Auxiliary turning-over device for bedridden patient

Abstract

The invention provides a turning-over assisting device for a bedridden patient. The turning-over assisting device is characterized in that an inner arm frame drives two inner arms to move in the opposite direction or in the back-to-back direction in the Y direction; the joint structure is arranged at the tail end of the outer moving arm, the rotating arm is rotationally connected with the outer moving arm through the joint structure, the outer arm bandage buckles are arranged at the two ends of the rotating arm in the length direction of the rotating arm, and the outer arm joint driving unit is arranged on the outer moving arm to drive the rotating arm to rotate around the joint structure; the rotating arm is in a meniscus shape matched with the shape of a human body, the rotating arm is connected with a bandage through an outer arm bandage buckle, and the bandage and the rotating arm define a lacing area for binding the chest and the buttocks of a patient. According to the auxiliary turning-over device for the bedridden patient, the patient can turn over stably and thoroughly, deviation of the patient is prevented, the medical care load is relieved, a sickbed does not need to be changed, universality is high, the auxiliary turning-over device can adapt to the body length in a wide range, and intelligence is easy to achieve due to the fact that the auxiliary turning-over device is matched with a sensor, a controller and software.

Description

Technical Field

[0001] This invention relates to the field of medical and nursing technology, and in particular to an assistive turning device for bedridden patients. Background Technology

[0002] For bedridden patients who cannot turn over on their own, maintaining the same sleeping position for a long time can affect blood circulation on the side of their body under pressure, and in severe cases, may even lead to pressure sores and other diseases. However, in the nursing process, for patients who are bedridden for a long time and are physically weak, they usually need the assistance of medical staff because they are unable to turn over on their own. This is especially true for patients who are overweight, which not only increases the difficulty of nursing care but also significantly increases the workload of medical staff.

[0003] However, existing bedridden patient turning devices have problems such as incomplete patient turning or impact during turning, and the patient is significantly off-center from the bed after turning. Furthermore, they require significant modifications to existing hospital beds and have poor versatility.

[0004] It should be noted that the above description of the background technology is only for the purpose of providing a clear and complete explanation of the technical solutions of the present invention and facilitating understanding by those skilled in the art. It should not be assumed that the above technical solutions are known to those skilled in the art simply because they have been described in the background section of the present invention. Summary of the Invention

[0005] The purpose of this invention is to disclose an auxiliary turning device for bedridden patients, which solves many defects of the existing technology, especially to achieve smooth and thorough turning of patients, prevent patients from shifting, reduce the workload of medical staff, and does not require modification of the hospital bed and has strong versatility.

[0006] To achieve the above objectives, the present invention provides an assisted turning device for bedridden patients, comprising: a movable frame, and an outer arm frame and an inner arm frame disposed on the movable frame; the outer arm frame and the inner arm frame are respectively connected to an outer arm and an inner arm extending along the X direction, the outer arm frame drives the outer arm to move along the X, Y, and Z directions, and the inner arm frame drives the inner arm to move along the Y and Z directions; two outer arms and two inner arms are symmetrically arranged along the Y direction, with the outer arms located outside the inner arms; the outer arm frame drives the two outer arms to move towards each other or away from each other along the Y direction, and the inner arm frame drives the two inner arms to move towards each other or away from each other along the Y direction. Reverse movement; the extensor arm includes: an external movable arm, a joint structure, a rotating arm, an extensor arm strap buckle, and an extensor arm joint drive unit, wherein the joint structure is located at the end of the external movable arm, the rotating arm is rotatably connected to the external movable arm through the joint structure, the extensor arm strap buckle is located at both ends of the rotating arm along its length, and the extensor arm joint drive unit is disposed on the external movable arm to drive the rotating arm to rotate around the joint structure; the rotating arm is crescent-shaped to conform to the human body shape, and a strap is connected to the rotating arm through the extensor arm strap buckle, the strap and the rotating arm enclosing a lacing area for binding the patient's chest and buttocks.

[0007] As a further improvement of the present invention, the boom frame includes: a boom crossbeam, a boom Z-axis lifting unit, a boom Y-axis drive unit, a boom guide rod, and a boom bidirectional lead screw; the boom Z-axis lifting unit is installed on the mobile frame along the Z direction and two units are symmetrically arranged along the Y direction; the two ends of the boom crossbeam along its length direction are respectively installed at the top ends of the two boom Z-axis lifting units; the boom guide rod and the boom bidirectional lead screw are sequentially arranged on the boom crossbeam along the Y direction, and both penetrate the end of the outer movable arm away from the joint structure; the outer movable arm meshes with the boom bidirectional lead screw, and the outer movable arm is slidably sleeved with the boom guide rod; the boom Y-axis drive unit is arranged on the boom crossbeam to drive the boom bidirectional lead screw to rotate, thereby driving the two rotating arms to move towards each other or away from each other along the Y direction.

[0008] As a further improvement of the present invention, the inner boom frame includes: an inner boom crossbeam, an inner boom Z-axis lifting unit, an inner boom Y-axis drive unit, an inner boom guide rod, and an inner boom bidirectional lead screw; the inner boom Z-axis lifting unit is installed on the mobile frame along the Z direction and two are symmetrically arranged along the Y direction; the two ends of the inner boom crossbeam along its length direction are respectively installed at the top ends of the two inner boom Z-axis lifting units; the inner boom guide rod and the inner boom bidirectional lead screw are sequentially arranged on the inner boom crossbeam along the Y direction, and both penetrate one end of the inner boom along the X direction;

[0009] The inner arm engages with the inner arm bidirectional lead screw, and the inner arm slides with the inner arm guide rod. The inner arm Y-direction drive unit is configured on the inner arm crossbeam to drive the inner arm bidirectional lead screw to rotate, thereby causing the two inner arms to move towards each other or away from each other along the Y direction.

[0010] As a further improvement of the present invention, the assistive turning device for bedridden patients further includes: an external arm frame drive mechanism disposed on the mobile frame, the external arm frame drive mechanism driving the external arm frame to move along the X direction; or, a first X-direction telescopic unit disposed on the external arm frame and connected to the external arm, the first X-direction telescopic unit driving the external arm to move along the X direction.

[0011] As a further improvement of the present invention, the bedridden patient assistive turning device further includes: an inner arm frame drive mechanism disposed on the mobile frame, the inner arm frame drive mechanism driving the inner arm frame to move in the X direction; or, a second X-direction telescopic unit disposed on the inner arm frame and connected to the inner arm, the second X-direction telescopic unit driving the inner arm to move in the X direction.

[0012] As a further improvement of the present invention, the bottom height of the outer arm beam is greater than the top height of the inner arm beam, and the inner distance between the two outer arm Z-axis lifting units is greater than the outer distance between the two inner arm Z-axis lifting units.

[0013] As a further improvement of the present invention, the rotating arm and the inner arm are variable cross-section structures. The cross-sectional area of ​​the rotating arm is smaller the further away from the outer moving arm along the X direction, and the cross-sectional area of ​​the inner arm is smaller the further away from the inner arm frame along the X direction. The ends of the rotating arm and the inner arm are both flattened round.

[0014] As a further improvement of the present invention, the outer boom drive mechanism includes: a first guide rail disposed along the X direction on the mobile frame, and a first X-direction drive unit disposed on the mobile frame to drive the outer boom Z-direction lifting unit to move along the X direction on the first guide rail; the inner boom drive mechanism includes: a second guide rail disposed along the X direction on the mobile frame, and a second X-direction drive unit disposed on the mobile frame to drive the inner boom Z-direction lifting unit to move along the X direction on the second guide rail.

