Foldable skeleton for medical care based on man-machine cooperation

Abstract

The invention discloses a foldable skeleton for medical care based on man-machine cooperation, and particularly relates to the technical field of intelligent medical auxiliary equipment. The framework comprises a sliding support and a device frame, sliding wheels are arranged at the bottom of the sliding support, and the top is slidably connected with the device frame through a first cylindrical sliding rod. A turnover chair panel and a transmission mechanism for driving the turnover chair panel to move are arranged on one side of the device frame, and a foldable bed assembly capable of being pulled out is arranged in the other side of the device frame. The device frame is further symmetrically connected with handrails, and auxiliary walking assemblies of bionic lower limb exoskeleton structures are arranged at the bottoms of the handrails. By integrating multiple functions of a seat, a sickbed, walking assistance and the like and adopting motor driving, flexible conversion and cooperative work of all components are achieved, and the problems that existing medical nursing equipment is single in function, low in space utilization rate and difficult to adapt to variable nursing scenes are effectively solved; the nursing efficiency and the comfort and autonomous activity ability of the patient are obviously improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent medical auxiliary equipment technology, specifically a foldable skeleton for medical care based on human-machine collaboration. Background Technology

[0002] With the increasing aging of society and the growing number of people requiring postoperative rehabilitation and chronic disease management, the demand for medical and nursing care is becoming increasingly diverse. Traditional medical and nursing equipment, such as wheelchairs, hospital beds, and walking aids, often have limited functions, occupy a large space, and are inconvenient to switch between different nursing scenarios (such as movement, rest, and rehabilitation training), increasing the workload of caregivers and limiting patients' independent mobility. For example, when patients need to transfer from a hospital bed to a wheelchair or get up from a wheelchair for standing rehabilitation training, multiple caregivers are usually required, making the process cumbersome and posing safety risks. Furthermore, existing equipment lacks an effective human-machine collaboration mechanism, making it difficult to provide appropriate assistance based on the patient's actual physiological state and intentions, affecting the effectiveness of rehabilitation training and patient comfort. Therefore, there is an urgent need for a highly integrated, flexible, and human-machine collaborative intelligent nursing device to optimize nursing processes, improve nursing efficiency and quality, and promote patient rehabilitation. To this end, we propose a foldable medical and nursing frame based on human-machine collaboration to address the above problems. Summary of the Invention

[0003] The purpose of this invention is to provide a foldable skeleton for medical care based on human-machine collaboration, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A foldable medical care frame based on human-machine collaboration includes a sliding support and a device frame. Multiple sliding wheels are rotatably connected to the outside of the sliding support. A first cylindrical sliding rod is symmetrically fixed to the top of the sliding support. The device frame is vertically slidably connected to the top of the first cylindrical sliding rod. A sliding block is symmetrically vertically slidably connected to one side of the device frame. A flip-up chair panel is rotatably connected to the outside of the sliding block. A first connecting rod is rotatably connected to the outside of the device frame and is rotatably connected to the outside of the chair panel. A foldable and pull-out folding bed assembly is disposed inside the other side of the device frame. Armrests are symmetrically fixed to the outside of the device frame, and an auxiliary walking component is disposed at the bottom of the armrests.

[0005] Preferably, a motor support frame is fixedly connected to the inner side of the sliding bracket, and a dual-axis motor is installed at the bottom of the motor support frame. The two output shafts of the dual-axis motor are respectively connected to the sliding wheel on one side for transmission.

[0006] Preferably, a first motor is installed at the inner bottom of the first cylindrical sliding rod, the output shaft of the first motor is connected to a first threaded rod, a second cylindrical sliding rod is slidably connected inside the first cylindrical sliding rod, the second cylindrical sliding rod is threadedly connected to the first threaded rod, and the handrail is fixedly connected to the top of the second cylindrical sliding rod.

[0007] Preferably, the walking assistance component includes a semi-circular connecting component, a first lower limb exoskeleton component, a second lower limb exoskeleton component, a third lower limb exoskeleton component, an ankle support component, and a footrest; The semicircular connecting components are symmetrically fixed to one side of the armrest. The first lower limb exoskeleton component is hinged to the inside of the semicircular connecting components. The second lower limb exoskeleton component is hinged to one end of the first lower limb exoskeleton component. The third lower limb exoskeleton component is hinged to one end of the second lower limb exoskeleton component. The ankle auxiliary component is rotatably connected to the bottom end of the third lower limb exoskeleton component. The footrest is rotatably connected to the inside of the ankle auxiliary component.

