the two ends of the second rocker arm 304 are universally hinged to the connecting platform 305 and the first rocker arm 303 through a spherical coupling. The design of this spherical coupling allows the second rocker arm 304 to rotate freely in multiple directions, thereby realizing complex motion conversion.

[0056] When the adjustment motor 302 is executed, it drives the first rocker arm 303 to perform an articulated motion. This motion is converted into a feeding motion of the connecting platform 305 through the second rocker arm 304. Since the feeding components are arranged in a circular array outside the housing 301, and together with the housing 301 and the connecting platform 305, a closed motion chain is formed, so when any one or more feeding components are executed according to the preset feeding amount and time, they can work together to achieve universal angle adjustment of the connecting platform 305.

[0057] It can be understood that the micro-motion adjustment mechanism 3 is essentially a parallel robot (parallel mechanism), so the universal angle adjustment and spatial orientation adjustment that it needs to perform can be performed through a conventional setting procedure based on the existing PID controller algorithm of the parallel robot (parallel mechanism), and in practice, the adjustment motor 302 can be controlled.

[0058] Therefore, preferably, the adjustment motor 302 should be a servo motor.

[0059] Specifically: the circular array arrangement of at least three feed assemblies and the formation of a closed motion chain make the micro-adjustment mechanism 3 highly flexible and stable. The adjustment motor 302 converts the rotational motion into the linear or angular displacement of the second rocker arm 304 by driving the first rocker arm 303 to perform articulated motion. Since the two ends of the second rocker arm 304 are universally articulated by a spherical coupling, it can adapt to a variety of motion modes and accurately transmit these motion modes to the connecting platform 305. When multiple feed assemblies work at the same time, they can achieve arbitrary angle adjustment of the connecting platform 305 in three-dimensional space through synergy. This adjustment is not only precise but also smooth, because the design of the closed motion chain ensures the coordinated movement of each component.

[0060] It is understandable that in the technical solution provided in this embodiment: through the coordinated work of at least three feeding components, the micro-adjustment mechanism 3 can realize the adjustment of the connecting platform 305 at any angle in three-dimensional space. This adjustment capability enables the traction brace 4 to closely fit the patient's limb movement trajectory and provide more natural and flexible rehabilitation movements. The design of the closed motion chain enhances the stability and precision of the micro-adjustment mechanism 3. Even in a high-intensity use environment, the mechanism can maintain stable performance to ensure the accuracy and effectiveness of the rehabilitation movements. Since the number and arrangement of the feeding components are carefully designed, the micro-adjustment mechanism 3 has a high degree of flexibility and adaptability. It can adjust the angle and range of rehabilitation movements according to the patient's specific needs and rehabilitation stage to meet personalized rehabilitation needs.

[0061] In this example, see Figures 6 and 7 The traction brace 4 includes a shell 401 and a cyclically gradual elastic component mounted therein, the cyclically gradual elastic component is connected by a connecting block 403, the connecting block 403 is connected to a vibration motor 402, and the cyclically gradual elastic component can be inserted into the outside of the limb; when the vibration motor 402 is executed, the vibration force applied to the cyclically gradual elastic component can be transmitted to the outside of the limb in a rotational form.

[0062] The cyclically gradually changing elastic component is a vibrating rib 405 arranged in a threaded shape, and the vibrating rib 405 is a viscoelastic composite material. When the vibrating motor 402 is in operation, the transmitted vibration force is transmitted to one end of the vibrating rib 405 through the connecting block 403. Due to the low damping and elastic modulus, the transmission speed is sacrificed, and thus the vibration force has both low wave speed and high energy dissipation, so that the vibration force is slowly transmitted to the periphery of the patient's limbs along its spiral distribution, and then during the rehabilitation action, the rehabilitation of the tissue cells and muscles is stimulated based on the cyclically reciprocating vibration force.