[0015] As a further improvement of the present invention, the mobile frame includes: a base with a rectangular frame structure, a first support structure and a second support structure; each of the four corners of the base is provided with a movable wheel, and two movable wheels on the base near the side of the outer arm Z-axis lifting unit are provided with a locking structure; the outer arm Z-axis lifting unit is disposed on the first support structure, and the first support structure is controlled by the first X-axis drive unit to move on the first guide rail; the inner arm Z-axis lifting unit is disposed on the second support structure, and the second support structure is controlled by the second X-axis drive unit to move on the second guide rail.

[0016] As a further improvement of the present invention, the assisted turning device for bedridden patients further includes: an intelligent control module, a positioning module, and a parameter adaptation module; the intelligent control module is used to receive a target bed position command and control the mobile frame to move to the target bed position; the positioning module is used to achieve automatic positioning of the target bed position and acquire bed height and patient body shape and size data; the intelligent control module controls the outer arm frame and the inner arm frame to drive the outer arm and the inner arm to position in the X, Y, and Z directions respectively based on the bed height and patient body shape and size data; the parameter adaptation module matches the motion parameters and power parameters of the outer arm and the inner arm according to the patient's body shape, size, and weight data.

[0017] Compared with the prior art, the beneficial effects of the present invention are: by binding the patient's chest and buttocks separately through the tie area, it is ensured that the chest, buttocks and torso rotate synchronously when turning over, avoiding local body lag rotation, such as body twisting caused by the shoulders turning but the buttocks not moving. At the same time, the crescent-shaped structure of the rotating arm is used to maintain the fit between the patient's body and the rotating arm, ensuring the stability of the patient's turning posture. By lifting the patient's waist with the inner arm, a Z-axis gap is created, allowing the rotating arm to extend and support the patient's chest, back, and buttocks. After the rotating arm extends, the patient is lifted, allowing the inner arm to move outward. This process is repeated, with the inner arm rising to support the patient's body, the two rotating arms moving outward (i.e., moving in opposite directions along the Y-axis), the rotating arm rising to support the patient's body, and the two inner arms moving outward (i.e., moving in opposite directions along the Y-axis) until they meet the rotating arm. The inner arm rises to support the patient's body, the two rotating arms move outward, and the two rotating arms move until they are positioned at the patient's buttocks and chest / back respectively. This achieves the goal of the two rotating arms supporting the patient's buttocks and chest / back respectively. Finally, the rotating arm is driven to rotate 90° counterclockwise by a strap and the outer arm joint drive unit, enabling a complete 90° body posture change from supine to lateral or from lateral to supine, solving the problem of incomplete patient turning in existing technologies. The rotating arm rotates counterclockwise in sync with the raising of the outer arm, ensuring the patient's body remains in contact with the bed surface. This eliminates any suspension or falling during patient turning, resolving the issues of impact and discomfort experienced by patients in existing technologies. The outer arm is driven by the frame to move along the X-axis, directly fine-tuning the patient's position in that direction to ensure alignment with the center of the bed. Only minor manual adjustments to the patient's posture are needed afterward, significantly reducing manual repositioning and addressing the problem of frequent manual intervention required after turning when the patient deviates from the center of the bed, thus reducing the physical burden on medical staff. Furthermore, the mobile frame allows the turning device to be moved directly to the side of any hospital bed. During patient turning, it requires no fixed connection to the bed or modification of the bed board, guardrails, or other structures, making it adaptable to various sizes of standard hospital beds and overcoming the problems of significant modifications and poor versatility inherent in existing technologies. Attached Figure Description

[0018] Figure 1 This is an overall schematic diagram of the assistive turning device for bedridden patients disclosed in this invention, wherein the inner arm frame and the outer arm frame are cut vertically.

[0019] Figure 2 for Figure 1 A diagram showing the mobile gantry moving towards the patient, with the inner arm extending below the patient's waist;

[0020] Figure 3 for Figure 2A schematic diagram showing the two external arms moving towards the patient after the arm frame drives them, with the two rotating arms supporting the patient's buttocks and back respectively.

[0021] Figure 4 for Figure 2 The diagram shows the inner arm extending below the patient's waist, lifting the patient's waist. Two rotating arms extend below the patient's waist from the outside of the inner arm and move towards the patient's buttocks and the patient's chest and back, respectively.

[0022] Figure 5 for Figure 4 The diagram shows the patient being lifted up by two rotating arms. In this diagram, the patient's waist is separated from the inner arm, and the inner arm moves towards the patient's buttocks and back until it touches the rotating arm.

[0023] Figure 6 This diagram illustrates two rotating arms that support the patient's buttocks and chest / back respectively, with the inner arm lowered onto the bed surface.

[0024] Figure 7 for Figure 6 A top-view diagram showing the two rotating arms supporting the patient's buttocks and chest / back respectively, with the outer arm frame cut horizontally.

[0025] Figure 8 The diagram illustrates how straps are used to bind the patient's chest and buttocks to two rotating arms, where the rotating arms rotate counterclockwise around the joint structure and move upward in coordination with the outer arm, ensuring that the patient's body remains in contact with the bed surface at all times.

[0026] Figure 9 A diagram illustrating a patient's body turning 90° from supine to lateral or from lateral to supine.

[0027] Figure 10 for Figure 1 A top view diagram, in which the outer boom and inner boom are cut along a horizontal section;

[0028] Figure 11 for Figure 1 A side view diagram;

[0029] Figure 12 A schematic diagram of an internal armrest drive mechanism mounted on a mobile frame, wherein the internal arm extends below the patient's waist;

[0030] Figure 13 for Figure 12 A schematic diagram of a patient's body after a 90° roll from supine to lateral or from lateral to supine, wherein the inner arm frame drive mechanism drives the inner arm to return to the initial position before it extends below the patient's waist;

[0031] Figure 14 forFigure 12 Side view schematic diagram. Specific embodiments

[0032] The present invention will be described in detail below in conjunction with the embodiments shown in the accompanying drawings. However, it should be noted that these embodiments are not limitations on the present invention. Any equivalent transformation or substitution in terms of function, method, or structure made by those of ordinary skill in the art based on these embodiments shall fall within the protection scope of the present invention.

[0033] The accompanying drawings in the present invention are not drawn strictly according to the actual ratio, and the specific dimensions of each structure can be determined according to actual needs. The accompanying drawings described in the present invention are only schematic diagrams of the structure. The lines shown in the accompanying drawings of the specification of the present invention can be understood as members having a certain actual thickness.

[0034] Please refer Figures 1 to 14 A specific embodiment of an auxiliary turning device for bedridden patients disclosed.

[0035] Refer Figures 1 to 11 As shown, in this embodiment, the auxiliary turning device 100 for bedridden patients (hereinafter referred to as "turning device 100") includes: a mobile frame 1, an outer arm frame 2, an inner arm frame 3, an outer arm 4, an inner arm 5, and a strap 6.