[0008] Preferably, a second motor is installed at the connection between the semicircular connecting assembly and the first lower limb exoskeleton assembly, and the output shaft of the second motor extends into the semicircular connecting assembly and is driven by the first lower limb exoskeleton assembly; a third motor is installed at the connection between the first lower limb exoskeleton assembly and the second lower limb exoskeleton assembly, and the output shaft of the third motor extends into the first lower limb exoskeleton assembly and is driven by the second lower limb exoskeleton assembly; a fourth motor is installed at the connection between the second lower limb exoskeleton assembly and the third lower limb exoskeleton assembly, and the output shaft of the fourth motor extends into the second lower limb exoskeleton assembly and is driven by the third lower limb exoskeleton assembly; a carbon fiber torsion spring is fixedly connected between the third lower limb exoskeleton assembly and the footrest.

[0009] Preferably, the third lower limb exoskeleton component is externally fixedly connected to a first elastic Velcro strap, the second lower limb exoskeleton component is externally fixedly connected to a second elastic Velcro strap, and the semi-circular connecting components are also fixedly connected to a waist and abdomen Velcro strap. Pressure sensors are installed on the first elastic Velcro strap, the second elastic Velcro strap, and the waist and abdomen Velcro strap.

[0010] Preferably, a square groove is provided on the outer side of the device frame, a fifth motor is installed in the square groove, the output shaft of the fifth motor is connected to a first gear, a square mounting plate is symmetrically fixedly connected in the square groove, a second gear is rotatably connected to the outside of the square mounting plate, a transmission toothed belt meshes with the outside of the first gear and the second gear, a second threaded rod is fixedly connected to the connecting end of the second gear through the square mounting plate, the second threaded rod is rotatably connected to the square groove, and the sliding block is threadedly connected to the second threaded rod.

[0011] Preferably, the folding bed assembly includes a headboard, multiple bed boards, and multiple support frames; A storage slot is provided on the other side of the device frame, and one end of multiple bed boards is hinged to each other by a second hinge, while the other end of the bed boards is rotatably connected to the support frame. There are two headboards, which are located at both ends of the overall bed board. The ends of the innermost and outermost bed boards are rotatably connected to the corresponding headboards, and the headboard at the innermost end is fixedly connected to the storage slot.

[0012] Preferably, the headboard is symmetrically and fixedly connected to the outer sides of the headboard, and a first cylindrical block is rotatably connected to the outer side of the first square rod. A second cylindrical block is symmetrically and rotatably connected to the outer side of the support frame. A cylindrical connecting rod is fixedly connected to the outer side of both the first and second cylindrical blocks. An auxiliary connecting rod is fixedly connected to the end of the cylindrical connecting rod. Adjacent auxiliary connecting rods are hinged together by a first hinge. A handle is fixedly connected to the outer side of the headboard. When the headboard is pulled out, the bed board can be unfolded and abut against the end of the auxiliary connecting rod.

[0013] Preferably, the first square rod has multiple circular snap-fit ​​grooves on its outer surface, and a second square rod is slidably connected to the inside of the first square rod. The second square rod has a circular groove on its outer surface, and a spring is fixedly connected to the outside of the circular groove. A cylindrical snap-fit ​​block is fixedly connected to the end of the spring, and the cylindrical snap-fit ​​block snaps into the circular snap-fit ​​groove.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This foldable medical care frame based on human-machine collaboration integrates multiple nursing functions such as mobility, sitting, lying, and walking assistance through a highly integrated design. This greatly improves the space utilization and scenario adaptability of the equipment, meets the diverse needs of patients at different stages of care, reduces equipment purchase costs and space occupation, and achieves rapid, smooth, and automatic switching between various functional modules through a precision transmission mechanism driven by a motor. This significantly reduces the operational intensity of nursing staff, improves nursing efficiency, and avoids the risk of secondary injury that may be caused by manual handling.

