Rehabilitation nursing service robot for old people

Abstract

The invention relates to the technical field of rehabilitation management, in particular to an elderly rehabilitation nursing service robot which comprises a moving assembly used for assisting a user in moving, an adjusting assembly used for adjusting a nursing body position and a plurality of nursing assemblies used for nursing the user. The nursing assembly comprises a flexible wrapping layer, a plurality of through holes are formed in the side wall of the wrapping layer, pistons are arranged in the through holes in a sliding fit mode, and the pistons are in an I shape; elastic bags are fixedly connected to the two sides of the through hole, and the side walls of the pistons are in sliding fit with the inner walls of the adjacent elastic bags; one side of each piston is fixedly connected with a strain gauge, and the other side of each piston is embedded with an air pressure sensor; the elastic bags close to one side of the air pressure sensor are communicated with an air path system; the wrapping layer is fixedly connected with a connector in the circumferential direction along the side wall of the wrapping layer. Interfaces detachably connected with the joints are formed in the wrapping layer along the circumferential direction of the side wall of the wrapping layer; the device is complete in structure, complete in function and capable of effectively improving the rehabilitation nursing quality of old people.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation management, and in particular to a rehabilitation nursing service robot for the elderly. Background Art

[0002] In recent years, with the rapid progress of social and economic levels, the acceleration of urbanization and the growth of population aging, the number of elderly patients admitted to hospitals has continued to increase. Therefore, continuously improving the level of medical services to meet the needs of elderly users for nursing services is one of the important issues that need to be addressed. At the same time, with the development of science and technology, various types of nursing robots for elderly rehabilitation nursing services have also been born.

[0003] The nursing robots in the prior art can provide some specified auxiliary services to users by setting some fixed programs and rehabilitation plans. However, since the nursing robots in the prior art cannot make detailed adjustments according to the specific physical conditions of the users, they can only execute fixed rehabilitation plans, resulting in low quality of rehabilitation nursing services and poor adaptability.

[0004] In summary, how to solve the problem that the nursing robots in the prior art cannot make detailed adjustments according to the specific physical conditions of the user and can only execute fixed rehabilitation plans, resulting in low quality of rehabilitation nursing services and poor adaptability has become a difficult problem that needs to be solved urgently in the current field. Therefore, it is necessary to propose a comprehensive and targeted elderly rehabilitation nursing service robot. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a rehabilitation nursing service robot for the elderly. Through the design of nursing components, it can use gas to provide personalized support to users according to the user's physical condition and certain personal characteristics. When the user is exercising, the air pressure changes are detected, the rehabilitation status of the user's limbs is analyzed, and the support strength and wrapping status of the user can be adjusted in real time.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: A elderly rehabilitation care service robot includes a moving component for assisting the user's movement, an adjusting component for adjusting the nursing position and several nursing components for caring for the user.

[0007] The nursing component includes a flexible wrapping layer, a plurality of through holes are opened on the side wall of the wrapping layer, and pistons are slidably fitted in the through holes, and the pistons are in the shape of an "I"; elastic bags are fixedly connected on both sides of the through holes, and the two sides of the piston are respectively located in the elastic bags adjacent to them and are slidably fitted with the elastic bags; a strain gauge is fixedly connected on one side of the piston, and an air pressure sensor is embedded and installed on the other side of the piston; the elastic bags embedded and installed with the air pressure sensors are connected to the air path system.

[0008] The wrapping layer is fixedly connected with a plurality of joints and has a plurality of interfaces along its side walls. The joints and interfaces between adjacent wrapping layers are detachably connected; the joints and interfaces of the side walls of the wrapping layer itself can also be detachably connected.

[0009] The controller is used to control the air path system to deliver gas to the elastic bag connected to it; the controller is also used to receive strain signals and air pressure signals from the strain gauge and air pressure sensor, and analyze the user's posture and stress conditions of various parts based on the strain signals and air pressure signals.

[0010] The technical principles of the above scheme are as follows:

[0011] According to the position that the user needs to wrap, a certain amount of gas is delivered to the elastic bag connected to it through the air path system, and the air pressure in the elastic bag connected to it is monitored by the air pressure sensor. Then, according to the user's rehabilitation training content, the wrapping layer is wrapped on one or more of the user's arms, legs, waist or buttocks. After the wrapping is completed, the joints and interfaces of the wrapping layer are snapped and fixed. When the user's limbs come into contact with each elastic bag, the air pressure in each elastic bag is monitored by the air pressure sensor, and the strain signals at various places are detected by the strain gauge; according to the changes in air pressure and strain signals, it is judged whether the wrapping layer is tightly wrapped with the part that the user needs to wrap, and then a certain amount of gas is delivered to the elastic bag connected to it again through the air path system, so that the wrapping layer is tightly wrapped with the user's limbs.

[0012] The above scheme has the following beneficial effects:

[0013] 1. The present invention adopts a flexible wrapping layer design so that the wrapping layer can adapt to users of different body shapes when wrapping the user; at the same time, the wrapping layer can also be wrapped in different shapes and positions according to the limbs that the user needs to wrap; it can act on the patient's arms, legs, waist, buttocks and other positions, and more comprehensively meet the needs of users.

