A rehabilitation nursing service robot for the elderly

Abstract

The present invention relates to the field of rehabilitation management technology, and specifically to an elderly rehabilitation nursing service robot, comprising a moving component for assisting user movement, an adjusting component for adjusting nursing posture, and several nursing components for nursing users; the nursing component comprises a flexible wrapping layer, a side wall of the wrapping layer is provided with several through holes, and pistons are slidably fitted in the through holes, and the pistons are in the shape of an "I"; elastic sacs are fixedly connected to both sides of the through holes, and the side walls of the pistons are slidably fitted with the inner walls of the elastic sacs adjacent thereto; a strain gauge is fixedly connected to one side of the piston, and an air pressure sensor is embedded and installed on the other side of the piston; the elastic sacs close to the side of the air pressure sensor are connected to an air path system; the wrapping layer is circumferentially fixedly connected to a joint along its side wall; the wrapping layer is circumferentially provided with an interface that is detachably connected to the joint; the present invention has a complete structure and perfect functions, and can effectively improve the quality of elderly rehabilitation nursing.

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 advancement of socioeconomic levels, the accelerated pace of urbanization, and the growing aging population, the number of elderly patients admitted to hospitals has continued to increase. Therefore, continuously improving medical services to meet the nursing needs of elderly patients is one of the most important issues that needs to be addressed. Simultaneously, with the development of science and technology, various nursing robots for elderly rehabilitation and nursing services have emerged.

[0003] Nursing robots in the existing technology can provide users with some specified auxiliary services by setting some fixed programs and rehabilitation plans. However, since nursing robots in the existing technology cannot make detailed adjustments based on 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, addressing the problem of existing nursing robots being unable to adjust details based on the user's physical condition and only able to implement fixed rehabilitation plans, resulting in low-quality rehabilitation care services and poor adaptability, has become a pressing challenge in the field. Therefore, it is necessary to develop a comprehensive and targeted elderly rehabilitation care service robot. Summary of the Invention

[0005] 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 robot can detect changes in air pressure, analyze the rehabilitation status of the user's limbs, and adjust the support strength and wrapping situation of the user in real time.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: 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 position and several nursing components for caring for the user.

[0007] The care component includes a flexible wrapping layer with several through holes on the side walls. Pistons are slidably fitted in the through holes, and the pistons are in the shape of an "I" character. Elastic bags are fixedly connected on both sides of the through holes, and the two sides of the pistons are respectively located in the elastic bags adjacent to them and slide with the elastic bags. A strain gauge is fixedly connected to one side of the piston, and an air pressure sensor is embedded in the other side of the piston. The elastic bags embedded 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 on each side wall of the wrapping layer itself are also 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 the 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] Based on the desired wrapping location, a certain amount of gas is delivered to the connected elastic sac via the air circuit system, and the air pressure within the connected elastic sac is monitored via an air pressure sensor. Based on the user's rehabilitation training, the wrapping layer is then applied to one or more of the user's arms, legs, waist, or buttocks. Once wrapped, the wrapping layer's connectors and interfaces are snapped in place. When the user's limbs come into contact with each elastic sac, the air pressure within each sac is monitored via an air pressure sensor, and the strain signals at each location are detected via strain gauges. Changes in air pressure and strain signals are used to determine whether the wrapping layer is securely wrapped around the desired area. Then, a certain amount of gas is delivered again to the connected elastic sac via the air circuit system, ensuring that the wrapping layer securely wraps 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, 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.

[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. According to each force point, it is analyzed whether the support strength and wrapping condition of the wrapping layer for the user are appropriate, and then the support force and wrapping property can be adjusted by adjusting the amount of gas in the elastic bag.

[0015] 3. Compared with the programmed nursing solutions in the prior art, the present invention can dynamically adjust the degree of wrapping and support strength. 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.

[0016] 4. In existing rehabilitation nursing technologies, crutches, mechanical arms or legs are often used to assist patients in moving, thereby achieving rehabilitation training. However, these devices all use mechanical structures to support the patient's limbs, which are highly oppressive to the patient's limbs. Long-term use can easily cause indentations to form on the contact areas between the patient's limbs and such devices, and even cause compression bruises. They are uncomfortable and 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 rehabilitation training conditions. It has strong applicability, avoids indentations and bruises on patients due to long-term wear, and has high safety.