[0063] Specifically, the traction brace 4 can also be configured to be detachably connected to the micro-adjustment mechanism 3, so that traction braces 4 of different specifications and sizes can be predetermined in practice to accommodate patients of different body shapes.

[0064] Specifically, the outer shell 401 of the traction protective gear 4 should be ergonomically designed and integrally molded by imitating the external curvature characteristics of human limbs.

[0065] Specifically, an elastic strap (not shown in the figure) should be provided on the outside of the shell 401 to cover the patient's torso and prevent the shell 401 from falling off.

[0066] Specifically: The core of the cyclically gradual elastic component is the vibration rib 405 arranged in a threaded shape. The vibration rib 405 is made of a viscoelastic composite material, which has unique damping and elastic modulus properties. The viscoelastic composite material has a high damping, which is equivalent to its ability to effectively absorb and dissipate vibration energy. When the vibration force is transmitted to the vibration rib 405, part of the energy will be absorbed by the material and converted into heat energy, thereby reducing the transmission speed of the vibration. The elastic modulus of the viscoelastic composite material is relatively low, which allows it to undergo a larger deformation when subjected to the vibration force, and the deformation distributes the vibration force more evenly to the periphery of the patient's limbs. . This design allows the vibration force to act slowly and evenly on the patient's limbs, avoiding local overstimulation or injury.

[0067] Specifically, the material properties of viscoelastic composite materials are as follows: Specifically, the viscoelastic composite material is prepared from a butyl rubber + carbon black particle composite material. The interior of the vibration rib 405 is a non-uniform structure (porous) that extends the vibration transmission path, sacrificing part of the transmission speed (for the scenario of this embodiment, the transmission speed itself is a defect) to suppress interference.

[0068] Furthermore, the vibration ribs 405 are made of a viscoelastic composite material, which absorbs part of the energy and converts it into heat energy when subjected to a vibration force. This is because the viscoelastic material has damping properties that can dissipate vibration energy, thereby reducing the speed at which vibration is transmitted. The energy absorption and conversion mechanism can help control the intensity and distribution of the vibration force, preventing excessive vibration from causing discomfort or damage to the patient's limbs. The elastic modulus of the viscoelastic composite material is relatively low, which is equivalent to it being able to undergo a large deformation when subjected to a vibration force. This deformation can help distribute the vibration force more evenly to the periphery of the patient's limbs. Through deformation, the vibration ribs 405 can adapt to the shape and curvature of the patient's limbs, ensuring that the vibration force can be effectively transmitted to all parts of the limbs.

[0069] Further preferably, if the threaded vibration ribs 405 are cylindrical, the diameter remains unchanged in the axial direction, resulting in a relatively uneven distribution of the vibration force during the transmission process. In particular, at the starting and ending ends of the spiral, the vibration force is more concentrated, while in the middle part it is relatively weak. This uneven distribution affects the rehabilitation effect and even causes discomfort to the patient's limbs. At the same time, the diameter of the cylindrical spiral remains unchanged, resulting in the vibration force being not smooth or controllable enough during the transmission process. In addition, since the transmission path is relatively short, the vibration force is transmitted to the periphery of the limb faster, resulting in insufficient energy dissipation, affecting the rehabilitation effect. And the diameter of the cylindrical spiral remains unchanged, which is difficult to adapt to the limb shape and curvature of different patients. In particular, when the limb shape is complex or the curvature is large, the cylindrical spiral cannot fit the patient's limbs tightly, resulting in uneven transmission of the vibration force or poor effect.