[0015] 2. This foldable medical care frame based on human-machine collaboration simulates the kinematic characteristics of the human lower limbs through its assistive walking components. Combined with a sensor system, it can sense the patient's intentions and provide adaptive, adjustable assistive forces, achieving excellent human-machine collaboration. This not only aids patients in rehabilitation training but also enhances their confidence and comfort in movement, thus promoting the rehabilitation process. The overall structural design of the frame considers stability and lightweight design, employing a foldable and retractable design that allows the device to maintain a compact form when not in use, facilitating transportation and storage. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a structural schematic diagram from another perspective of the present invention; Figure 3 This is a schematic diagram of the sliding auxiliary component in this invention; Figure 4 This is a schematic diagram of the walking assistance component in this invention; Figure 5 This is an enlarged structural diagram of point A in this invention; Figure 6 This is a schematic diagram of the device frame in this invention; Figure 7 This is a schematic diagram of the internal structure of the device frame in this invention; Figure 8 This is a schematic diagram of the internal storage compartment of the device frame in this invention; Figure 9 This is a schematic diagram of the cross-sectional structure of the device frame in this invention; Figure 10 This is an enlarged structural diagram of point B in the present invention; Figure 11 This is an enlarged structural diagram of point C in this invention; Figure 12 This is a schematic diagram of the headboard structure in this invention; Figure 13 This is an enlarged structural diagram of point D in this invention.

[0018] In the diagram: 1. Sliding bracket; 2. Motor support frame; 3. Sliding wheel; 4. Dual-axis motor; 5. Device frame; 6. Handrail; 7. First cylindrical sliding rod; 8. Second cylindrical sliding rod; 9. Control handle; 10. First motor; 11. First threaded rod; 12. Semi-circular connecting assembly; 13. First lower limb exoskeleton assembly; 14. Second lower limb exoskeleton assembly; 15. Third lower limb exoskeleton assembly; 16. Ankle support assembly; 17. Footrest; 18. Second motor; 19. Third motor; 20. Fourth motor; 21. Carbon fiber torsion spring; 22. First elastic Velcro; 23. Second elastic Velcro; 24. 25. Waist and abdomen Velcro; 26. Fifth motor; 27. First connecting rod; 28. Chair panel; 29. ​​First gear; 30. Square mounting plate; 31. Second gear; 32. Transmission toothed belt; 33. Second threaded rod; 34. Sliding block; 35. Headboard; 36. Bed board; 37. Handle; 38. Support frame; 3801. First cylindrical block; 3802. Second cylindrical block; 39. Cylindrical connecting rod; 40. Auxiliary connecting rod; 41. First hinge; 42. Second hinge; 43. First square rod; 44. Second square rod; 45. Cylindrical snap-fit ​​block; 46. Spring; 47. Circular snap-fit ​​groove; 48. Circular groove. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1 like Figures 1-13 As shown, this is the first embodiment of the present invention. This embodiment provides a foldable skeleton for medical care based on human-machine collaboration, including a sliding support 1 and a device frame 5. The sliding support 1 is rotatably connected to multiple sliding wheels 3. The top of the sliding support 1 is symmetrically fixedly connected to a first cylindrical sliding rod 7. The device frame 5 is vertically slidably connected to the top of the first cylindrical sliding rod 7. A sliding block 33 is symmetrically vertically slidably connected to one side of the device frame 5. A flip-up chair panel 27 is rotatably connected to the outside of the sliding block 33. A first connecting rod 26 is rotatably connected to the outside of the device frame 5. The first connecting rod 26 is rotatably connected to the outside of the chair panel 27. A foldable and pull-out folding bed assembly is provided inside the other side of the device frame 5. Armrests 6 are symmetrically fixedly connected to the outside of the device frame 5. An auxiliary walking assembly is provided at the bottom of the armrests 6. The auxiliary walking assembly, the folding bed assembly, and the exoskeleton rods of the chair panel 27 are all made of carbon fiber honeycomb sandwich panel material, which combines load-bearing capacity and lightweight.

[0021] A motor support frame 2 is fixedly connected to one side of the inner side of the sliding bracket 1. A dual-axis motor 4 is installed at the bottom of the motor support frame 2. The two output shafts of the dual-axis motor 4 are respectively connected to the sliding wheel 3 on one side for transmission.

[0022] A first motor 10 is installed at the inner bottom of the first cylindrical sliding rod 7. The output shaft of the first motor 10 is connected to a first threaded rod 11. A second cylindrical sliding rod 8 is slidably connected inside the first cylindrical sliding rod 7. The second cylindrical sliding rod 8 is threadedly connected to the first threaded rod 11. The handrail 6 is fixedly connected to the top of the second cylindrical sliding rod 8.