[0036] The outer arm frame 2 and the inner arm frame 3 are arranged on the mobile frame 1. The outer arm frame 2 and the inner arm frame 3 are respectively connected to the outer arm 4 and the inner arm 5 extending along the X direction. The outer arm frame 2 drives the outer arm 4 to move along the X direction (as shown in the direction of the X-axis in Figure 1 ), the Y direction (as shown in the direction of the Y-axis in Figure 7 ), and the Z direction (as shown in the direction of the Z-axis in Figure 1 ), and the inner arm frame 3 drives the inner arm 5 to move along the Y direction and the Z direction; two outer arms 4 and two inner arms 5 are symmetrically arranged along the Y direction respectively, and the outer arms 4 are located outside the inner arms 5; the outer arm frame 2 drives the two outer arms 4 to move towards each other or away from each other along the Y direction, and the inner arm frame 3 drives the two inner arms 5 to move towards each other or away from each other along the Y direction; the outer arm 4 includes: an outer moving arm 401, a joint structure 403, a rotating arm 402, an outer arm strap buckle 404, and an outer arm joint drive unit 405. Among them, the joint structure 403 is arranged at the end of the outer moving arm 401, the rotating arm 402 is rotationally connected to the outer moving arm 401 through the joint structure 403, the outer arm strap buckle 404 is arranged at both ends of the rotating arm 402 along its length direction, and the outer arm joint drive unit 405 is configured on the outer moving arm 401 to drive the rotating arm 402 to rotate around the joint structure 403; the rotating arm 402 is in the shape of a crescent moon adapted to the human body shape, the rotating arm 402 is connected with a strap 6 through the outer arm strap buckle 404, the strap 6 and the rotating arm 402 enclose a lacing area for binding the patient's chest and buttocks, and the strap 6 can be automatically retracted in the non-turning state.

[0037] When the turning device 100 disclosed in this invention turns the patient's body 200, firstly, as... Figure 1 and Figure 2 As shown, the turning device 100 is moved to the side of the bed, the inner arm 5 is aligned with the patient's waist, and the inner arm 5 is driven to move upward along the Z direction by the inner arm frame 3 until the bottom surface of the inner arm 5 is flush with the bed surface 300. The turning device 100 is then pushed along... Figure 2 The inner arm 5 is moved toward the patient in the direction indicated by the middle arrow X1, so that part of the inner arm 5 is positioned between the patient's waist 211 and the bed surface 300. The inner arm 5 is driven along the inner arm frame 3. Figure 2 Move the inner arm 5 in the direction indicated by the middle arrow Z1, lifting the patient's waist 211 until a Z-direction gap (not shown) is formed between the patient's waist 211 and the bed surface 300, allowing the rotating arm 402 to be inserted. Then stop driving the inner arm 5 to rise (at this time, the position of the inner arm 5 is as follows). Figure 2 and Figure 4 (as shown in the figure), and lock the position of the turning device 100.

[0038] Secondly, the outer boom 4 is driven along the outer boom 2. Figure 3 The outer moving arm 401 moves towards the patient in the direction indicated by the middle arrow X1, causing the rotating arm 402 to move towards the patient, extending the rotating arm 402 under the patient's waist 211, so that part of the rotating arm 402 is positioned between the patient's waist 211 and the bed surface 300. At this time, the patient's waist 211 is lifted by the inner arm 5, creating a certain distance between it and the bed surface 300. Then, the two outer arms 4 are driven along the outer arm frame 2. Figure 3 The rotating arm 402, located below the patient's body 200, moves in the direction indicated by the middle arrow Z1, lifting the patient's waist 211 upwards until the patient's waist 211 is disengaged from the inner arm 5. Then, the upward movement of the rotating arm 402 stops, and the inner arm 5 no longer supports the patient's waist 211. Next, the inner arm frame 3 drives the two inner arms 5 to move in opposite directions along the Y direction until they touch the rotating arm 402. Then, the inner arms 5 lift the patient's waist 211 upwards until the patient's body 200 is disengaged from the rotating arm 402. Then, the upward movement of the inner arms 5 stops, and the rotating arm 402 no longer supports the patient's body 200. Finally, the outer arm frame 2 drives the two outer arms 4 to move in opposite directions along the Y direction, causing the two rotating arms 402 to move towards the patient's buttocks 213 (e.g., ...). Figure 4 (As indicated by the middle arrow Y2) and the patient's chest and back 212 (as shown by the middle arrow Y2) Figure 4 Move the outer arm 4 in the direction indicated by the middle arrow Y1 until the Z-direction gap between the patient's waist 211 and the bed surface 300 is no longer sufficient for the rotating arm 402 to move. Then stop driving the outer arm 4 to move in the Y-direction. At this point, there is still a certain distance between the two rotating arms 402 and the patient's buttocks 213 and the patient's back 212 respectively (e.g., ...). Figure 4As shown in the diagram, the two rotating arms 402 make contact with the patient's body near the buttocks 213 and near the patient's back 212, respectively. The outer arm frame 2 then drives the two rotating arms 402 to lift the patient's body 200 upwards until the patient's waist 211 is disengaged from the inner arm 5. At this point, the upward movement of the outer arm 4 is stopped (the position of the rotating arms 402 at this time is as shown in the diagram). Figure 5 As shown in the diagram, the inner boom 3 then drives the two inner booms 5 to move in opposite directions along the Y direction until they encounter the rotating arm 402, at which point the drive to move the inner booms 5 along the Y direction stops (at this time, the positions of the inner booms 5 are as shown in the diagram). Figure 5 (As shown in the diagram). Then, the following sequence is repeated: the inner arm 5 rises to lift the patient's body 200; the two rotating arms 402 move outwards (i.e., move in opposite directions along the Y direction); the rotating arms 402 rise to lift the patient's body 200; the two inner arms 5 move outwards (i.e., move in opposite directions along the Y direction) until they touch the rotating arms 402; the inner arm 5 rises to lift the patient's body 200; the two rotating arms 402 move outwards until the two rotating arms 402 move to the positions of the patient's buttocks 213 and the patient's back 212 respectively, thus achieving the goal of the two rotating arms 402 lifting the patient's buttocks 213 and the patient's back 212 respectively; the inner arm 5 descends onto the bed surface 300. At this time, the positions of the rotating arms 402 and the inner arm 5 are as shown in the diagram. Figure 3 , Figure 6 and Figure 7 As shown in the image.

[0039] Finally, the straps 6 are pulled out to bind the patient's chest and buttocks 213 to the two rotating arms 402 respectively, forming a tethering area (not shown). One rotating arm 402 supports the patient's back 212 behind the chest. Then, the two outer arms 4 are driven to rise by the outer arm frame 2. At the same time, the outer arm joint drive unit 405 (e.g., a servo motor) drives the rotating arm 402 to rotate counterclockwise around the joint structure 403 (e.g., ...). Figure 8 Rotate in the direction indicated by the middle arrow a), and coordinate with the upward movement of the outer arm 4, rotating the patient's body 200 and ensuring that the patient's body 200 remains in contact with the bed surface 300, until the patient's body 200 achieves a 90° roll from supine to lateral or from lateral to supine, thus turning the patient's body 200 into position. Figure 9 As shown, the rotation and lifting of the drive arm 402 are then stopped. Simultaneously, the outer arm 4 can be moved along the X direction via the outer arm frame 2 to fine-tune the position of the patient's body 200 in the X direction, aligning the patient's body 200 with the center of the bed. The patient's body 200 can then be manually adjusted to a natural, relaxed side-lying or supine position. For example, the twisted shoulders can be stretched, the misaligned hips corrected, and the crossed legs separated, ensuring the patient's torso is free from strain and the joints are not excessively bent, conforming to ergonomics and providing a comfortable turning experience. Finally, the straps 6 are manually untied, and the inner arm 5 and outer arm 4 are returned to their original positions. Figure 1 The state shown in the image.