[0014] 2. The present invention, through the design of the elastic bag and the wrapping layer, can use gas to flexibly wrap and support the patient, greatly improving the comfort and stability of the support. In the process of rehabilitation training, through the design of the strain gauge and the air pressure sensor, the fluctuation of the air pressure and strain signal can be monitored in real time, and then the contact and force conditions between the user's limbs and the elastic bag can be analyzed, and whether the supporting strength and wrapping conditions of the wrapping layer for the user are appropriate can be analyzed according to each force point, so as to adjust the amount of gas in the elastic bag and then adjust the supporting force and wrapping.

[0015] 3. Compared with the programmed nursing solutions in the prior art, the present invention can dynamically adjust the degree of wrapping and the strength of support. Through personalized wrapping adjustment and support adjustment, the user's comfort is greatly enhanced, the patient's rehabilitation effect is effectively improved, and the physical conditions and rehabilitation needs of different users are met.

[0016] 4. In the existing rehabilitation nursing technology, crutches, mechanical arms or mechanical legs are often used to assist patients in moving, so as to achieve rehabilitation training. However, these devices all use mechanical structures to support the patient's limbs, which have strong oppression on the patient's limbs. Long-term use can easily cause indentations to form on the contact parts between the patient's limbs and such devices, and even cause compression bruises. They are not comfortable and are not easy to use for a long time. Compared with the existing technology, the present invention supports the patient's limbs through flexible elastic bags, and adjusts the wrapping strength in real time according to the patient's limb condition and the rehabilitation training situation. It has strong applicability, avoids indentations and bruises on patients due to long-term wear, and has high safety.

[0017] 5. In the existing rehabilitation nursing technology, when conducting rehabilitation training on different positions of patients, different equipment often needs to be replaced, which greatly increases the cost of rehabilitation nursing. Compared with the existing technology, the present invention utilizes the design of the wrapping layer to wrap and support different positions of the patient, and then cooperates with the free adjustment of the position, height and direction of the wrapping layer to achieve different rehabilitation training contents, thereby improving the comprehensiveness of the device and greatly reducing the cost of rehabilitation nursing.

[0018] Furthermore, the mobile assembly includes a base, and a plurality of remote control wheels are embedded and installed at the bottom of the base; and the controller is used to control the movement of the remote control wheels.

[0019] Beneficial effect: The controller controls the movement of the remote control wheel, thereby driving the entire device to move, providing a good foundation for subsequent rehabilitation training and position movement for users.

[0020] Furthermore, the adjustment component includes a first driving member vertically fixedly connected to the base; the output shaft of the first driving member is coaxially fixedly connected to a rotating table, the top of the rotating table is fixedly connected to a frame-shaped bracket, the top wall of the bracket is fixedly connected to a winch, and a number of steel cables are wound in the winch; the inner side wall of the bracket is slidably matched with a support seat; the top of the support seat and the end of the steel cable away from the winch are both fixedly connected; the side wall of the support seat is symmetrically fixedly connected to support rods; the side wall of the support seat is also fixedly connected to an electric control cylinder; the output shaft of the electric control cylinder is fixedly connected to a sliding disk, and the support rods all pass through the sliding disk and slidably match the sliding disk; the bottom of the sliding disk is fixedly connected to a second driving member, and the output shaft of the second driving member is coaxially fixedly connected to a rotating disk; a number of telescopic rods are hinged at the bottom of the rotating disk; adjacent telescopic rods are detachably connected to the side walls of the wrapping layer adjacent to them; the controller is used to control the opening and closing of the first driving member, the second driving member and the winch.

[0021] Beneficial effects: The direction of the wrapping layer can be effectively adjusted by adjusting the rotation of the turntable through the controller; the height of the wrapping layer can be effectively adjusted by adjusting the retraction and extension of the winch through the controller; the horizontal position of the wrapping layer can be effectively adjusted by controlling the extension and retraction of the electric cylinder through the controller; the wrapping layer can rotate by itself through the design of the turntable, which makes it easier for users to change directions during rehabilitation training, and the wrapping layer can be installed on the user's limbs from various angles when carrying the user.

[0022] Furthermore, a folding wire frame is symmetrically fixedly connected to one side of the base, and a follower wheel is embedded and installed at the bottom of the folding wire frame.

[0023] Beneficial effects: The folding wire frame can significantly increase the length and weight of the bottom, and improve the stability of the device operation; the folding wire design can increase the user's bottom movement space and avoid affecting the user's foot movement range; the follower wheels at the bottom of the folding wire frame can effectively improve the stability of the device when moving.

[0024] Furthermore, triangular blocks are fixedly connected at the connection points between the support rod and the support seat.

[0025] Beneficial effect: The triangular block can increase the connection stability between the support rod and the support seat, so that the support rod provides better supporting performance.

[0026] Furthermore, a plurality of support bars are embedded and installed on the inner wall of the wrapping layer, and the support bars are made of elastic resin material.

[0027] Beneficial effect: The support bar can enable the wrapping layer to maintain the shape required by the user during the wrapping process, and prevent the wrapping layer from being deformed due to its own softness.

[0028] Furthermore, a camera is fixedly connected to the bottom of the turntable, and the controller is used to recognize the user's motion image through the camera, analyze the user's motion trajectory and motion safety based on the user's motion image, and calculate the user's motion steps according to the motion trajectory.