[0017] 5. In existing rehabilitation nursing technologies, 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. Combined with the free adjustment of the position, height and direction of the wrapping layer, different rehabilitation training contents can be achieved, 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 the 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 inside 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 walls of the support seat are symmetrically fixedly connected to support rods; the side walls of the support seat are 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 all slide with 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 the turntable; a number of telescopic rods are hinged at the bottom of the turntable; 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: By adjusting the rotation of the turntable through the controller, the direction of the wrapping layer can be effectively adjusted; by adjusting the retraction and extension of the winch through the controller, the height of the wrapping layer can be effectively adjusted; by controlling the extension and retraction of the electric cylinder through the controller, the horizontal position of the wrapping layer can be effectively adjusted; through the design of the turntable, the wrapping layer can rotate on its own, which makes it easier for users to change direction 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 frame is symmetrically fixedly connected to one side of the base, and a follower wheel is embedded in the bottom of the folding frame.

[0023] Beneficial effects: The folding wire frame can significantly increase the length and weight of the bottom, thereby improving the stability of the device's 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 during movement.

[0024] Furthermore, triangular blocks are fixedly connected to 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 strips 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 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.

[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 user's height, adjust the position of the sliding plate according to the user's position, 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. After the wrapping is completed, the connectors and interfaces of the wrapping layer are snapped in 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. According to the strain signal of the strain gauge combined with the first air pressure, the contact situation of the user's limbs and each elastic bag is analyzed to determine whether the wrapping layer 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 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 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 of the user's limbs with each elastic bag during the exercise; according to the user's rehabilitation situation, gas is added to the elastic bags of the parts of the user's limbs where the rehabilitation 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 precisely adjusted to achieve tight wrapping and personalized support for the user's limbs, further improving the rehabilitation effect. During the motion 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 recovery, thereby achieving dynamic optimization of rehabilitation training.

[0036] Furthermore, in S2, the initial input gas volume 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 care service robot is also used to assist users 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 and move the sliding plate to just above the user; control the winch to lower the steel cable and lower the package layer to the user's height.

[0040] S2, wrap layer installation: 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 wrap layer is wrapped around one or more of the user's arms, legs, waist or buttocks. After wrapping is completed, the connectors and interfaces of the wrap layer are snapped in 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. 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, a pressure sensor monitors the contact between the elastic bladder and the designated position in real time. When the contact pressure is reached, the winch lowers the cable at a reduced speed to ensure a smooth landing for the user. This enables intelligent dynamic adjustment, further improving the safety and stability of user transfers.

[0043] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is an axonometric diagram of the elderly rehabilitation care 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 4 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 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] Example 1:

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

[0051] The care component includes a flexible wrapping layer 10 with several through-holes formed in its sidewalls. Each through-hole is slidably fitted with a piston 12 in the shape of an I. Elastic bladders 11 are fixedly bonded to each side of the through-holes. The pistons 12 are located on either side of the adjacent elastic bladders 11 and slideably engage with each other. A strain gauge 13 is screwed to one side of the pistons 12, and an air pressure sensor is embedded in the other side of the pistons 12. The elastic bladders 11 with embedded air pressure sensors are connected to an air circuit system. In this embodiment, the air circuit system includes an air supply pipe connected to an air pump. A controller is used to control the operation of the air pump.

[0052] Several joints are fixedly bonded and several interfaces are opened on the side walls of the wrapping layer 10; the joints and interfaces between adjacent wrapping layers 10 are detachably connected; the joints and interfaces on 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 pressure signals from the strain gauge 13 and the air pressure sensor, and analyze the user's posture and the stress conditions of various parts based on the strain signals and pressure signals.

[0054] The mobile assembly includes 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 thereby drive the entire device to move.

[0055] The adjustment assembly includes a first driving member vertically embedded in the base 1; the output shaft of the first driving member is coaxially fixedly connected to the rotating table 2 with bolts, the top of the rotating table 2 is fixedly connected to the frame-shaped bracket 3 with bolts, the top wall of the bracket 3 is fixedly connected to the winch 5 with bolts, and a number of steel cables are wound in the winch 5; the inner wall of the bracket 3 is slidably matched with the support seat 4; the top of the support seat 4 and the end of the steel cable away from the winch 5 are both bolted fixedly connected; the side wall of the support seat 4 is symmetrically bolted fixedly connected to the support rod 6; the side wall of the support seat 4 is also bolted fixedly connected to the electric control cylinder 7; the output shaft of the electric cylinder 7 is bolted to a sliding plate 8, and the support rods 6 all extend through and slidably engage with the sliding plate 8. A stopper is welded to the front end of the support rods 6 to prevent the sliding plate 8 from falling off. The bottom of the sliding plate 8 is bolted to a second drive member, and the output shaft of the second drive member is coaxially bolted to the turntable. Several telescopic rods 9 are hinged to the bottom of the turntable. Adjacent telescopic rods 9 are removably engaged with the side walls of the adjacent wrapping layer 10. A controller is used to control the opening and closing of the first and second drive members and the hoist 5. In this embodiment, the first and second drive members are first and second motors.