[0040] The turning device 100 disclosed in this invention binds the patient's chest and buttocks 213 respectively through the ties, ensuring that the chest, buttocks and torso rotate synchronously during turning, avoiding local body lag rotation, such as body twisting caused by the shoulders turning but the buttocks not moving. At the same time, it works with the crescent-shaped structure of the rotating arm 402 to maintain the fit between the patient's body 200 and the rotating arm 402, ensuring the stability of the patient's turning posture.

[0041] The turning device 100 disclosed in this invention lifts the patient's waist 211 with an inner arm 5, leaving a Z-axis gap so that a rotating arm 402 can extend into and support the patient's chest and back 212 and buttocks 213. Finally, through a strap 6 and in conjunction with an outer arm joint drive unit 405, the rotating arm 402 is driven to rotate 90° counterclockwise, achieving a complete 90° body posture change for the patient 200 from supine to lateral or from lateral to supine, solving the problem of incomplete patient turning in existing technologies. Simultaneously, the two rotating arms 402 respectively support the patient's buttocks 213 and chest and back 212 to conform to the body's force requirements. The patient's buttocks 213 and chest and back 212 are the core force points for turning, preventing the patient's body 200 from twisting or slipping during the turning process, ensuring a thorough and stable change in the patient's lying position.

[0042] The turning device 100 disclosed in this invention achieves this through the counterclockwise rotation of the rotating arm 402 and the simultaneous rise of the outer arm 4, ensuring that the patient's body 200 remains in contact with the bed surface 300. During the turning process, there is no suspension or falling, solving the problem of impact and discomfort experienced by patients during turning in existing technologies. Simultaneously, by repeatedly raising the inner arm 5 to support the patient's body 200, moving the two rotating arms 402 outwards, raising the rotating arms 402 to support the patient's body 200, moving the two inner arms 5 outwards until they touch the rotating arms 402, raising the inner arms 5 to support the patient's body 200, and moving the two rotating arms 402 outwards until the two rotating arms 402 are respectively positioned at the patient's buttocks 213 and the patient's chest and back 212, the alternating support of the inner arm 5 and rotating arms 402 prevents the patient from losing support. Furthermore, the crescent-shaped structure of the rotating arm 402 conforms to the human body shape, reducing local pressure on the patient's body 200 and ensuring the stability and safety of supporting the patient's body 200. Furthermore, the inner arm 5 and the outer arm 4 can move in opposite directions or towards each other along the Y direction to accommodate patients of different body types. The crescent-shaped structure of the rotating arm 402 conforms to different human body contours, eliminating the need to adjust the mechanical structure for the patient and making it suitable for most bedridden patients.

[0043] The patient turning device 100 disclosed in this invention drives the outer arm 4 to move along the X direction via the outer arm frame 2, directly fine-tuning the position of the patient's body 200 in the X direction to ensure that the patient's body 200 is aligned with the center of the bed. Only subsequent manual adjustments to the patient's posture are required, significantly reducing the workload of manual repositioning and solving the problem in existing technologies where the patient deviates from the center of the bed after turning, necessitating frequent manual repositioning. This also reduces the physical burden on medical staff. Furthermore, the turning device 100 can be moved directly to the side of any hospital bed via the movable frame 1. During the turning of the patient's body 200, there is no need for a fixed connection to the bed or modification of the bed board, guardrails, or other structures. It can be adapted to ordinary hospital beds of different sizes, solving the problems of significant modifications to existing beds and poor versatility in existing technologies.

[0044] In some examples, the strap 6 is assembled via the outer arm strap buckles 404 at both ends of the rotating arm 402 along its length. When not in a turning state, the strap 6 can automatically retract to the end of the rotating arm 402 connected to the joint structure 403. The end of the rotating arm 402 connected to the joint structure 403 has a pre-set shallow groove (not shown) or small storage cavity (not shown) adapted to accommodate the strap 6. A miniature winding motor (not shown) can be built into the storage cavity, and one end of the strap 6 is fixed to the motor shaft. When not turning, the motor rotates forward to wind the strap 6 into the storage cavity, and the outer arm strap buckles 404 simultaneously limit the free end of the strap 6 to prevent it from loosening and hanging. When turning, the motor rotates in reverse to release the strap 6. After the strap 6 is pulled out, it is fixed by the outer arm strap buckles 404, which can closely fit the patient's buttocks 213 and the patient's chest to form a tying area.

[0045] In some examples, the parameter Figure 1 and Figure 2 As shown, the mobile frame 1 includes a rectangular frame structure base 101, with casters 103 at each of the four corners of the base 101. Two casters 103 on the base 101 near the Z-axis lifting unit 202 of the outer arm (e.g., an electric cylinder) are equipped with locking structures (not shown). The locking structures lock the casters 103 to lock the position of the turning device 100. The locking structure is prior art and will not be described in detail in this application.

[0046] In some examples, the parameter Figure 1 and Figure 7 and Figure 11As shown, the boom frame 2 includes: a boom crossbeam 201, a boom Z-axis lifting unit 202, a boom Y-axis drive unit 203, a boom guide rod 204, and a boom bidirectional lead screw 205. The boom Z-axis lifting unit 202 is installed on the mobile frame 1 along the Z-axis and two are symmetrically arranged along the Y-axis. The two ends of the boom crossbeam 201 along its length are respectively installed on the top of the two boom Z-axis lifting units 202. The boom guide rod 204 and the boom bidirectional lead screw 205 are arranged sequentially on the boom crossbeam 201 along the Y-axis and both pass through the end of the outer movable arm 401 away from the joint structure 403. The outer movable arm 401 is engaged with the boom bidirectional lead screw 205 and slidably sleeved with the boom guide rod 204. The boom Y-axis drive unit 203 is arranged on the boom crossbeam 201 to drive the boom bidirectional lead screw 205 to rotate, so as to drive the two rotating arms 402 to move towards each other or away from each other along the Y-axis.

[0047] The Z-axis lifting unit 202 of the outer arm is used to drive the outer arm crossbeam 201 to move the outer arm 4 in the Z direction for lifting and lowering. The Y-axis drive unit 203 of the outer arm (e.g., a servo motor) directly drives the rotation of the outer arm bidirectional lead screw 205 by outputting torque. The outer arm bidirectional lead screw 205 has two sections of threads with opposite directions on its rod body, and the outer arm bidirectional lead screw 205 is horizontally mounted inside the outer arm crossbeam 201. The two ends of the outer arm bidirectional lead screw 205 are supported and limited by the end caps of the outer arm crossbeam 201 to ensure that the outer arm bidirectional lead screw 205 rotates without deviation. The end of the outer moving arm 401 away from the joint structure 403 has an internal threaded hole (not shown) that meshes with the threaded section of the outer arm bidirectional lead screw 205; at the same time, the end of the outer moving arm 401 away from the joint structure 403 also has a through hole (not shown) that is sleeved on the outer arm guide rod 204. The outer arm guide rod 204 is parallel to the outer arm double-acting screw 205 and fixed inside the outer arm crossbeam 201. When the outer arm double-acting screw 205 rotates, it drives the two outer moving arms 401 to move in opposite directions simultaneously along the outer arm double-acting screw 205 through two sections of threads with opposite directions. For example, if the outer arm double-acting screw 205 rotates in the forward direction, the two outer moving arms 401 move closer to each other in the Y direction (i.e., move towards each other); if the outer arm double-acting screw 205 rotates in the reverse direction, the two outer moving arms 401 move further away from each other in the Y direction (i.e., move away from each other). At the same time, the outer arm guide rod 204 restricts the rotation of the outer moving arms 401 around the outer arm double-acting screw 205, ensuring that the outer moving arms 401 only move in a straight line in the Y direction and avoid deviation. The end of the outer moving arm 401 is directly connected to the rotating arm 402 through the joint structure 403, and the linear movement of the outer moving arm 401 in the Y direction can be synchronously transmitted to the rotating arm 402. When the two external moving arms 401 move in opposite linear directions, they can drive the two rotating arms 402 to move in opposite directions or in opposite directions along the Y direction, thereby adapting to different patient body shapes and adjusting the distance between the two rotating arms 402 and the patient's chest and buttocks 213 respectively, so as to facilitate subsequent lifting.