[0023] It should be noted that in this embodiment, the basic platform and core functional layout of the foldable frame are mainly constructed. The sliding bracket 1, sliding wheels 3, and dual-axis motor 4 together constitute the mobile foundation of the device, realizing the electric displacement function of the entire device and reducing the pushing burden on caregivers. The first cylindrical sliding rod 7, the second cylindrical sliding rod 8, the first motor 10, and the first threaded rod 11 constitute a height-adjustable column system, which enables the armrest 6 and the auxiliary walking components connected to it to accurately position the height according to the patient's actual height, optimizing the comfort of human-computer interaction. The device frame 5 serves as the functional integration center. The sliding block 33, chair panel 27, and first connecting rod 26 set on one side constitute the foundation of the seat module, providing structural preparation for the realization of the seat form; the reserved space for the folding bed component on the other side lays the foundation for the realization of the bed function. This embodiment lays the physical foundation for the multifunctional and convertible nature of the entire device.

[0024] Example 2 like Figures 1-5 The image shows a second embodiment of the present invention, which is based on the previous embodiment. The walking assistance component includes a semi-circular connecting component 12, a first lower limb exoskeleton component 13, a second lower limb exoskeleton component 14, a third lower limb exoskeleton component 15, an ankle assist component 16, and a footrest 17. The semicircular connecting component 12 is symmetrically fixed to one side of the armrest 6. The first lower limb exoskeleton component 13 is hinged to the inside of the semicircular connecting component 12. The second lower limb exoskeleton component 14 is hinged to one end of the first lower limb exoskeleton component 13. The third lower limb exoskeleton component 15 is hinged to one end of the second lower limb exoskeleton component 14. The ankle auxiliary component 16 is rotatably connected to the bottom end of the third lower limb exoskeleton component 15. The footrest 17 is rotatably connected to the inside of the ankle auxiliary component 16.

[0025] A second motor 18 is installed at the connection between the semicircular connecting component 12 and the first lower limb exoskeleton component 13. The output shaft of the second motor 18 extends into the semicircular connecting component 12 and is connected to the first lower limb exoskeleton component 13 for transmission. A third motor 19 is installed at the connection between the first lower limb exoskeleton component 13 and the second lower limb exoskeleton component 14. The output shaft of the third motor 19 extends into the first lower limb exoskeleton component 13 and is connected to the second lower limb exoskeleton component 14 for transmission. A fourth motor 20 is installed at the connection between the second lower limb exoskeleton component 14 and the third lower limb exoskeleton component 15. The output shaft of the fourth motor 20 extends into the second lower limb exoskeleton component 14 and is connected to the third lower limb exoskeleton component 15 for transmission. A carbon fiber torsion spring 21 is fixedly connected between the third lower limb exoskeleton component 15 and the footrest 17.

[0026] The third lower limb exoskeleton component 15 is externally fixedly connected to a first elastic Velcro 22, the second lower limb exoskeleton component 14 is externally fixedly connected to a second elastic Velcro 23, and a waist and abdomen Velcro 24 is also fixedly connected between the semi-circular connecting components 12. Pressure sensors are installed on the first elastic Velcro 22, the second elastic Velcro 23 and the waist and abdomen Velcro 24.

[0027] It should be noted that the core of this embodiment lies in constructing an actively assisted bionic lower limb exoskeleton system. The semi-circular connecting component 12 serves as the connection base to the handrail 6 and transmits force to the main skeleton body. Through pressure sensors, in conjunction with the second motor 18, third motor 19, and fourth motor 20, the relative movements between the first lower limb exoskeleton component 13 (simulating the thigh), the second lower limb exoskeleton component 14 (simulating the calf), and the third lower limb exoskeleton component 15 are precisely controlled, thereby driving flexion and extension movements of major joints such as the hip and knee, guiding or assisting the patient in completing walking movements. The carbon fiber torsion spring 21 provides elastic support at the ankle joint, simulating the function of the Achilles tendon and increasing the naturalness of the gait. The first elastic Velcro 22, the second elastic Velcro 23, and the waist and abdomen Velcro 24 work together to comfortably and securely bind the patient's lower limbs and waist and abdomen to the exoskeleton, ensuring effective power transmission and preventing slippage, which is key to achieving safe and effective human-machine collaborative walking assistance. This embodiment upgrades the device from a simple mobile, sitting, or lying platform to an intelligent device with active rehabilitation training capabilities. Pressure sensors are used to sense the contact pressure between the patient's limbs and the exoskeleton in real time, and feed the feedback to the control system to determine the patient's movement intention, thereby adjusting the output of auxiliary force of each motor to achieve human-machine collaboration.