[0056] During use, the user controls the first motor to start through the controller, which can control the rotating table 2 to rotate, drive the bracket 3 and the support seat 4 to rotate, and then drive 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, and 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 user's height, the controller controls the winch 5 to retract and extend 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 user's position, the controller controls the extension and retraction of the electric cylinder 7, driving the sliding plate 8 to slide along the support rod 6, and adjusting the position of the sliding plate 8 so that the sliding plate 8 moves to directly above 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, which is convenient for the subsequent collection of strain conditions at various parts of the wrapping layer 10.

[0060] After the initial inflation of the wrap layer 10 is completed, the wrap layer 10 is then wrapped around one or more of the user's arms, legs, waist, or buttocks, depending on the user's rehabilitation training content. After wrapping, the joints and interfaces of the wrap layer 10 are snapped together and fixed. In this embodiment, the wrap 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 based on the air pressure value and strain value, and determines whether the wrapping layer 10 wraps the user's arm tightly; and adjusts the air volume in the elastic bag 11 according to the characteristics of the user's arm.

[0062] by Figure 1 For example, if the air pressure and strain values inside the elastic bags 11 in contact with the user's left arm remain stable, and the air pressure and strain values at various locations on the user's left side are very close to each other 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 if the air pressure and strain values inside the elastic bags 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 by the controller to inflate the elastic bags 11 on the user's right arm, so that the air pressure and strain values inside the elastic bags 11 in contact with the user's right arm are greater than the initial air pressure and strain values. 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 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 exercising 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 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 the various elastic bags 11 during exercise are analyzed based on the changes in the air pressure and strain values; the user's limb recovery status is analyzed based on the contact and force levels between the user's limbs and the various elastic bags 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 have poor recovery.

[0066] For example, during the user's rehabilitation training, if the air pressure value and strain value 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 condition at this position; if the air pressure change and strain signal at a certain position of the wrapping layer 10 fluctuate greatly, and the air pressure value and strain value 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 value and strain value 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 a massage service after rehabilitation training, the user wraps the wrapping layer 10 around the part that needs massage, and then controls the air pump to start through the controller. The air pump will inflate each elastic bag 11 evenly and in sequence. The airflow will push each piston 12 plate to slide repeatedly along the through hole, and then repeatedly press the user's muscles, which has the effect of massaging 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; at the same time, the wrapping layer 10 can also be wrapped in different shapes and positions according to the limbs that the user needs to wrap; it can act on various parts of the patient's arms, legs, waist, buttocks, etc., 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. During the rehabilitation training, through the design of the strain gauge 13 and the air pressure sensor, the fluctuation of the air pressure and strain signal can be monitored in real time, and the contact and force conditions between the user's limbs and the elastic bag 11 can be analyzed. According to each force point, it is analyzed whether the supporting strength and wrapping condition of the wrapping layer 10 for the user are appropriate, so that the supporting force and wrapping property can be adjusted by adjusting the amount of gas in the elastic bag 11.

[0070] The present invention can dynamically adjust the wrapping degree and support strength. 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] Example 2:

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

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

[0074] Example 3:

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

[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] Example 4:

[0078] like Figure 3 As shown, the difference from the above embodiment is that a plurality of support bars are embedded in the inner wall of the wrapping layer 10, and the support bars are made of elastic resin. In addition, a plurality of heating wires can be embedded 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] Example 5:

[0081] like Figure 1 As shown, the difference from the above embodiment is that a camera is fixedly connected to the bottom of the turntable with bolts, 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] Example 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. Wrap 10 Installation: An air pump delivers air to the elastic bladder 11 connected to it based on the user's weight. A pressure sensor monitors the air pressure within the elastic bladder 11 and records it as the baseline air pressure. Based on the user's rehabilitation training program, the wrap 10 is wrapped around one or more of the user's arms, legs, waist, or hips. Once wrapped, the joints and interfaces of adjacent wraps 10 are locked together. The initial air volume is set in advance based on the user's weight and recorded as the baseline 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. According to the strain signal of the strain gauge 13 combined with the first air pressure, the contact situation between the user's limbs and each elastic bag 11 is analyzed to determine 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; according to the changes in the third air pressure, the contact conditions and force of the user's limbs with each elastic bag 11 during the exercise are analyzed, and the rehabilitation condition of the user's limbs is analyzed according to the contact conditions and force of the user's limbs with each elastic bag 11 during the exercise; according to the user's rehabilitation condition, the elastic bag 11 of the part where the user's limb rehabilitation is poor is replenished with gas through the 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 disk 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. Then, by monitoring the basic air pressure and the first air pressure, 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 then, through the second air volume and the second air pressure, the air volume in the elastic bag 11 is precisely adjusted, thereby achieving tight wrapping and personalized support for the user's limbs, further improving the rehabilitation effect.