[0029] Beneficial effect: The controller can collect the user's motion images through the camera and thus understand the user's motion situation.

[0030] Furthermore, the elderly rehabilitation care service robot is used to assist users in rehabilitation training, and its use method is as follows:

[0031] S1, position adjustment: adjust the height of the wrapping layer according to the height of the user, adjust the position of the sliding plate according to the position of the user, and move the sliding plate to be directly above the user.

[0032] S2, installation of the wrapping layer: gas is delivered to the elastic bag connected to the user through the air path system according to the user's weight, and the air pressure in the elastic bag connected to the user at this time is monitored by the air pressure sensor and recorded as the basic air pressure; according to the user's rehabilitation training content, the wrapping layer is wrapped around one or more parts of the user's arms, legs, waist or buttocks, and after the wrapping is completed, the joints and interfaces of the wrapping layer are snapped and fixed.

[0033] When the user's limbs come into contact with each elastic bag, the air pressure monitored by each air pressure sensor at this time is recorded as the first air pressure. The contact situation between the user's limbs and each elastic bag is analyzed based on the strain signal of the strain gauge combined with the first air pressure, to determine whether the wrapping layer is tightly wrapped around the part that the user needs to wrap; according to the position that the user needs to wrap and the size of the user's limb, the air volume in the elastic bag is adjusted, and based on the change of the strain signal of the strain gauge, the elastic bag at each position wraps the user's limb according to the position that the user needs to wrap and the characteristics of the user's limb. At this time, the adjusted air volume is recorded as the second air volume, and the air pressure monitored by each air pressure sensor is recorded as the second air pressure.

[0034] S3, motion monitoring: after the wrapping layer is installed, the user is assisted in motion according to the rehabilitation training required by the user; when the user needs to move, the remote control wheel is controlled to start and adjusted to the movement speed required by the user; in this process, the air pressure monitored by each air pressure sensor is recorded as the third air pressure; the contact situation and force size of the user's limbs with each elastic bag during the exercise are analyzed according to the changes in the third air pressure, and the rehabilitation situation of the user's limbs is analyzed according to the contact situation and force size of the user's limbs with each elastic bag during the exercise; according to the user's rehabilitation situation, gas is supplemented to the elastic bags at the parts of the user's limbs where the rehabilitation situation is poor through the air path system, and the gas at this time is recorded as the third gas volume.

[0035] Beneficial effects: By adjusting the height of the wrapping layer and the position of the sliding disk according to the user's height and position, it is ensured that the device can be personalized according to the physical characteristics of each user, thereby improving the accuracy of rehabilitation training. During the installation of the wrapping layer, by monitoring the air pressure and strain signals and combining the characteristics of the user's limbs, the amount of air in the elastic bag is accurately adjusted to achieve tight wrapping and personalized support for the user's limbs, further improving the rehabilitation effect. During the exercise monitoring stage, the air pressure changes of the user's limbs are monitored in real time to analyze the user's contact with the elastic bag and the amount of force during exercise, and then judge the rehabilitation of the user's limbs. According to the monitoring results, the support strength of the user's limbs is dynamically adjusted, and additional gas is supplemented to the parts with poor rehabilitation conditions, thereby achieving dynamic optimization of rehabilitation training.

[0036] Furthermore, in S2, the gas volume initially input is set in advance according to the user's weight and recorded as the basic gas volume.

[0037] Beneficial effect: The design of the basic air volume can provide effective support to the user as soon as the wrapping layer wraps the user.

[0038] Furthermore, the elderly rehabilitation nursing service robot is also used to assist the user in position transfer, and its use method is as follows:

[0039] S1, device movement: according to the user's position, control the remote control wheel to move to the user's position; adjust the position of the sliding plate to move the sliding plate directly above the user; control the winch to lower the steel cable to lower the package layer to the user's height.

[0040] S2, installation of the wrapping layer: according to the user's weight, a basic amount of gas is delivered to the elastic bag connected to it through the air path system; according to the user's physical condition, the wrapping layer is wrapped around one or more parts of the user's arms, legs, waist or buttocks, and after wrapping, the joints and interfaces of the wrapping layer are snapped and fixed.

[0041] S3, user transfer: after wrapping the user, control the winch to retract the steel cable and raise the wrapping layer to 0.8-1.3m above the ground; adjust the position of the sliding plate to adjust the user to face the moving direction; control the remote control wheel to move to the specified position, and after reaching the specified position, control the winch to lower the steel cable and lower the wrapping layer to the specified position; when the lowest elastic bag contacts the specified position, the air pressure at this time is monitored by the air pressure sensor and recorded as the contact air pressure; when the contact air pressure is reached, reduce the speed of the winch to lower the steel cable. When the user transfer is completed, control the winch to stop running and remove the wrapping layer.

[0042] Beneficial effect: During the user transfer process, the air pressure sensor monitors the contact between the elastic bag and the designated position in real time. When the contact pressure is reached, the speed of the winch lowering the steel cable is reduced to ensure a smooth landing for the user. This realizes the intelligent dynamic adjustment function and further improves the safety and stability of user transfer.

[0043] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is an axonometric diagram of the elderly rehabilitation nursing service robot in an embodiment of the present invention.

[0045] Figure 2 It is a front view of the wrapping layer in an embodiment of the present invention.