[0070] Therefore, the vibration ribs 405 should be arranged in a conical thread-like path. Since the diameter of the conical spiral gradually changes in the axial direction, the vibration force will gradually disperse to a larger area during the transmission process. This design can help apply the vibration force to the periphery of the patient's limbs in a more uniform manner, avoiding local excessive vibration stimulation. Moreover, the gradually changing diameter of the conical spiral can help the vibration force gradually decay during the transmission process. This decay is controllable and can be adjusted according to the specific needs and rehabilitation plan of the patient. At the same time, the conical spiral design can also increase the path length of the vibration force transmission, so that the vibration force has more opportunities to interact with the patient's tissue cells and muscles, and improve the energy dissipation efficiency. In addition, the conical spiral design can better adapt to the limb shape and curvature of different patients. Due to the gradual change in diameter, the vibration ribs 405 can fit the patient's limbs more closely, ensuring that the vibration force can be effectively transmitted to various parts of the limbs. This design can also help achieve personalized treatment and meet the rehabilitation needs of different patients.

[0071] It can also be further pointed out that the diameter of the cylindrical spiral remains unchanged, resulting in uneven deformation of the vibration ribs 405 when subjected to vibration force. Especially at the starting and ending ends of the spiral, the sudden change in diameter causes stress concentration, increasing the risk of damage to the vibration ribs. However, when the vibration ribs 405 of this embodiment adopt a conical thread-shaped arrangement path, the vibration ribs 405 can deform more evenly when subjected to vibration force due to the gradual change in the diameter of the conical spiral. This deformation can help distribute the vibration force more evenly to the periphery of the patient's limbs and reduce stress concentration.

[0072] It is understandable that in the technical solution provided in this embodiment: when the vibration motor 402 is executed in a reciprocating manner, the vibration force it generates is transmitted to the periphery of the patient's limbs through the cyclic gradient elastic component. This vibration force can stimulate the patient's tissue cells and muscles, promote blood circulation, accelerate metabolism, help relieve muscle tension, relieve pain and promote muscle recovery. Compared with traditional rehabilitation treatment methods, this embodiment provides a more comprehensive and effective rehabilitation treatment effect by combining the cyclic gradient elastic component and the vibration function. It can not only provide patients with passive limb movement, but also promote the recovery of patients' active movement ability and muscle strength through vibration stimulation.

[0073] In this example, see Figures 8 and 9 : In order to further improve the accuracy and stability of adjustment, an intermediate receiving mechanism 5 is specially designed, which is placed between the micro-adjustment mechanism 3 and the macro-adjustment mechanism 2. This design is to receive the spatial orientation drive adjustment generated by the macro-adjustment mechanism 2, while eliminating the error generated during the adjustment process, and transmit the precisely adjusted orientation information to the micro-adjustment mechanism 3.

[0074] Specifically: When the macro-adjustment mechanism 2 performs a large-scale spatial position adjustment, certain errors will be introduced due to factors such as mechanical clearance, transmission error or control accuracy limitation. The intermediate receiving mechanism 5 can detect and compensate for these errors through precise sensors and correction mechanisms to ensure that the adjustment instructions transmitted to the micro-adjustment mechanism 3 are accurate. Once the macro-adjustment mechanism 2 completes the preliminary spatial orientation adjustment, the intermediate receiving mechanism 5 is responsible for transmitting the adjustment result to the micro-adjustment mechanism 3 in a high-precision manner. It is ensured that the micro-adjustment mechanism 3 can perform more precise and accurate adjustments on the basis of macro-adjustment, thereby meeting the high-precision requirements for limb position in rehabilitation treatment.

[0075] The intermediate receiving mechanism 5 acts as a bridge between macro-motion and micro-motion, not only transmitting adjustment information, but also playing a certain role in vibration isolation and stabilization. It can absorb and mitigate the impact and vibration from the macro-motion adjustment mechanism 2, and provide a more stable working environment for the micro-motion adjustment mechanism 3.

[0076] Specifically: The intermediate receiving mechanism 5 is equipped with a high-precision position sensor and force sensor on the disc body 501 of the micro-adjustment mechanism 3, which can monitor and adjust the position and force state of the mechanism in real time to ensure the accuracy and stability of the adjustment. Combined with the PID error control algorithm, the intermediate receiving mechanism 5 can automatically analyze and process the sensor data, correct the error in real time, and improve the overall adjustment accuracy of the system. In terms of mechanical structure, the intermediate receiving mechanism 5 should be made of materials with high rigidity and good wear resistance to ensure stable performance during long-term use.