[0048] In some examples, the parameter Figure 1 and Figure 10 and Figure 11 As shown, the inner boom frame 3 includes: an inner boom crossbeam 301, an inner boom Z-axis lifting unit 302, an inner boom Y-axis drive unit 303, an inner boom guide rod 304, and an inner boom bidirectional lead screw 305; the inner boom Z-axis lifting unit 302 is installed on the mobile frame 1 along the Z direction and two are symmetrically arranged along the Y direction; the two ends of the inner boom crossbeam 301 along its length direction are respectively installed on the top of the two inner boom Z-axis lifting units 302; the inner boom guide rod 304 and the inner boom bidirectional lead screw 305 are arranged sequentially on the inner boom crossbeam 301 along the Y direction, and both pass through one end of the inner boom 5 along the X direction; the inner boom 5 is engaged with the inner boom bidirectional lead screw 305, and the inner boom 5 is slidably sleeved with the inner boom guide rod 304; the inner boom Y-axis drive unit 303 is arranged on the inner boom crossbeam 301 to drive the inner boom bidirectional lead screw 305 to rotate, so as to drive the two inner booms 5 to move towards each other or away from each other along the Y direction. The inner boom frame 3 also includes a second diagonal brace 306 that connects the mobile frame 1 and the inner boom Z-axis lifting unit 302. When the inner boom Z-axis lifting unit 302 is working, the mobile frame 1 provides stable support for it, and the second diagonal brace 306 resists deformation, preventing the inner boom Z-axis lifting unit 302 from tilting or even bending or breaking, so as to ensure that the inner boom 5 can be lifted and lowered smoothly.

[0049] The inner arm Z-axis lifting unit 302 (e.g., an electric cylinder) drives the inner arm crossbeam 301 to move the inner arm 5 in the Z-direction. The inner arm Y-axis drive unit 303 (e.g., a servo motor) directly drives the inner arm bidirectional lead screw 305 to rotate by outputting torque. The inner arm bidirectional lead screw 305 has two sections of threads with opposite directions on its body, and the inner arm bidirectional lead screw 305 is horizontally mounted inside the inner arm crossbeam 301. The two ends of the inner arm bidirectional lead screw 305 are supported and limited by the end caps of the inner arm crossbeam 301 to ensure that the inner arm bidirectional lead screw 305 rotates without deviation. One end of the inner arm 5 in the X-direction has an internal threaded hole (not shown) that meshes with the threaded section of the inner arm bidirectional lead screw 305; at the same time, one end of the inner arm 5 in the X-direction also has a through hole (not shown) that fits onto the inner arm guide rod 304. The inner arm guide rod 304 is parallel to the inner arm bidirectional lead screw 305 and is fixed inside the end cap of the inner arm crossbeam 301. When the inner arm bidirectional lead screw 305 rotates, the two inner arms 5 are driven to move in opposite directions along the inner arm bidirectional lead screw 305 simultaneously through two sections of threads with opposite directions. For example, if the inner arm bidirectional lead screw 305 rotates in the forward direction, the two inner arms 5 move closer to each other along the Y direction (i.e., move towards each other); if the inner arm bidirectional lead screw 305 rotates in the reverse direction, the two inner arms 5 move further apart along the Y direction (i.e., move away from each other). At the same time, the inner arm guide rod 304 restricts the rotation of the inner arms 5 around the inner arm bidirectional lead screw 305, ensuring that the inner arms 5 only move in a straight line along the Y direction and avoid deviation. When the two inner arms 5 move in opposite directions in a straight line, the distance between the two inner arms 5 can be directly adjusted, thereby adapting to different patient body shapes and adjusting the contact distance between the two inner arms 5 and the patient's waist 211, so as to facilitate subsequent lifting of the patient's waist 211.

[0050] In some examples, the assisted turning device 100 for bedridden patients further includes: an external arm drive mechanism (not shown) mounted on the movable frame 1, which drives the external arm 2 to move in the X direction; or, a first X-direction telescopic unit (not shown) mounted on the external arm 2 and connected to the external arm 4, which drives the external arm 4 to move in the X direction. The external arm drive mechanism, by driving the entire external arm 2 and external arm 4 to move in the X direction, provides a strong overall load-bearing capacity, making it less prone to deviation during movement even when the external arm 4 is supporting a heavy patient. The first X-direction telescopic unit (e.g., a hydraulic cylinder) directly drives the outer arm 4 to extend and retract independently. If the space around the bed is narrow (e.g., the distance between adjacent beds is small when multiple beds are placed side by side) and the outer arm frame 2 cannot move as a whole in the X direction, the rotating arm 402 can be extended under the patient's waist 211 by extending and retracting the outer arm 4 independently, without reserving space for the overall movement of the outer arm frame 2. Furthermore, the first X-direction telescopic unit acts directly on the outer arm 4, which can finely adjust the extension of the rotating arm 402 under the patient's waist 211. The insertion depth of the rotating arm 402 can be adjusted according to the thickness of the patient's body 200 to avoid excessive insertion that compresses the patient or insufficient insertion that cannot stably support the patient.

[0051] In some examples, the parameter Figure 1 , Figure 3 , Figure 7 and Figure 10 As shown, the outrigger drive mechanism includes: a first guide rail 71 disposed along the X direction on the mobile frame 1, and a first X-direction drive unit 81 disposed on the mobile frame 1 to drive the outrigger Z-direction lifting unit 202 to move along the X direction on the first guide rail 71. The first guide rail 71 can be a groove-shaped or slide rail structure, so that the outrigger Z-direction lifting unit 202 can only move linearly along the X direction, avoiding Y-direction deviation or Z-direction swaying during movement. The outrigger 2 needs to support the outrigger 4 and part of the patient's weight. The first guide rail 71, together with the outrigger Z-direction lifting unit 202, distributes the overall weight pressure on the mobile frame 1, preventing jamming or tilting of the outrigger 2 due to uneven force during movement, and ensuring smooth movement when lifting the patient.

[0052] In some examples, the parameter Figure 1 , Figure 3 , Figure 7 and Figure 10 As shown, the mobile frame 1 includes a first support structure 11; the extraarm Z-axis lifting unit 202 is disposed on the first support structure 11, and the first support structure 11 is controlled by a first X-axis drive unit 81 to move on a first guide rail 71. The first support structure 11 includes a slider 111 that cooperates with the first guide rail 71, and a first diagonal brace 113 connecting the slider 111 and the extraarm Z-axis lifting unit 202. The slider 111 is driven by the first X-axis drive unit 81 (e.g., an electric cylinder) to move the extraarm Z-axis lifting unit 202 along the first guide rail 71, ensuring that the extraarm 4 is accurately inserted below the patient's waist 211. When the extraarm Z-axis lifting unit 202 is working, it is provided with stable support by the slider 111 and resisted by the first diagonal brace 113 to ensure that the extraarm 4 rises and falls smoothly and avoids height deviation.