[0046] Figure 3 It is a top cross-sectional view of the wrapping layer in an embodiment of the present invention.

[0047] The figure marks in the drawings of the specification include: 1. base; 2. rotating table; 3. bracket; 4. support seat; 5. winch; 6. support rod; 7. electric control cylinder; 8. sliding plate; 9. telescopic rod; 10. wrapping layer; 11. elastic bag; 12. piston; 13. strain gauge; 14. folding frame; 15. support bar 15. DETAILED DESCRIPTION

[0048] The following is further described in detail through specific implementation methods:

[0049] Embodiment 1:

[0050] like Figure 1-3 As shown, a rehabilitation nursing service robot for the elderly includes a moving component for assisting the user's movement, an adjusting component for adjusting the nursing posture, and several nursing components for performing rehabilitation training nursing for the user.

[0051] The nursing component includes a flexible wrapping layer 10, and the side wall of the wrapping layer 10 is provided with a plurality of through holes, and a piston 12 is slidably fitted in each of the through holes, and the piston 12 is in the shape of an "I"; elastic capsules 11 are fixedly bonded on both sides of the through holes, and both sides of the piston 12 are respectively located in the elastic capsules 11 adjacent to it and are slidably fitted with the elastic capsules 11; a strain gauge 13 is fixedly connected to one side of the piston 12 with screws, and an air pressure sensor is embedded and installed on the other side of the piston 12; the elastic capsules 11 embedded and installed with the air pressure sensor are connected to the air circuit system. In this embodiment, the air circuit system includes an air supply pipe, and an air pump is connected in the air supply pipe, and the controller is used to control the operation of the air pump.

[0052] The side walls of the wrapping layer 10 are fixedly bonded with a number of joints and opened with a number of interfaces; the joints and interfaces between adjacent wrapping layers 10 are detachably connected; the joints and interfaces of the side walls of the wrapping layer 10 itself can also be detachably connected; when the top and bottom of the same wrapping layer 10 are detachably engaged, the wrapping layer 10 can form a cylindrical ring to wrap the arms or legs, and when several wrapping layers 10 are engaged with each other, they can form a larger cylindrical ring to wrap the waist, or form a semicircular cushion to wrap the buttocks; thereby adapting to different users and different training contents.

[0053] The controller is used to control the air pump to deliver gas to the elastic bag 11 connected to it; the controller is also used to receive strain signals and air pressure signals from the strain gauge 13 and the air pressure sensor, and analyze the user's body posture and stress conditions of various parts based on the strain signals and air pressure signals.

[0054] The mobile assembly comprises a base 1, and a plurality of remote control wheels are embedded and installed at the bottom of the base 1; the controller is used to control the movement of the remote control wheels and thus drive the overall movement of the device.

[0055] The adjustment assembly includes a first driving member vertically embedded and installed in the base 1; the output shaft of the first driving member is coaxially fixedly connected with a rotating table 2 by bolts, the top of the rotating table 2 is fixedly connected with a frame-shaped bracket 3 by bolts, the top wall of the bracket 3 is fixedly connected with a winch 5 by bolts, and a number of steel cables are wound in the winch 5; the inner side wall of the bracket 3 is slidably matched with a support seat 4; the top of the support seat 4 and the end of the steel cable away from the winch 5 are both fixedly connected by bolts; the side wall of the support seat 4 is symmetrically fixedly connected with a support rod 6 by bolts; the side wall of the support seat 4 is also fixedly connected with an electric control cylinder by bolts 7; the output shaft of the electric control cylinder 7 is bolted and fixedly connected with the sliding plate 8, and the support rods 6 all penetrate the sliding plate 8 and slide with the sliding plate 8; the front end of the support rod 6 is welded with a limit block for preventing the sliding plate 8 from falling off; the bottom of the sliding plate 8 is bolted and fixedly connected with the second driving member, and the output shaft of the second driving member is coaxially bolted and fixedly connected with the rotating plate; a plurality of telescopic rods 9 are hinged at the bottom of the rotating plate; adjacent telescopic rods 9 are detachably engaged with the side walls of the adjacent wrapping layer 10; the controller is used to control the opening and closing of the first driving member, the second driving member and the hoist 5. In this embodiment, the first driving member and the second driving member are selected from the first motor and the second motor.

[0056] During use, the user controls the first motor to start through the controller, which can control the rotating table 2 to rotate, thereby driving the bracket 3 and the support seat 4 to rotate, and then driving the support rod 6 and the wrapping layer 10 to change direction; the user controls the second machine to start through the controller, which can drive the turntable to rotate, thereby adjusting the direction of the wrapping layer 10 itself, thereby improving the convenience and applicability of the wrapping layer 10.

[0057] The specific implementation process is as follows:

[0058] by Figure 1 For example, first, according to the height of the user, the controller controls the winch 5 to retract and release the steel cable, so that the support seat 4 slides on the bracket 3, thereby adjusting the height of the support rod 6 and the wrapping layer 10; then, according to the position of the user, the controller controls the extension and retraction of the electric cylinder 7 to drive the sliding plate 8 to slide along the support rod 6, and adjust the position of the sliding plate 8 so that the sliding plate 8 moves to the top of the user, and the wrapping layer 10 is located on both sides of the user.