[0077] Integrating the intermediate receiving mechanism 5 into the rehabilitation nursing bed device significantly improves the adjustment accuracy and stability of the entire system. The macro-adjustment mechanism 2 is responsible for large-scale spatial position adjustment, the intermediate receiving mechanism 5 is responsible for eliminating errors and transmitting precise orientation, and the micro-adjustment mechanism 3 performs fine adjustment on this basis. This three-level adjustment mechanism not only improves the accuracy of rehabilitation treatment, but also enhances the patient's comfort and treatment effect.

[0078] In this example, see Fig. 9 The intermediate receiving mechanism 5 comprises two disk bodies 501, between which the second servo electric cylinders 502 are mounted in a ring array, and the cylinder body and piston rod of the second servo electric cylinder 502 are universally hinged to the disk bodies 501 through a universal joint coupling 503; the two disk bodies 501 are respectively fixed to the micro-adjustment mechanism 3 (housing 301) and the macro-adjustment mechanism 2 (connecting arm 2034); and every three second servo electric cylinders 502 are distributed in an "И" shape.

[0079] During use, when the macro-adjustment mechanism 2 performs spatial orientation drive adjustment, the coordination of the three mutually perpendicular linear degrees of freedom will inevitably produce motion redundancy, resulting in errors; at this time, the intermediate receiving mechanism 5 starts the two second servo electric cylinders 502 opposite to the X-axis linear component 201, the Z-axis linear component 202 or the Y-axis linear component 203 based on their respective start directions, and performs reverse adjustment compensation; for example, if the X-axis linear component 201 is fed forward by 5 cm, the two second servo electric cylinders 502 at an angle to the X-axis linear component 201 will retract a certain step distance, such as 0.5 cm (the specific error query dictionary table can be preset, and using the PID algorithm for execution); and because every three second servo electric cylinders 502 are arranged in an "И" shape, there are two advantages: first, when a second servo electric cylinder 502 reaches the limit stroke point, the staggered arrangement of the cylinder bodies can allow the other two second servo electric cylinders 502 to compensate for it; second, the X-axis linear component 201, the Z-axis linear component 202 or the Y-axis linear component 203 are generally parallel to the micro-adjustment mechanism 3, and when any two second servo electric cylinders 502 compensate for one of the linear components, the other relatively tilted second servo electric cylinder 502 can eliminate the error of the mechanism itself.

[0080] Specifically: the macro-motion adjustment mechanism 2 performs spatial orientation drive adjustment through the cooperation of the X-axis linear component 201, the Z-axis linear component 202 and the Y-axis linear component 203. Due to the perpendicular relationship between the three linear degrees of freedom, motion redundancy will inevitably occur, resulting in errors. The intermediate receiving mechanism 5 starts the two second servo electric cylinders 502 opposite to the macro-motion adjustment mechanism 2 according to the execution direction of the macro-motion adjustment mechanism 2 to perform reverse adjustment compensation. For example, when the X-axis linear component 201 feeds 5 cm in the forward direction, the two second servo electric cylinders 502 at an angle to the X-axis linear component 201 retract a certain step distance (such as 0.5 cm) to eliminate the error.

[0081] Preferably, the specific compensation distance can be determined by a preset error query dictionary table and executed using a PID algorithm. This intelligent control method improves the accuracy and efficiency of error compensation. Since every three second servo electric cylinders 502 are distributed in an "И" shape, when any two second servo electric cylinders 502 perform compensation on one of the linear components, the other relatively inclined second servo electric cylinder 502 can eliminate the error of the mechanism itself. This design ensures the accuracy and stability of the entire intermediate receiving mechanism 5.