[0053] In some examples, the parameter Figure 2 and Figure 3 As shown, after the turning device 100 is moved to the side of the bed, the range of movement of the rotating arm 402 in the X direction is: Figure 2 Taking the neutral perspective as an example, when the external arm frame 2 is at the rightmost end, the end of the rotating arm 402 touches the patient's body 200 but does not extend into it; when the external arm frame 2 is at the leftmost end, the end of the rotating arm 402 extends past the patient's waist 211.

[0054] In some examples, the parameter Figure 11As shown, the bottom height of the outer arm crossbeam 201 is greater than the top height of the inner arm crossbeam 301, and the inner distance between the two outer arm Z-axis lifting units 202 is greater than the outer distance between the two inner arm Z-axis lifting units 302. The inner arm crossbeam 301 of the inner arm frame 3 is at a lower height and is only responsible for lifting the patient's waist 211 during the initial turning process; the outer arm crossbeam 201 of the outer arm frame 2 is at a higher height, with sufficient space reserved below it. Even when the outer arm frame 2 moves in the Z direction, the outer arm crossbeam 201 will not interfere vertically with the inner arm crossbeam 301 below, avoiding collision between the inner arm crossbeam 301 and the outer arm crossbeam 201 in the Z direction, without the need for additional height adjustment to avoid collision. The two side support columns at the bottom of the outer arm frame 2 (equivalent to the outer arm Z-axis lifting units 202) form a clearance space that can accommodate the inner arm frame 3, and the two side support columns at the bottom of the inner arm frame 3 (equivalent to the inner arm Z-axis lifting units 302) can be completely positioned between the two outer arm Z-axis lifting units 202. When the outer arm frame 2 moves along the X direction, it can move along the X direction without having to go around the inner arm frame 3. It can slide from the outside of the inner arm frame 3, avoiding interference in the X direction. This is suitable for the initial turning process where the inner arm 5 first extends under the patient's waist 211 and the outer arm 4 follows from the outside of the inner arm 5 to extend under the patient's waist 211. This simplifies the movement path of the outer arm 4 and the inner arm 5. Furthermore, when the inner arm frame 3 descends and resets, and the outer arm frame 2 drives the rotating arm 402 to turn the patient's body 200, there is reserved space in the relative movement of the outer arm frame 2 and the inner arm frame 3 in the X, Y and Z directions, avoiding the movement jamming due to structural obstruction.

[0055] In some examples, the parameter Figure 1As shown, the rotating arm 402 and the inner arm 5 have variable cross-sectional structures. The cross-sectional area of the rotating arm 402 becomes smaller as it moves farther away from the outer moving arm 401 in the X direction, and the cross-sectional area of the inner arm 5 becomes smaller as it moves farther away from the inner arm frame 3 in the X direction. The ends of the rotating arm 402 and the inner arm 5 are both oblate. The end of the rotating arm 402 close to the outer moving arm 401 and the end of the inner arm 5 close to the inner arm frame 3 are both force-bearing core areas, which need to bear the weight of the patient's chest and back 212 and the patient's buttocks 213, and transmit the lifting force of the lifting units (i.e., the outer arm Z-direction lifting unit 202 and the inner arm Z-direction lifting unit 302). A larger cross-sectional area can reduce structural bending and deformation, and prevent the patient from slipping due to component deformation during turning over. The ends of the rotating arm 402 away from the outer moving arm 401 and the inner arm 5 away from the inner arm frame 3 need to extend into the gap between the patient's waist 211 and the bed surface 300. A smaller cross-sectional area is easier to insert between the patient's waist 211 and the bed surface 300, and the insertion action can be completed without excessive lifting of the patient's waist 211. Moreover, the oblate ends of the rotating arm 402 and the inner arm 5 have no sharp edges, and can have a more uniform contact area with the patient's skin (e.g., under the waist, on the side of the chest and back), avoiding excessive local skin pressure caused by line contact and reducing patient discomfort; and the arc-shaped contour of the oblate end is more likely to fit the gap between the patient's body 200 and the bed surface 300, and the inner arm 5 can smoothly slide in without precise alignment of the angle during initial insertion, ensuring the continuity of the turning-over process.

[0056] In some examples, the turning-over device 100 further includes: an inner arm frame driving mechanism disposed on the moving frame 1, and the inner arm frame driving mechanism drives the inner arm frame 3 to move in the X direction; or, a second X-direction telescopic unit (not shown) disposed on the inner arm frame 3 and connected to the inner arm 5, and the second X-direction telescopic unit drives the inner arm 5 to move in the X direction.

[0057] Refer Figure 12 As shown, when turning over the patient's body 200, first, move the turning-over device 100 to the side of the hospital bed, align the inner arm 5 with the patient's waist, and drive the inner arm 5 to move along the Figure 12 direction shown by the arrow Z1 in the figure until the bottom surface of the inner arm 5 is flush with the bed surface 300. Drive the inner arm frame 3 through the inner arm frame driving mechanism to synchronously drive the inner arm 5 or directly drive the inner arm 5 along the Figure 12The inner arm 5 moves towards the patient in the direction indicated by the middle arrow X1, extending below the patient's waist 211. Driven by the inner arm frame drive mechanism or the second X-direction telescopic unit, the inner arm 5 moves along the X1 direction. This ensures that the flat, rounded end of the inner arm 5 is accurately aligned and extends below the patient's waist 211, preventing uneven force on the patient's waist 211 during lifting due to positional deviations, such as tilting to one side and causing discomfort. Part of the inner arm 5 is located between the patient's waist 211 and the bed surface 300, and is driven along the X1 direction by the inner arm Z-direction lifting unit 302. Figure 12 Move the inner arm 5 in the direction indicated by the middle arrow Z1, lifting the patient's waist 211 until a Z-direction gap (not shown) is formed between the patient's waist 211 and the bed surface 300, allowing the rotating arm 402 to be inserted. Then stop driving the inner arm 5 to rise (at this time, the position of the inner arm 5 is as follows). Figure 12 (as shown in the diagram), and lock the position of the turning device 100. The subsequent specific turning process is as described in the aforementioned embodiment, and will not be repeated here.

[0058] It should be noted that after the two rotating arms 402 lift the patient's buttocks 213 and chest and back 212 respectively, the inner arm 5 descends onto the bed surface 300, and is driven by the inner arm frame drive mechanism or the second X-axis telescopic unit along... Figure 13 The arm should be returned to its initial position (as indicated by the middle arrow X2) before it penetrates below the patient's lower back (inner arm position as shown). Figure 13 (As shown in the diagram). At this point, the inner arm 5 is completely away from the area below the patient's body 200. During the subsequent turning process, the patient's body 200 will rotate 90° with the rotating arm 402, thereby avoiding contact between the inner arm 5 and the patient's body 200, and avoiding obstruction or compression of the patient's turning movement by the inner arm 5.