[0059] After the position adjustment is completed, the wrapping layer 10 is snapped and fixed according to the user's needs; in this process, an air pump is first used to deliver a certain amount of gas to each elastic bag 11 connected to it, so that the elastic bag 11 connected to the air pump expands, and then the wrapping layer 10 has a certain supporting force. At this time, the piston 12 will slide along the through hole toward the user due to the squeezing of the gas, so that the strain gauge 13 slides toward the inner wall of the elastic bag 11 close to the user side, which is convenient for the subsequent collection of strain conditions at various locations of the wrapping layer 10.

[0060] After the initial inflation of the wrapping layer 10 is completed, the wrapping layer 10 is then wrapped around one or more of the user's arms, legs, waist or buttocks according to the user's rehabilitation training content, and after wrapping is completed, the joints and interfaces of the wrapping layer 10 are snapped and fixed. In this embodiment, the wrapping layer 10 is wrapped around the patient's arm.

[0061] When the user's arm contacts each elastic bag 11, the air pressure value in the elastic bag 11 is monitored by the air pressure sensor, and the strain value of the elastic bag 11 is detected by the strain gauge 13. The controller analyzes the contact between the user's limb and each elastic bag 11 according to the air pressure value and the strain value, and determines whether the wrapping layer 10 wraps the user's arm tightly; the air volume in the elastic bag 11 is adjusted according to the characteristics of the user's arm.

[0062] by Figure 1 For example, if the air pressure and strain values ​​inside each elastic bag 11 in contact with the user's left arm remain stable, the air pressure and strain values ​​at various locations on the user's left side are very close, and are all greater than the initial air pressure and strain values, then it is judged that the patient's left arm is tightly wrapped; but the air pressure and strain values ​​inside each elastic bag 11 in contact with the user's right arm are mostly less than or equal to the initial air pressure and strain values, then it is judged that the wrapping layer 10 on the user's right arm does not fit the user's arm at this time, and at this time the air pump will be started through the controller to inflate each elastic bag 11 on the user's right arm, so that the air pressure and strain values ​​inside each elastic bag 11 in contact with the user's right arm are greater than the initial air pressure and strain values, and when the air pressure value is greater than 15% of the initial air pressure value and the strain gauge 13 is greater than the initial value of the strain value, it is judged that the wrapping layer 10 on the user's right arm is completely in contact with the user's arm, and inflation is stopped.

[0063] After the wrapping layer 10 is wrapped, the user is assisted in exercise according to the rehabilitation training required by the user.

[0064] For example, when the user needs to move, the wrapping layer 10 is wrapped around the legs or waist, the remote control wheel is started by the controller, and the moving speed of the remote control wheel is adjusted to a moving speed suitable for the user, and the user can walk; when the user needs to perform upper limb training, the wrapping layer 10 is wrapped around the arm, and the telescopic rod 9 is adjusted by the controller to perform upper limb training.

[0065] During this process, the air pressure sensor and the strain gauge 13 will monitor the air pressure and strain values ​​at various locations of the wrapping layer 10 in real time; the contact and force levels between the user's limbs and each elastic bag 11 during exercise are analyzed based on the changes in the air pressure and strain values; the recovery of the user's limbs is analyzed based on the contact and force levels between the user's limbs and each elastic bag 11 during exercise; and according to the user's recovery status, the air pump is used to replenish gas to the elastic bags 11 at locations where the user's limbs are in poor recovery.

[0066] For example, during the user's rehabilitation training, if the air pressure and strain values ​​at a certain position of the wrapping layer 10 are relatively stable, with small fluctuations, and are continuously higher than the initial air pressure value, it is judged that this position continues to support the patient, and the patient is in good recovery at this position; if the air pressure change and strain signal fluctuations at a certain position of the wrapping layer 10 are large, and the air pressure and strain values ​​fluctuate, it is judged that the user's limbs may be in pain or insufficient support when using this place for support, resulting in the user retracting the limbs due to pain or unstable support during the support process, causing the air pressure and strain values ​​to fluctuate, so that the controller will judge that the recovery condition here is poor or the support force is insufficient, and the controller will control the air pump to continue to supply gas to this place to increase the support force.

[0067] When the user needs massage service after rehabilitation training, the user wraps the wrapping layer 10 around the part that needs massage, and then starts the air pump through the controller. The air pump will inflate each elastic bag 11 evenly and sequentially, and the airflow will push each piston 12 plate to slide repeatedly along the through hole, thereby repeatedly pressing the user's muscles, playing a massage role and relaxing the patient's muscles.

[0068] The present invention adopts a flexible wrapping layer 10 so that the wrapping layer 10 can adapt to users of different body shapes when wrapping the user; it can also wrap the user in different shapes and positions according to the limbs that need to be wrapped; it can act on the patient's arms, legs, waist, buttocks and other parts of the body, and more comprehensively meet the needs of users.

[0069] Through the design of the elastic bag 11 and the wrapping layer 10, the present invention can use gas to flexibly wrap and support the patient, greatly improving the comfort and stability of the support. In the process of rehabilitation training, through the design of the strain gauge 13 and the air pressure sensor, the fluctuation of the air pressure and strain signals can be monitored in real time, and then the contact and force conditions between the user's limbs and the elastic bag 11 can be analyzed, and whether the supporting strength and wrapping condition of the wrapping layer 10 for the user are appropriate can be analyzed according to each force point, so that the amount of gas in the elastic bag 11 can be adjusted to adjust the supporting force and wrapping.