[0082] What needs to be further explained in detail is that when a linear component (such as the X-axis linear component 201) in the macro-motion adjustment mechanism 2 is fed forward a certain distance (such as 5cm), a certain error will be generated. The intermediate receiving mechanism 5 will start the two second servo electric cylinders 502 opposite to it to perform reverse adjustment compensation according to the direction in which this linear component is started, so as to offset or reduce the error. For example, the two second servo electric cylinders 502 that are at an angle to the X-axis linear component 201 will retract a certain step distance (such as 0.5cm). This compensation distance can be determined by a preset error query dictionary table and precisely controlled using a PID (proportional-integral-differential) algorithm. The above control logic is based on the following ideas: (1) When a linear component (such as the X-axis linear component 201) in the macro-motion adjustment mechanism 2 is fed forward a certain distance, due to the non-ideality of the mechanical system (such as manufacturing error, assembly error, friction, thermal expansion, etc.), a certain deviation, i.e., error, will occur between the actual motion position and the expected motion position. This error can be identified and quantified by a sensor or measurement system to provide basic data for subsequent compensation.

[0083] (2) Once the error is identified, the intermediate receiving mechanism 5 will start the two second servo electric cylinders 502 opposite to it to perform reverse adjustment compensation according to the direction and size of the error. The purpose of reverse adjustment is to offset or reduce the impact of the original error by generating a movement in the opposite direction of the error. For example, if the X-axis linear component 201 feeds too much in the positive direction, the two second servo electric cylinders 502 at an angle to it will retract a certain distance to pull back or adjust the position of the entire system.

[0084] In short, the position of the system is precisely adjusted by generating a motion in the opposite direction of the error, thereby offsetting or reducing the error caused by the motion redundancy of the macro-motion adjustment mechanism 2. When the X-axis linear component 201 feeds too much in the positive direction, a position error will occur in the system. In order to correct this error, the intermediate receiving mechanism 5 will start the two second servo electric cylinders 502 that are at an angle to the X-axis linear component 201. The two servo electric cylinders will be adjusted in the opposite direction according to the preset compensation distance and direction, that is, they will be retracted a certain distance. Assume that there is a certain angle θ between the feed direction of the X-axis linear component 201 and the axial direction of the two second servo electric cylinders 502. When the X-axis linear component 201 feeds too much, the two second servo electric cylinders 502 can generate a reverse displacement component on a plane perpendicular to the X-axis direction by retracting a certain distance. This displacement component is opposite to the feed error direction of the X-axis linear component 201, so it can offset or reduce the influence of the original error.

[0085] The reason why two second servo electric cylinders 502 at an angle are selected for reverse adjustment compensation is mainly because in three-dimensional space, errors occur in any direction. By selecting two second servo electric cylinders 502 at an angle, reverse adjustment forces can be generated on two mutually perpendicular planes, thereby more comprehensively compensating for errors in three-dimensional space. Since the two second servo electric cylinders 502 are arranged at an angle to the X-axis linear component 201, they can generate more accurate displacement components on a plane perpendicular to the X-axis. This arrangement can help reduce the compensation error caused by the inconsistency between the servo electric cylinder's own movement direction and the error direction. The two second servo electric cylinders 502 at an angle can provide more degrees of freedom for adjustment. When the system is subject to external interference or load changes, the two servo electric cylinders can work together to adjust the position of the system in a more flexible way, thereby enhancing the stability and anti-interference ability of the system.

[0086] (3) The compensation distance is not determined arbitrarily, but is based on a preset error query dictionary table. This dictionary table contains the error values ​​and corresponding compensation distances at different feed distances and directions. By querying the dictionary table, the system can quickly find the compensation distance corresponding to the current error. In order to more accurately control the compensation process, the system also uses the PID (proportional-integral-differential) algorithm. The PID algorithm adjusts the compensation speed and distance based on the current value, cumulative value and rate of change of the error, ensuring that the compensation process is both fast and accurate.