[0059] In some examples, the parameter Figure 12 As shown, the inner armrest drive mechanism includes: a second guide rail 72 disposed along the X direction on the movable frame 1, and a second X-direction drive unit 82 (e.g., an electric cylinder) disposed on the movable frame 1 to drive the inner arm Z-direction lifting unit 302 to move along the X direction on the second guide rail 72. The second guide rail 72 can be a groove-shaped or slide rail structure, so that the inner arm Z-direction lifting unit 302 can only move linearly along the X direction, avoiding Y-direction deviation or Z-direction swaying during movement. The inner armrest 3 needs to bear the weight of the inner arm 5 and the patient's waist 211. The second guide rail 72, through its cooperation with the inner arm Z-direction lifting unit 302, distributes the pressure of the overall weight on the movable frame 1, preventing the inner armrest 3 from jamming or tilting due to uneven force during movement, and ensuring smooth movement when supporting the patient's waist 211.

[0060] In some examples, the parameter Figure 12As shown, the mobile frame 1 also includes a second support structure 12; the inner arm Z-axis lifting unit 302 is disposed on the second support structure 12, and the second support structure 12 is controlled by the second X-axis drive unit 82 to move on the second guide rail 72. The technical solution of the second support structure 12 is the same as that of the first support structure 11, and its technical solution is the same as that of the first support structure 11 mentioned above, and will not be repeated here.

[0061] In some examples, the turning device 100 further includes: an intelligent control module (not shown), a positioning module (not shown), and a parameter adaptation module (not shown); the intelligent control module is used to receive the target bed position command and control the mobile frame 1 to move to the target bed position; the positioning module is used to realize the automatic positioning of the target bed position and acquire the bed height and the patient's body shape and size data; the intelligent control module controls the outer arm frame 2 and the inner arm frame 3 to drive the outer arm 4 and the inner arm 5 to position in the X direction, Y direction, and Z direction respectively based on the bed height and the patient's body shape and size data; the parameter adaptation module matches the motion parameters and power parameters of the outer arm 4 and the inner arm 5 according to the patient's body shape, size, and weight data.

[0062] After medical staff input the target bed position command through the control panel (not shown) or remote terminal (not shown) of the turning device 100, the intelligent control module receives the command and automatically plans the movement path, driving the moving wheels 103 (e.g., electric drive wheels) at the bottom of the moving frame 1 to start. At the same time, the positioning module obtains the target bed position coordinates in real time through visual recognition of the bed rail features and infrared ranging, guiding the moving frame 1 to accurately stop at the preset operation position on the side of the target bed (e.g., 20-30cm from the bed edge) along the planned path, and simultaneously measures the bed height data and feeds it back to the intelligent control module. Then, the positioning module can automatically collect the patient's body size (e.g., torso width, waist circumference, chest-hip distance) and weight data through 3D visual scanning. The patient's body size and weight data can be preset for the positioning module to call. The parameter adaptation module calculates and generates personalized parameters based on the patient's body size and weight data, for example, the inner arm 5 The motion parameters, such as the X-direction length extending under the waist, the Y-direction spacing of the outer arm 4, the rotation angle and rotation speed of the rotating arm 402, and the power parameters, such as the lifting force of the inner arm Z-direction lifting unit 302 and the driving force of the outer arm Z-direction lifting unit 202, are adapted and simultaneously sent to the intelligent control module. The intelligent control module first drives the inner arm Z-direction lifting unit 302 to adjust the bottom surface of the inner arm 5 to be flush with the bed surface 300 (based on the previously measured bed height). Then, it controls the inner arm frame drive mechanism to move the inner arm frame 3 along the second guide rail 72 in the X1 direction, so that the flat oval end of the inner arm 5 is accurately inserted under the patient's waist 211. Then, the inner arm Z-direction lifting unit 302 drives the inner arm 5 to slowly rise in the Z1 direction according to the adapted lifting force. The positioning module monitors the gap height between the patient's waist 211 and the bed surface 300 in real time. After a Z-direction gap is formed for the rotating arm 402 to be inserted, a stop signal is triggered, and the inner arm 5 remains in the raised state.

[0063] Subsequently, the intelligent control module controls the external arm drive mechanism to move the external arm 2 along the first guide rail 71 in the X1 direction, extending the flattened oval ends of the two rotating arms 402 into the Z-direction gap below the waist. Immediately afterwards, the external arm Y-direction drive unit 203 drives the external arm bidirectional lead screw 205 to rotate, causing the two external moving arms 401 to move in opposite directions in the Y direction, moving the rotating arms 402 towards the patient's chest and back 212 and the patient's buttocks 213 respectively. After the external arm 4 stabilizes, the intelligent control module controls the inner arm 5 to rise and lift the patient's body 200, and the two rotating arms... Arm 402 moves outward, rotates and rises to lift the patient's body 200, the two inner arms 5 move outward until they touch the rotating arm 402, the inner arms 5 rise to lift the patient's body 200, the two rotating arms 402 move outward until the two rotating arms 402 move to the patient's buttocks 213 and the patient's chest and back 212 respectively, so that the two rotating arms 402 lift the patient's buttocks 213 and the patient's chest and back 212 respectively. Then the intelligent control module drives the inner arm 5 to descend to the bed surface 300 and reset to the initial position (exit below the waist) along the X2 direction.

[0064] Then, by manually pulling out the straps 6, the patient's chest and buttocks 213 are respectively bound to the two rotating arms 402 to form a tethering area. Immediately, the Z-axis lifting unit 202 drives the outer arm 4 to slowly rise, while the outer arm joint driving unit 405 drives the rotating arm 402 to rotate counterclockwise around the joint structure 403. The intelligent control module coordinates the rising and rotating movements in real time to ensure that the patient's body 200 remains in contact with the bed surface 300. The positioning module dynamically monitors the patient's position; if any deviation occurs, it drives the outer arm 4 to make slight adjustments in the X-direction to keep the body aligned with the center of the bed. Once the module detects that the patient's body 200 has completed a 90° rotation (from supine to lateral or from lateral to supine), it immediately sends a signal to the intelligent control module, stopping the raising of the extraarm 4 and the rotation of the rotating arm 405. At this point, medical staff only need to perform slight posture correction on the patient's body 200 (e.g., stretching twisted shoulders and straightening hips), and then manually untie the straps 6. The retracting mechanism automatically retracts the straps 6 to the end where the rotating arm 402 connects to the joint structure 403. Then, the intelligent control module drives the extraarm 4 to exit under the patient's body 200 in the X direction, returning the extraarm 4 to its original position. Figure 1 As shown in the diagram, the intelligent control module finally receives the return command and drives the mobile rack 1 back to the designated storage location along the original path, completing the entire automated turning process.

[0065] In some examples, the positioning module uses Automated Guided Vehicle (AGV) technology to automatically position the target bed, controlling the mobile frame 1 to move to the side of the target bed; and / or, when the intelligent control module controls the outer arm 4 and inner arm 5 to position in the Z direction, the control mode is position control or vision control; vision control collects the patient's body shape and size data and bed height data through the vision component mounted on the positioning module, and feeds it back to the intelligent control module for positioning; position control uses preset parameters to make the outer arm 4 and inner arm 5 reach the appropriate height for positioning.