[0070] The present invention can dynamically adjust the wrapping degree and the supporting strength, and through personalized wrapping adjustment and support adjustment, it greatly enhances the user's comfort, effectively improves the patient's rehabilitation effect, and meets the physical conditions and rehabilitation needs of different users.

[0071] Embodiment 2:

[0072] like Figure 1 As shown, the difference from the above embodiment is that a folding wire frame 14 of a folding wire type is symmetrically welded on one side of the base 1, and a follower wheel is embedded and installed at the bottom of the folding wire frame 14.

[0073] The specific implementation process is as follows: the folding frame 14 can greatly increase the bottom length and weight, and improve the stability of the device operation; the folding line design can increase the user's bottom movement space to avoid affecting the user's foot movement range; the follower wheels at the bottom of the folding frame 14 can effectively improve the stability of the device during movement.

[0074] Embodiment 3:

[0075] like Figure 1 As shown, the difference from the above embodiment is that a triangular block is bolted and fixedly connected at the connection between the support rod 6 and the support seat 4.

[0076] The specific implementation process is as follows: the triangular block can increase the connection stability between the support rod 6 and the support seat 4, so that the support rod 6 provides better supporting performance.

[0077] Embodiment 4:

[0078] like Figure 3 As shown, the difference from the above embodiment is that a plurality of support strips are embedded and installed on the inner wall of the wrapping layer 10, and the support strips are made of elastic resin material. In addition, a plurality of heating wires can be embedded and installed in the wrapping layer 10 to heat and care for the user's limbs.

[0079] The specific implementation process is as follows: the support bar can enable the wrapping layer 10 to maintain the shape required by the user during the wrapping process, and prevent the wrapping layer 10 from being deformed due to its own softness.

[0080] Embodiment 5:

[0081] like Figure 1 As shown, the difference from the above embodiment is that a camera is fixedly connected to the bottom bolt of the turntable, and the controller is used to identify the user's motion image through the camera, analyze the user's motion trajectory and motion safety based on the user's motion image, and calculate the user's motion steps according to the motion trajectory.

[0082] The specific implementation process is as follows: the controller can collect the user's motion images through the camera and then understand the user's motion situation.

[0083] Embodiment 6:

[0084] like Figure 1 As shown, the difference from the above embodiment is that the elderly rehabilitation care service robot is used to assist users in rehabilitation training, and its use method is as follows:

[0085] S1, position adjustment: adjust the height of the wrapping layer 10 according to the height of the user, adjust the position of the sliding plate 8 according to the position of the user, and move the sliding plate 8 to be directly above the user.

[0086] S2, installation of the wrapping layer 10: the air pump is used to deliver air to the elastic bag 11 connected to it according to the user's weight, and the air pressure in the elastic bag 11 connected to it is monitored by the air pressure sensor and recorded as the basic air pressure; according to the user's rehabilitation training content, the wrapping layer 10 is wrapped around one or more of the user's arms, legs, waist or buttocks, and after wrapping, the joints and interfaces of the adjacent wrapping layers 10 are clamped and fixed. The initial input air volume is set in advance according to the user's weight, and it is recorded as the basic air volume.

[0087] When the user's limbs come into contact with each elastic bag 11, the air pressure monitored by each air pressure sensor at this time is recorded as the first air pressure. The contact situation between the user's limbs and each elastic bag 11 is analyzed based on the strain signal of the strain gauge 13 combined with the first air pressure, and it is determined whether the wrapping layer 10 is tightly wrapped with the part that the user needs to wrap; according to the position that the user needs to wrap and the size of the user's limb, the air volume in the elastic bag 11 is adjusted, and based on the change of the strain signal of the strain gauge 13, the elastic bag 11 at each position wraps the user's limb according to the position that the user needs to wrap. At this time, the adjusted air volume is recorded as the second air volume, and the air pressure monitored by each air pressure sensor is recorded as the second air pressure.

[0088] S3, motion monitoring: after the wrapping layer 10 is installed, the user is assisted in motion according to the rehabilitation training required by the user; when the user needs to move, the remote control wheel is controlled to start and adjusted to the movement speed required by the user; in this process, the air pressure monitored by each air pressure sensor is recorded as the third air pressure; the contact conditions and force levels of the user's limbs with each elastic bag 11 during the exercise are analyzed according to the changes in the third air pressure, and the rehabilitation conditions of the user's limbs are analyzed according to the contact conditions and force levels of the user's limbs with each elastic bag 11 during the exercise; according to the user's rehabilitation conditions, the elastic bags 11 at the parts of the user's limbs where the rehabilitation conditions are poor are supplemented with gas through an air pump, and the gas volume at this time is recorded as the third gas volume.

[0089] The specific implementation process is as follows: The present invention adjusts the height of the wrapping layer 10 and the position of the sliding plate 8 according to the height and position of the user, thereby ensuring that the device can be personalized according to the physical characteristics of each user, thereby improving the accuracy of rehabilitation training.