[0028] Example 3 like Figures 1-13The diagram shows the third embodiment of the present invention, which is based on the previous embodiment. A square slot is provided on one side of the outer side of the device frame 5. A fifth motor 25 is installed in the square slot. The output shaft of the fifth motor 25 is connected to a first gear 28. A square mounting plate 29 is symmetrically fixedly connected in the square slot. A second gear 30 is rotatably connected to the outside of the square mounting plate 29. A transmission belt 31 meshes with the outside of the first gear 28 and the second gear 30. The tooth diameter of the first gear 28 is larger than the tooth diameter of the two second gears 30, and they form a wrap angle through the transmission belt 31. The connecting end of the second gear 30 passes through the square mounting plate 29 and is fixedly connected to a second threaded rod 32. The second threaded rod 32 is rotatably connected to the square slot. A sliding block 33 is threadedly connected to the second threaded rod 32. When the fifth motor 25 starts, the first gear 28, the transmission belt 31, and the second gear 30 synchronously drive the two second threaded rods 32 to rotate, thereby driving the two sliding blocks 33 to rise and fall synchronously. The lifting and lowering of the sliding block 33 drives the chair panel 27 to flip through the first connecting rod 26. When the sliding block 33 rises and falls vertically along the second threaded rod 32, the chair panel 27 is pushed to flip around the rotation axis of the sliding block 33 through the hinge action of the two ends of the first connecting rod 26, realizing the switching of the seat mode. The chair panel 27 is embedded with a magnetorheological elastomer. In the sitting mode, the magnetorheological elastomer is not energized and the surface remains soft to improve comfort. When the device is switched to the walking assistance mode, the magnetorheological elastomer is energized and hardened, so that the chair panel 27 forms a stable support structure to prevent the components from shaking when the patient stands.

[0029] The folding bed assembly includes a headboard 34, multiple bed boards 35, and multiple support frames 37; A storage slot is provided on the other side of the device frame 5. One end of multiple bed boards 35 is hinged to each other by a second hinge 42, and the other end of the bed board 35 is rotatably connected to the support frame 37. There are two headboards 34, which are distributed at both ends of the overall bed board 35. The ends of the innermost and outermost bed boards 35 are rotatably connected to the corresponding headboards 34, and the headboard 34 at the innermost end is fixedly connected to the storage slot.

[0030] The headboard 34 is symmetrically and fixedly connected to two external sides with first square rods 43. The first square rods 43 are rotatably connected to a first cylindrical block 3801. The support frame 37 is symmetrically and rotatably connected to a second cylindrical block 3802. The first cylindrical block 3801 and the second cylindrical block 3802 are both fixedly connected to the outside with cylindrical connecting rods 39. The ends of the cylindrical connecting rods 39 are fixedly connected to auxiliary connecting rods 40. Adjacent auxiliary connecting rods 40 are hinged to each other by a first hinge 41. The headboard 34 is fixedly connected to a handle 36. When the headboard 34 is pulled out, the bed board 35 unfolds sequentially under the action of gravity and the linkage mechanism. The finally unfolded bed board 35 abuts against the end of the fully extended auxiliary connecting rod 40 to form a stable support. Silicone pads are installed on the sides of the bed boards 35 that are close to each other to prevent fingers from being pinched during use.

[0031] The first square rod 43 has multiple circular locking slots 47 on its outer surface. A second square rod 44 is slidably connected inside the first square rod 43. The second square rod 44 has a circular groove 48 on its outer surface. A spring 46 is fixedly connected to the outer surface of the circular groove 48. A cylindrical locking block 45 is fixedly connected to the end of the spring 46. The cylindrical locking block 45 engages with the circular locking slot 47. This mechanism is used to adjust and lock the extension length of the headboard 34. The second square rod 44 is fixedly connected to the outer headboard 34. After pressing the cylindrical locking block 45 to disengage it from the circular locking slot 47, the second square rod 44 can slide along the first square rod 43, thereby adjusting the overall extension length of the headboard 34. After releasing, the spring 46 returns to its original position and pushes the cylindrical locking block 45 into the corresponding circular locking slot 47, thus locking the length.