[0087] It can be understood that in the technical solution provided in this embodiment: the intermediate receiving mechanism 5 is integrated into the rehabilitation nursing bed device, which significantly improves the adjustment accuracy and stability of the system. It not only eliminates the error generated by the macro-adjustment mechanism 2 when performing spatial orientation drive adjustment, but also provides accurate orientation information for the micro-adjustment mechanism 3. This innovative design enables the rehabilitation nursing bed device to perform rehabilitation treatment actions more accurately, improving the treatment effect and comfort of the patient. The design and implementation of the intermediate receiving mechanism 5 is an important embodiment of the technological innovation of the rehabilitation nursing bed device. It not only improves the overall performance of the system, but also provides more accurate and stable support for rehabilitation treatment.

[0088] In this solution, all electrical components of the device as a whole rely on AC power for energy supply; specifically, the electrical components of the device as a whole are conventionally electrically connected to the AC power output port through devices such as relays, transformers and button panels to meet the energy supply requirements of all electrical components of the device.

[0089] Specifically, a controller is also provided on the outside of the device, which is used to connect and control all electrical components of the device as a whole to be driven according to a pre-set program as a preset value and a driving mode; it should be pointed out that the above-mentioned driving mode corresponds to the corresponding start and stop time intervals, speed, power and other output parameters between the relevant electrical components mentioned above, that is, it meets the requirements of the relevant electrical components described below to drive the relevant mechanical devices to operate according to the functions described therein.

[0090] Preferably, the controller is a PLC controller, which completes the above control requirements through conventional PLC control modes such as ladder diagrams, sequential function diagrams, function block diagrams, instruction tables or structured texts; it should be pointed out that the output parameters such as the start and stop time intervals, speed, power, etc. of the electrical components or other power components driven by its programming are non-limiting; specifically, the relevant drive control is adjusted according to actual usage requirements.

[0091] In summary, in view of the related problems in the traditional technology, this specific embodiment is based on the above-mentioned rehabilitation nursing bed device and the use method thereof, and adopts the following technical means or features to achieve the solution: (1) First, traditional rehabilitation devices usually rely on multiple linear degrees of freedom that are perpendicular to each other and cooperate with each other to achieve traction and adjustment of the patient's limbs. Although this design can meet basic rehabilitation needs to a certain extent, the perpendicular relationship between the linear degrees of freedom limits the range of motion and flexibility of the device, making it difficult to simulate the natural movement trajectory of the patient's limbs in a complex space. Due to the limitation of degrees of freedom, traditional devices can usually only perform simple linear or arc movements, and it is difficult to simulate the complex movements that the patient's limbs "should" do. The limb conditions and needs of different patients are different, and it is difficult for traditional devices to be personalized according to the patient's specific situation.

[0092] (2) This embodiment improves the degree of freedom of the mechanism operation of the rehabilitation device, so that the device can be adjusted in a universal direction and angle along the specified direction and angle when pulling the patient's limbs. The macro-adjustment mechanism 2 and the micro-adjustment mechanism 3 work together to achieve the free movement of the device in multiple directions. The macro-adjustment mechanism 2 is responsible for a large range of spatial position adjustment, while the micro-adjustment mechanism 3 performs fine universal angle adjustment on this basis. The receiving mechanism eliminates the errors generated during the macro-adjustment process and transmits the precisely adjusted position information to the micro-adjustment mechanism 3. It ensures that the micro-adjustment mechanism 3 can perform more accurate and stable adjustments on the basis of macro-adjustment.

[0093] The vibration ribs inside the traction brace 4 exert vibration force during the universal angle adjustment process to stimulate the patient's tissue cells and muscles. This vibration stimulation combined with the universal adjustment enables the device to more accurately simulate the movements that the patient's limbs "should" do, thereby improving the rehabilitation effect.