[0090] When the wrapping layer 10 is installed, the basic air volume is first designed to provide a preliminary support for the patient's limbs, and then the basic air pressure and the first air pressure are monitored, combined with the characteristics of the user's limbs, the contact and force conditions of the user's limbs with the wrapping layer 10 can be accurately judged; and the second air volume and the second air pressure are used to accurately adjust the air volume in the elastic bag 11, thereby achieving tight wrapping and personalized support for the user's limbs, further improving the rehabilitation effect.

[0091] During the exercise monitoring stage, the air pressure changes of the user's limbs are monitored in real time, so as to analyze the contact and force of the user with the elastic bag 11 during exercise, and then judge the rehabilitation of the user's limbs. According to the monitoring results, through the design of the third air volume and its third air pressure, the support strength of the user's limbs is dynamically adjusted, and additional air is supplemented to the parts with poor rehabilitation conditions, so as to achieve dynamic optimization of rehabilitation training.

[0092] Embodiment 7:

[0093] like Figure 1 As shown, the difference from the above embodiment is that the elderly rehabilitation care service robot is also used to assist the user in position transfer, and its use method is as follows:

[0094] S1, device movement: according to the user's position, control the remote control wheel to move to the user's position; adjust the position of the sliding plate 8 and move the sliding plate 8 to just above the user; control the winch 5 to lower the steel cable and lower the wrapping layer 10 to the height of the user.

[0095] S2, installation of the wrapping layer 10: according to the user's weight, a basic amount of gas is delivered to the elastic bag 11 connected to it through the air path system; according to the user's physical condition, the wrapping layer 10 is wrapped around one or more parts of the user's arms, legs, waist or buttocks, and after wrapping, the joints and interfaces of the wrapping layer 10 are snapped and fixed.

[0096] S3, user transfer: after wrapping the user, control the winch 5 to retract the steel cable and raise the wrapping layer 10 to 1m above the ground; adjust the position of the sliding plate 8 to adjust the user to face the moving direction; control the remote control wheel to move to the specified position, and after reaching the specified position, control the winch 5 to lower the steel cable and lower the wrapping layer 10 to the specified position; when the lowest elastic bag 11 contacts the specified position, monitor the air pressure at this time through the air pressure sensor and record it as the contact air pressure; when the contact air pressure is reached, reduce the speed of the winch 5 lowering the steel cable. When the user transfer is completed, control the winch 5 to stop running and remove the wrapping layer 10.

[0097] The specific implementation process is as follows: During the user transfer process, the air pressure sensor monitors the contact between the elastic bag 11 and the designated position in real time. When the contact air pressure is reached, the speed of the winch 5 lowering the steel cable is reduced to ensure that the user lands smoothly. This realizes the intelligent dynamic adjustment function and further improves the safety and stability of the user transfer.

[0098] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A nursing service robot for elderly people, characterized in that: It includes a moving component for assisting the user to move, an adjusting component for adjusting the nursing position, and several nursing components for performing rehabilitation training and nursing care for the user; The nursing component comprises a flexible wrapping layer (10), the side wall of the wrapping layer (10) is provided with a plurality of through holes, each of the through holes is slidably fitted with a piston (12), and the piston (12) is in the shape of an "I"; both sides of the through holes are fixedly connected with an elastic bag (11), and both sides of the piston (12) are respectively located in the elastic bag (11) adjacent to the piston (12) and are slidably fitted with the elastic bag (11); One side of the piston (12) is fixedly connected to a strain gauge (13), and the other side of the piston (12) is embedded with an air pressure sensor; the elastic bag (11) embedded with the air pressure sensor is connected to the air path system; The side walls of the wrapping layer (10) are fixedly connected with a plurality of joints and opened with a plurality of interfaces; the joints and interfaces between adjacent wrapping layers (10) are detachably connected; the joints and interfaces of the side walls of the wrapping layer (10) itself are also detachably connected; The controller is used to control the gas path system to deliver gas to the elastic bag (11) connected to the controller; the controller is also used to receive strain signals and air pressure signals from the strain gauge (13) and the air pressure sensor, and analyze the user's body posture and the stress conditions of various parts according to the strain signals and the air pressure signals.

2. The elderly rehabilitation nursing service robot according to claim 1, characterized in that: The mobile assembly comprises a base (1), and a plurality of remote control wheels are embedded and installed at the bottom of the base (1); and a controller is used to control the movement of the remote control wheels.

3. The elderly rehabilitation nursing service robot according to claim 2, characterized in that: The adjustment component comprises a first driving member vertically fixedly connected to the base (1); the output shaft of the first driving member is coaxially fixedly connected to a rotating platform (2); a frame-shaped bracket (3) is fixedly connected to the top of the rotating platform (2); a winch (5) is fixedly connected to the top wall of the bracket (3); and a plurality of steel cables are wound inside the winch (5); The inner side wall of the bracket (3) is slidably matched with a support seat (4); the top of the support seat (4) is fixedly connected to the end of the steel cable away from the winch (5); the side wall of the support seat (4) is symmetrically fixedly connected with a support rod (6); the side wall of the support seat (4) is also fixedly connected with an electric control cylinder (7); the output shaft of the electric control cylinder (7) is fixedly connected with a sliding disk (8), and the support rods (6) all penetrate the sliding disk (8) and are slidably matched with the sliding disk (8); A second driving member is fixedly connected to the bottom of the sliding plate (8), and an output shaft of the second driving member is coaxially fixedly connected to the rotating plate; a plurality of telescopic rods (9) are hingedly connected to the bottom of the rotating plate; adjacent telescopic rods (9) are detachably connected to the side walls of the adjacent wrapping layer (10); The controller is used to control the opening and closing of the first driving member, the second driving member and the winch (5).