[0066] The positioning module uses AGV technology to automatically locate the target bed on the mobile frame 1. It can select laser navigation based on the ward environment, using lidar to scan the environment and compare with a pre-stored map to plan the path. During movement, the AGV obstacle avoidance submodule uses sensors to avoid obstacles in real time. Upon arrival, it uses a vision component to identify bed feature points for secondary positioning, ultimately allowing the mobile frame 1 to accurately stop at a preset position on the side of the bed (e.g., 25cm from the bed edge). The Z-direction positioning of the outer arm 4 and inner arm 5 has two modes: position control and vision control. Position control is suitable for scenarios with a fixed bed height. Medical staff pre-enter bed height parameters into the intelligent control module, and during positioning, the module directly calls the parameters to calculate the lifting stroke, driving the lifting unit to quickly reach the desired position. Vision control is suitable for scenarios with varying bed heights or significant differences in patient posture. The positioning module's vision component scans the bed surface 300° in real time to calculate the actual bed surface height and scans the patient's lumbar contour data. This data is fed back to the intelligent control module, which dynamically adjusts the lifting unit's stroke, resulting in higher accuracy and stronger adaptability. In practical applications, the two modes can work together (e.g., first use position control for rapid approach, then use visual control for fine-tuning), or automatically switch position control when the visual component is obstructed, to ensure uninterrupted positioning.

[0067] The intelligent control module, positioning module, and parameter adaptation module involved in this turning device 100, their core components, technical principles, and implementation methods are all existing technologies in the field of medical equipment, and will not be elaborated here.

[0068] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

[0069] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0070] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An assistive turning device for bedridden patients, characterized in that, include: A mobile frame, and an outer boom and an inner boom mounted on the mobile frame; The outer boom and the inner boom are respectively connected to the outer boom and the inner boom extending along the X direction. The outer boom drives the outer boom to move along the X, Y and Z directions, and the inner boom drives the inner boom to move along the Y and Z directions. Two outer arms and two inner arms are symmetrically arranged along the Y direction, with the outer arms located outside the inner arms; the outer arm frame drives the two outer arms to move towards each other or away from each other along the Y direction, and the inner arm frame drives the two inner arms to move towards each other or away from each other along the Y direction. The outer arm includes: an outer movable arm, a joint structure, a rotating arm, an outer arm strap buckle, and an outer arm joint drive unit. The joint structure is located at the end of the outer movable arm, the rotating arm is rotatably connected to the outer movable arm through the joint structure, the outer arm strap buckle is located at both ends of the rotating arm along its length, and the outer arm joint drive unit is disposed on the outer movable arm to drive the rotating arm to rotate around the joint structure. The rotating arm is crescent-shaped to fit the human body. The rotating arm is connected to a strap via the outer arm strap buckle. The strap and the rotating arm enclose a lacing area to bind the patient's chest and buttocks.

2. The assistive turning device for bedridden patients according to claim 1, characterized in that, The boom frame includes: boom crossbeam, boom Z-axis lifting unit, boom Y-axis drive unit, boom guide rod, and boom two-way lead screw; The outer arm Z-axis lifting unit is installed on the mobile frame along the Z direction and two units are symmetrically arranged along the Y direction. The two ends of the outer arm crossbeam along its length direction are respectively installed on the top of the two outer arm Z-axis lifting units. The outer arm guide rod and the outer arm bidirectional lead screw are arranged sequentially on the outer arm crossbeam along the Y direction, and both penetrate the end of the outer mobile arm away from the joint structure. The outer moving arm engages with the outer arm bidirectional lead screw, and the outer moving arm is slidably sleeved with the outer arm guide rod. The outer arm Y-direction drive unit is configured on the outer arm crossbeam to drive the outer arm bidirectional lead screw to rotate, thereby driving the two rotating arms to move towards each other or away from each other in the Y direction.

3. The assistive turning device for bedridden patients according to claim 1, characterized in that, The inner boom frame includes: an inner boom crossbeam, an inner boom Z-axis lifting unit, an inner boom Y-axis drive unit, an inner boom guide rod, and an inner boom bidirectional lead screw; The inner arm Z-axis lifting unit is installed on the mobile frame along the Z direction and two are symmetrically arranged along the Y direction. The two ends of the inner arm crossbeam along its length direction are respectively installed on the top of the two inner arm Z-axis lifting units. The inner arm guide rod and the inner arm bidirectional lead screw are arranged sequentially on the inner arm crossbeam along the Y direction, and both pass through one end of the inner arm along the X direction. The inner arm engages with the inner arm bidirectional lead screw, and the inner arm slides with the inner arm guide rod. The inner arm Y-direction drive unit is configured on the inner arm crossbeam to drive the inner arm bidirectional lead screw to rotate, thereby causing the two inner arms to move towards each other or away from each other along the Y direction.

4. The assistive turning device for bedridden patients according to claim 1, characterized in that, The bedridden patient turning aid also includes: An external boom drive mechanism is mounted on the mobile frame, which drives the external boom to move along the X direction; Alternatively, a first X-direction telescopic unit is disposed on the outer boom and connected to the outer boom, the first X-direction telescopic unit driving the outer boom to move along the X direction.

5. The assistive turning device for bedridden patients according to claim 4, characterized in that, The bedridden patient turning aid also includes: An inner boom drive mechanism is mounted on the mobile frame, which drives the inner boom to move along the X direction; Alternatively, a second X-direction telescopic unit is disposed on the inner boom and connected to the inner boom, the second X-direction telescopic unit driving the inner boom to move along the X direction.

6. The assistive turning device for bedridden patients according to claim 5, characterized in that, The bottom height of the outer arm crossbeam is greater than the top height of the inner arm crossbeam, and the inner distance between the two outer arm Z-axis lifting units is greater than the outer distance between the two inner arm Z-axis lifting units.

7. The assistive turning device for bedridden patients according to claim 1, characterized in that, The rotating arm and the inner arm have variable cross-section structures. The cross-sectional area of ​​the rotating arm is smaller as it moves further away from the outer moving arm along the X direction. The cross-sectional area of ​​the inner arm is smaller as it moves further away from the inner arm frame along the X direction. The ends of the rotating arm and the inner arm are both flat and round.

8. The assistive turning device for bedridden patients according to claim 5, characterized in that, The boom drive mechanism includes: a first guide rail disposed on the mobile frame along the X direction, and a first X-direction drive unit disposed on the mobile frame to drive the boom Z-direction lifting unit to move along the X direction on the first guide rail; The inner boom drive mechanism includes: a second guide rail disposed on the mobile frame along the X direction, and a second X-direction drive unit disposed on the mobile frame to drive the inner boom Z-direction lifting unit to move along the X direction on the second guide rail.

9. The assistive turning device for bedridden patients according to claim 8, characterized in that, The mobile frame includes: a base with a rectangular frame structure, a first support structure, and a second support structure; The base is equipped with casters at all four corners, and the two casters on the base near the Z-axis lifting unit of the outer arm are equipped with a locking structure. The Z-axis lifting unit of the outer arm is disposed on the first support structure, and the first support structure is controlled to move on the first guide rail by the first X-axis driving unit. The inner arm Z-axis lifting unit is configured on the second support structure, and the second support structure is controlled by the second X-axis drive unit to move on the second guide rail.

10. The assistive turning device for bedridden patients according to claim 5, characterized in that, The assisted turning device for bedridden patients further includes: an intelligent control module, a positioning module, and a parameter adaptation module; the intelligent control module is used to receive the target bed position command and control the mobile frame to move to the target bed position; the positioning module is used to realize the automatic positioning of the target bed position and acquire the bed height and the patient's body shape and size data; the intelligent control module controls the outer arm frame and the inner arm frame to drive the outer arm and the inner arm to position in the X, Y, and Z directions respectively based on the bed height and the patient's body shape and size data; the parameter adaptation module matches the motion parameters and power parameters of the outer arm and the inner arm according to the patient's body shape, size, and weight data.

Images