[0032] In summary, this foldable medical care frame based on human-machine collaboration is used by first activating the dual-axis motor 4 via the control interface to drive the sliding wheels 3, thus assisting the patient in moving the device. In seat mode, the fifth motor 25 can be driven to rotate the second threaded rod 32, causing the sliding block 33 to slide up and down, and in conjunction with the first connecting rod 26, the chair panel 27 can be unfolded, allowing the patient to sit on the chair panel 27. The height of the armrests 6 and the chair panel 27 can be adjusted by the lifting mechanism driven by the first motor 10. When lying down is required, the first motor 10 can be driven to lower the device frame 5, directly pulling out the headboard 34 to unfold the folding bed assembly, so that the multi-section hinged bed board 35 forms a flat bed surface under the support of the auxiliary connecting rod 40. During walking rehabilitation training, the patient stands and secures their lower limbs to the walking aid via the first elastic Velcro 22, the second elastic Velcro 23, and the waist and abdomen Velcro 24. The second motor 18, the third motor 19, and the fourth motor 20 drive the hip, knee, and ankle joints respectively to simulate gait movements. A carbon fiber torsion spring 21 provides elastic assistance to the ankle, enabling active or passive gait training with human-machine collaboration. The transitions between modes are smooth, effectively integrating mobility, sitting / lying, and rehabilitation functions, significantly improving nursing efficiency and the patient's rehabilitation experience.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A foldable medical care frame based on human-machine collaboration, comprising a sliding support (1) and a device frame (5), wherein the sliding support (1) is externally rotatably connected to a plurality of sliding wheels (3), characterized in that, The top of the sliding bracket (1) is symmetrically fixedly connected to a first cylindrical sliding rod (7). The device frame (5) is vertically slidably connected to the top of the first cylindrical sliding rod (7). A sliding block (33) is symmetrically vertically slidably connected to one side of the device frame (5). A flip-up chair panel (27) is rotatably connected to the outside of the sliding block (33). A first connecting rod (26) is rotatably connected to the outside of the device frame (5). The first connecting rod (26) is rotatably connected to the outside of the chair panel (27). A foldable and pull-out folding bed assembly is provided inside the other side of the device frame (5). An armrest (6) is symmetrically fixedly connected to the outside of the device frame (5). An auxiliary walking assembly is provided at the bottom of the armrest (6).

2. The foldable medical care frame based on human-machine collaboration according to claim 1, characterized in that: A motor support frame (2) is fixedly connected to one side of the inner side of the sliding bracket (1). A dual-axis motor (4) is installed at the bottom of the motor support frame (2). The two output shafts of the dual-axis motor (4) are respectively connected to the sliding wheel (3) on one side for transmission.

3. The foldable medical care frame based on human-machine collaboration according to claim 2, characterized in that: A first motor (10) is installed at the inner bottom of the first cylindrical sliding rod (7). The output shaft of the first motor (10) is connected to a first threaded rod (11). A second cylindrical sliding rod (8) is slidably connected inside the first cylindrical sliding rod (7). The second cylindrical sliding rod (8) is threadedly connected to the first threaded rod (11). The handrail (6) is fixedly connected to the top of the second cylindrical sliding rod (8).

4. A foldable medical care frame based on human-machine collaboration according to claim 3, characterized in that: The walking assistance assembly includes a semi-circular connecting assembly (12), a first lower limb exoskeleton assembly (13), a second lower limb exoskeleton assembly (14), a third lower limb exoskeleton assembly (15), an ankle assist assembly (16), and a footrest (17). The semicircular connecting component (12) is symmetrically fixedly connected to the opposite side of the armrest (6). The first lower limb exoskeleton component (13) is hinged to the inside of the semicircular connecting component (12). The second lower limb exoskeleton component (14) is hinged to one end of the first lower limb exoskeleton component (13). The third lower limb exoskeleton component (15) is hinged to one end of the second lower limb exoskeleton component (14). The ankle auxiliary component (16) is rotatably connected to the bottom end of the third lower limb exoskeleton component (15). The footrest (17) is rotatably connected to the inside of the ankle auxiliary component (16).