4. The elderly rehabilitation nursing service robot according to claim 3, characterized in that: A folding wire frame (14) is symmetrically fixedly connected to one side of the base (1), and a follower wheel is embedded and installed at the bottom of the folding wire frame (14).

5. The elderly rehabilitation nursing service robot according to claim 4, characterized in that: A triangular block is fixedly connected at the connection between the support rod (6) and the support seat (4).

6. The elderly rehabilitation nursing service robot according to claim 5, characterized in that: A plurality of support bars (15) are embedded and installed on the inner wall of the wrapping layer (10), and the support bars (15) are made of elastic resin material.

7. The elderly rehabilitation nursing service robot according to claim 6, characterized in that: A camera is fixedly connected to the bottom of the turntable. The controller is used to identify the user's motion image through the camera, analyze the user's motion trajectory and motion safety based on the user's motion image, and calculate the user's motion steps according to the motion trajectory.

8. The elderly rehabilitation nursing service robot according to claim 7, characterized in that: The elderly rehabilitation care service robot is used to assist users in rehabilitation training, and its use method is as follows: S1, position adjustment: adjusting the height of the wrapping layer (10) according to the height of the user, adjusting the position of the sliding plate (8) according to the position of the user, and moving the sliding plate (8) to be directly above the user; S2, installation of the wrapping layer (10): gas is delivered to the elastic bag (11) connected to the elastic bag (11) through the air path system according to the weight of the user, and the air pressure in the elastic bag (11) connected to the elastic bag (11) is monitored by the air pressure sensor and recorded as the basic air pressure; according to the rehabilitation training content of the user, the wrapping layer (10) is wrapped around one or more parts of the user's arms, legs, waist or buttocks, and after wrapping is completed, the joints and interfaces of the adjacent wrapping layers (10) are clamped and fixed; When the user's limbs come into contact with each elastic bag (11), the air pressure monitored by each air pressure sensor at this time is recorded as the first air pressure, and the contact between the user's limbs and each elastic bag (11) is analyzed based on the strain signal of the strain gauge (13) combined with the first air pressure to determine whether the wrapping layer (10) is tightly wrapped around the part that the user needs to wrap; The air volume in the elastic bag (11) is adjusted according to the position of the user to be wrapped and the size of the user's limbs, and based on the change of the strain signal of the strain gauge (13), the elastic bag (11) at each position wraps the user's limbs according to the position of the user to be wrapped and the characteristics of the user's limbs. At this time, the adjusted air volume is recorded as the second air volume, and the air pressure monitored by each air pressure sensor is recorded as the second air pressure; S3, motion monitoring: after the wrapping layer (10) is installed, the user is assisted in motion according to the rehabilitation training required by the user; when the user needs to move, the remote control wheel is controlled to start and adjusted to the movement speed required by the user; in this process, the air pressure monitored by each air pressure sensor is recorded as the third air pressure; according to the change of the third air pressure, the contact situation and force magnitude of the user's limbs and each elastic bag (11) during the movement are analyzed, and according to the contact situation and force magnitude of the user's limbs and each elastic bag (11) during the movement, the rehabilitation situation of the user's limbs is analyzed; according to the user's rehabilitation situation, gas is supplemented to the elastic bag (11) at the part of the user's limb where the rehabilitation situation is poor through the air path system, and the gas volume at this time is recorded as the third gas volume.

9. The elderly rehabilitation nursing service robot according to claim 8, characterized in that: In S2, the gas volume initially input is set in advance according to the user's weight and recorded as the basic gas volume.

10. The elderly rehabilitation nursing service robot according to claim 9, characterized in that: The elderly rehabilitation nursing service robot is also used to assist users in position transfer, and its use method is as follows: S1, device movement: according to the position of the user, the remote control wheel is controlled to move to the user's position; the position of the sliding plate (8) is adjusted to move the sliding plate (8) to the position directly above the user; the winch (5) is controlled to lower the steel cable to lower the wrapping layer (10) to the height of the user; S2, installation of the wrapping layer (10): according to the weight of the user, a basic amount of gas is delivered to the elastic bag (11) connected thereto through the gas path system; according to the physical condition of the user, the wrapping layer (10) is wrapped around one or more parts of the user's arms, legs, waist or buttocks, and after wrapping is completed, the joints and interfaces of the wrapping layer (10) are snapped and fixed; S3, user transfer: after wrapping the user, control the winch (5) to retract the steel cable and raise the wrapping layer (10) to 0.8-1.3m above the ground; adjust the position of the sliding plate (8) to adjust the user to face the moving direction; control the remote control wheel to move to the specified position, and after reaching the specified position, control the winch (5) to lower the steel cable and lower the wrapping layer (10) to the specified position; when the lowermost elastic bag (11) contacts the specified position, the air pressure at this time is monitored by the air pressure sensor and recorded as the contact air pressure; when the contact air pressure is reached, reduce the speed of the winch (5) to lower the steel cable, and when the user transfer is completed, control the winch (5) to stop running and release the wrapping layer (10).

Images