[0094] By introducing the macro-motion and micro-motion adjustment mechanism 3, the device can move freely in multiple directions, breaking the limitation of the traditional device's linear degrees of freedom being perpendicular to each other. The device can simulate more complex and natural motion trajectories to meet the diverse needs of patients' limbs. The design of the universal adjustment mechanism enables the device to perform more diverse rehabilitation movements, including rotation, tilting, telescoping, etc. These movements are closer to the natural movement of the patient's limbs and can help improve the rehabilitation effect. The device can be personalized according to the patient's specific situation, including adjusting parameters such as range of motion, speed, and strength. The device can better adapt to the needs of different patients and improve the pertinence and effectiveness of treatment.

[0095] Embodiment 2: Fig.10 As shown, this embodiment discloses a method for using the device recorded in the first embodiment as a hardware carrier, including: S1, put the limb of the patient that needs rehabilitation into the corresponding traction brace 4: First, select the corresponding traction brace 4 according to the patient's specific rehabilitation needs.

[0096] Then, the patient's limbs that need rehabilitation (such as arms, legs, etc.) are put into the traction brace 4 and fit tightly with the traction brace 4 to facilitate subsequent precise adjustment and vibration stimulation.

[0097] S2, the macro-adjustment mechanism 2 performs macro-adjustment according to the rehabilitation position relative to the patient's body position: Next, the macro-motion adjustment mechanism 2 is activated to adjust the spatial position of the patient's limbs over a large range according to the preset rehabilitation position.

[0098] At the same time, the micro-motion adjustment mechanism 3 performs micro-motion universal angle adjustment on the traction brace 4 to simulate the rehabilitation action that the patient's limbs should do. This micro-motion adjustment can ensure that the patient's limbs maintain the correct posture and angle during the rehabilitation process.

[0099] S3, universal angle adjustment and vibration stimulation, as well as error elimination and transmission: During the process of universal angle adjustment, the vibration ribs 405 inside the traction brace 4 will reciprocately apply vibration force to stimulate the patient's tissue cells and muscles. This vibration stimulation can help promote blood circulation, relieve muscle tension, and promote muscle recovery.

[0100] At the same time, the receiving mechanism 5 receives the spatial orientation drive adjustment position transmitted by the macro adjustment mechanism 2 and eliminates the error generated therein. Then, the receiving mechanism 5 transmits the precisely adjusted position information to the micro adjustment mechanism 3 to ensure the accuracy and stability of the micro adjustment.

[0101] S4, repeat S1 to S3 until the rehabilitation action is completed: According to the patient's rehabilitation plan and needs, repeat steps S1 to S3 until the entire rehabilitation action is completed. During the cycle, parameters such as rehabilitation position, vibration frequency, and universal angle adjustment range can be adjusted in a timely manner according to the patient's feedback and rehabilitation effect to optimize the rehabilitation treatment effect.

[0102] The above-mentioned embodiments only express the implementation methods of the relevant practical applications of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A rehabilitation nursing bed device, comprising a bed body (1), characterized in that: A device is provided outside the bed body (1): A macro-motion adjustment mechanism (2) formed by sequentially overlapping an X-axis linear component (201), a Z-axis linear component (202), and a Y-axis linear component (203); A micro-adjustment mechanism (3) that is driven and adjusted in spatial orientation by the macro-adjustment mechanism (2) and can itself adjust the traction protective gear (4) in a universal angle to adjust along a certain spatial orientation; The traction protector (4) is used to cover the patient's injured limb and perform vibration and pressing operations on the injured limb.

2. A rehabilitation nursing bed device according to claim 1, characterized in that: The X-axis linear component (201) comprises a first motor (2012) and a first lead screw (2013) driven by the first motor, wherein a moving nut of the first lead screw (2013) is connected to a first slide table (2014) and is cooperatively connected to the Z-axis linear component (202); The Z-axis linear component (202) comprises a second motor (2022) and a second lead screw (2023) driven by the second motor, wherein a moving nut of the second lead screw (2023) is connected to a second slide table (2024) and is cooperatively connected to the Y-axis linear component (203); The Y-axis linear component (203) comprises a first servo electric cylinder (2031), the piston rod of the first servo electric cylinder (2031) is vertically equipped with a horizontal motor (2033), the output shaft of the horizontal motor (2033) is connected to a connecting arm (2034), and the connecting arm (2034) is connected to the micro-motion adjustment mechanism (3).