[0091] During the exercise monitoring phase, the air pressure changes in the user's limbs are monitored in real time to analyze the user's contact with the elastic bladder 11 and the amount of force applied during exercise, thereby determining the user's limb's recovery. Based on the monitoring results, the design of the third air volume and its corresponding third air pressure dynamically adjusts the support strength of the user's limbs, providing additional air to areas with poor recovery, thus achieving dynamic optimization of rehabilitation training.

[0092] Example 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 of the user's arms, legs, waist or buttocks. After wrapping is completed, 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, 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. 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 bladder 11 and the designated position in real time. When the contact pressure is reached, the speed of the winch 5 lowering the cable is reduced to ensure a smooth landing for the user. This realizes intelligent dynamic adjustment function, further improving the safety and stability of user transfer.

[0098] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A elderly rehabilitation nursing service robot, characterized in that: It includes a movement component for assisting the user to move, an adjustment component for adjusting the nursing position, and several nursing components for providing rehabilitation training and nursing care to the user; The nursing component comprises a flexible wrapping layer (10), wherein a plurality of through holes are formed on the side wall of the wrapping layer (10), wherein pistons (12) are slidably fitted in the through holes, and the pistons (12) are in the shape of an "I"; elastic sacs (11) are fixedly connected to both sides of the through holes, and both sides of the pistons (12) are respectively located in the elastic sacs (11) adjacent thereto and are slidably fitted with the elastic sacs (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 each side wall of the wrapping layer (10) itself are also detachably connected; The controller is used to control the air 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 based on 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 for controlling the movement of the remote control wheels.

3. The elderly rehabilitation nursing service robot according to claim 2, characterized in that: The adjustment assembly includes a first driving member vertically fixedly connected to the base (1); the output shaft of the first driving member is coaxially fixedly connected to the rotating platform (2); the top of the rotating platform (2) is fixedly connected to a frame-shaped bracket (3); the top wall of the bracket (3) is fixedly connected to a winch (5); 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 pass through the sliding disk (8) and are slidably matched with the sliding disk (8); The bottom of the sliding plate (8) is fixedly connected to a second driving member, and the output shaft of the second driving member is coaxially fixedly connected to the turntable; a plurality of telescopic rods (9) are hingedly connected to the bottom of the turntable; 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 hoist (5).

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

5. The elderly rehabilitation nursing service robot according to claim 4, characterized in that: The connection points between the support rod (6) and the support seat (4) are both fixedly connected with triangular blocks.

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 usage method is as follows: 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; S2, installation of the wrapping layer (10): air is delivered to the elastic bag (11) connected thereto by the air path system according to the weight of the user, and the air pressure in the elastic bag (11) connected thereto 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 of the user to be wrapped; According to the position of the user to be wrapped 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 of the user to be wrapped 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; 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 size of the user's limbs and each elastic bag (11) during the movement are analyzed, and the rehabilitation situation of the user's limbs is analyzed according to the contact situation and force size of the user's limbs and each elastic bag (11) during the movement; according to the user's rehabilitation situation, gas is added to the elastic bag (11) of 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 initial input gas volume 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 care service robot is also used to assist users in position transfer, and its usage method is as follows: 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) to move the sliding plate (8) to the top of the user; control the winch (5) 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 user's weight, a basic amount of gas is delivered to the elastic bag (11) connected thereto through the air path system; according to the user's physical condition, the wrapping layer (10) is wrapped around one or more of the user's arms, legs, waist or buttocks, and after wrapping is completed, the joints and interfaces of the wrapping layer (10) are fastened together; 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 designated position, and after reaching the designated position, control the winch (5) to lower the steel cable and lower the wrapping layer (10) to the designated position; when the lowest elastic bag (11) contacts the designated 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. When the user transfer is completed, control the winch (5) to stop running and remove the wrapping layer (10).

Images