5. A foldable medical care skeleton based on human-machine collaboration according to claim 4, characterized in that: A second motor (18) is installed at the connection between the semicircular connecting component (12) and the first lower limb exoskeleton component (13). The output shaft of the second motor (18) extends into the semicircular connecting component (12) and is connected to the first lower limb exoskeleton component (13) via transmission. A third motor (19) is installed at the connection between the first lower limb exoskeleton component (13) and the second lower limb exoskeleton component (14). The output shaft of the third motor (19) extends into the first lower limb exoskeleton component (13) and is connected to the second lower limb exoskeleton component (14) via transmission. A fourth motor (20) is installed at the connection between the second lower limb exoskeleton component (14) and the third lower limb exoskeleton component (15). The output shaft of the fourth motor (20) extends into the second lower limb exoskeleton component (14) and is connected to the third lower limb exoskeleton component (15) via transmission. A carbon fiber torsion spring (21) is fixedly connected between the third lower limb exoskeleton component (15) and the footrest (17).

6. A foldable medical care frame based on human-machine collaboration according to claim 5, characterized in that: The third lower limb exoskeleton assembly (15) is externally fixedly connected to a first elastic Velcro (22), the second lower limb exoskeleton assembly (14) is externally fixedly connected to a second elastic Velcro (23), and the semi-circular connecting assemblies (12) are also fixedly connected to a waist and abdomen Velcro (24). Pressure sensors are installed on the first elastic Velcro (22), the second elastic Velcro (23) and the waist and abdomen Velcro (24).

7. A foldable medical care skeleton based on human-machine collaboration according to claim 6, characterized in that: A square slot is provided on the outer side of the device frame (5). A fifth motor (25) is installed in the square slot. The output shaft of the fifth motor (25) is connected to a first gear (28). A square mounting plate (29) is symmetrically fixed in the square slot. A second gear (30) is rotatably connected to the outside of the square mounting plate (29). A transmission toothed belt (31) meshes with the outside of the first gear (28) and the second gear (30). The connecting end of the second gear (30) passes through the square mounting plate (29) and is fixedly connected to a second threaded rod (32). The second threaded rod (32) is rotatably connected to the square slot. The sliding block (33) is threadedly connected to the second threaded rod (32).

8. A foldable medical care skeleton based on human-machine collaboration according to claim 7, characterized in that: The folding bed assembly includes a headboard (34), multiple bed boards (35), and multiple support frames (37). A storage slot is provided on the other side of the device frame (5), and one end of multiple bed boards (35) is hinged to each other by a second hinge (42), and the other end of the bed board (35) is rotatably connected to the support frame (37); There are two headboards (34), which are distributed at both ends of the overall bed board (35). The ends of the innermost and outermost bed boards (35) are rotatably connected to the corresponding headboards (34), and the headboard (34) at the innermost end is fixedly connected to the storage slot.

9. A foldable medical care frame based on human-machine collaboration according to claim 8, characterized in that: The headboard (34) is symmetrically and fixedly connected to the two outer sides of the first square rod (43). The first square rod (43) is rotatably connected to the outer side of the first cylindrical block (3801). The support frame (37) is symmetrically and rotatably connected to the outer side of the second cylindrical block (3802). The outer sides of the first cylindrical block (3801) and the second cylindrical block (3802) are both fixedly connected to the outer side of the cylindrical block (3801) and the second cylindrical block (3802). The end of the cylindrical connecting rod (39) is fixedly connected to the end of the cylindrical connecting rod (39). The adjacent auxiliary connecting rods (40) are hinged to each other by the first hinge (41). The headboard (34) is fixedly connected to the outer side of the headboard (34). When the headboard (34) is pulled out, the bed board (35) can be unfolded and abut against the end of the auxiliary connecting rod (40).

10. A foldable medical care skeleton based on human-machine collaboration according to claim 9, characterized in that: The first square rod (43) has multiple circular snap-fit ​​grooves (47) on its outside. The first square rod (43) is slidably connected to a second square rod (44). The second square rod (44) has a circular groove (48) on its outside. A spring (46) is fixedly connected to the outside of the circular groove (48). A cylindrical snap-fit ​​block (45) is fixedly connected to the end of the spring (46). The cylindrical snap-fit ​​block (45) snaps into the circular snap-fit ​​groove (47).

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