3. A rehabilitation nursing bed device according to claim 1, characterized in that: The micro-motion adjustment mechanism (3) comprises a housing (301) and feeding components arranged in a circular array outside the housing, wherein the feeding components are connected to a connecting platform (305) and apply feeding actions to different positions of the connecting platform (305); the connecting platform (305) is connected to the traction protective gear (4); When each of the feeding components is executed according to the preset feeding amount and time, the universal angle adjustment can be achieved.

4. A rehabilitation nursing bed device according to claim 3, characterized in that: There are at least three feeding assemblies, so that a closed motion chain is formed between the housing (301), the feeding assemblies and the connecting platform (305); each feeding assembly comprises an adjusting motor (302) and a first rocker arm (303) driven by its output shaft, and two ends of a second rocker arm (304) are universally hinged to the connecting platform (305) and the first rocker arm (303).

5. A rehabilitation nursing bed device according to claim 3, characterized in that: The traction brace (4) comprises a shell (401) and a cyclically gradually changing elastic component mounted therein, wherein the cyclically gradually changing elastic component is connected by a connecting block (403), wherein the connecting block (403) is connected to a vibration motor (402), and the cyclically gradually changing elastic component can be inserted into the outside of a limb; when the vibration motor (402) is in operation, the vibration force applied to the cyclically gradually changing elastic component can be transmitted to the outside of the limb in a rotational form.

6. A rehabilitation nursing bed device according to claim 5, characterized in that: The cyclically gradually changing elastic component is a vibration rib (405) arranged in a conical thread shape, and the vibration rib (405) is a viscoelastic composite material.

7. A rehabilitation nursing bed device according to any one of claims 3 to 6, characterized in that: An intermediate receiving mechanism (5) is also mounted between the micro-adjustment mechanism (3) and the macro-adjustment mechanism (2), and is used to receive the position of the spatial position drive adjustment and eliminate its error, and transmit the adjustment of the position to the micro-adjustment mechanism (3).

8. A rehabilitation nursing bed device according to claim 7, characterized in that: The intermediate receiving mechanism (5) comprises two disk bodies (501), and second servo electric cylinders (502) are mounted in a ring array between the disk bodies (501); the cylinder body and piston rod of the second servo electric cylinder (502) are universally hinged to the disk bodies (501) via a universal joint coupling (503); the two disk bodies (501) are respectively fixed to the micro-motion adjustment mechanism (3) and the macro-motion adjustment mechanism (2); and every three second servo electric cylinders (502) are distributed in an "И" shape.

9. The method for using the rehabilitation nursing bed device according to any one of claims 1 to 8, characterized in that: S1, putting the limb of the patient that needs rehabilitation into the corresponding traction brace (4); S2, the macro-motion adjustment mechanism (2) performs macro-motion adjustment according to the rehabilitation position relative to the patient's body position, during which the micro-motion adjustment mechanism (3) performs micro-motion universal angle adjustment on the traction brace (4), thereby simulating the rehabilitation movement that the patient's limbs should perform; S3, when the universal angle is adjusted, the traction brace (4) stimulates the patient's tissue cells and muscles based on the vibration force cyclically applied by the vibration tendons (405); S4, execute S1 to S3 in a loop until the rehabilitation action is completed.

10. The method of use according to claim 9, characterized in that: In the S3, it also includes that when the universal angle is adjusted, the receiving mechanism (5) receives the orientation of the spatial orientation drive adjustment and eliminates its error, and transmits the orientation adjustment to the micro-adjustment mechanism (3).

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