An electric nursing bed with lifting function and a posture control method thereof

Abstract

The application discloses a kind of electric nursing bed with lifting function and its attitude control method, it is related to medical instrument technical field, including bed frame;Lifting frame component is set to the top of the bed frame, for supporting patient;Lifting assembly is installed between the bed frame and the lifting frame component, for adjusting the attitude of the lifting frame component relative to the bed frame;Limiting component is connected with the bed frame and the lifting frame component, for constraining the lifting frame component downward;Controller is electrically connected with the lifting assembly and the limiting component.The lifting assembly and limiting component of the application are hidden below lifting frame component, there is no exposed push rod or support around bed body, eliminate the obstruction of traditional nursing bed head and tail structure to first-aid operation, in emergency, medical staff can barrier-free access to patient, provide sufficient operating space for cardiopulmonary resuscitation, tracheal intubation and other rescue measures, significantly improve the safety of first-aid.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to an electric nursing bed with lifting function and its posture control method. Background Technology

[0002] Existing nursing devices typically use a control unit to control a push rod motor that drives a slider to achieve lifting and turning functions. Some medical beds also use a split bed board, where the lifting and turning functions are achieved by tilting the bed board.

[0003] The shortcomings of existing technologies:

[0004] a. Existing methods usually require the installation of related structures at the head or foot of the bed, which occupies the space around the nursing bed and can easily obstruct emergency operations such as first aid.

[0005] b. Although the split-type bed structure allows patients to turn over from side to side, the patient still needs to be in contact with the bed surface when turning over. At the same time, when turning over, the force-bearing area is reduced, and the patient's weight is concentrated on one side, which can easily cause pressure problems on the patient's body.

[0006] c. It is difficult to conveniently perform cleaning and care of the patient's head, feet, and buttocks, as well as manage urination and defecation. Summary of the Invention

[0007] The purpose of this invention is to provide an electric nursing bed with lifting function and its posture control method, which solves the problems of existing nursing devices requiring the installation of related structures, occupying a certain space, and blocking space during emergency rescue, thus hindering emergency rescue.

[0008] The present invention solves the above-mentioned technical problems through the following technical solutions, the present invention comprising:

[0009] bedstead;

[0010] A lifting frame assembly, located above the bed frame, is used to support the patient;

[0011] A lifting assembly is installed between the bed frame and the lifting frame assembly to adjust the posture of the lifting frame assembly relative to the bed frame;

[0012] The controller is electrically connected to the lifting assembly and controls its operation to change the posture of the lifting assembly.

[0013] Preferably, the lifting assembly includes four articulated motors mounted on the bed frame, with the four articulated motors distributed in pairs on both sides of the bed frame; each of the four articulated motors has a swing arm fixed to its output end; a guide rail is fixed to the side of the lifting assembly; and a slider is slidably mounted on the guide rail and rotatably connected to the upper end of the swing arm.

[0014] Preferably, the lifting frame assembly includes two crossbars arranged along its length and a double-layered sheet connected between the two crossbars;

[0015] The double-layer bed sheet includes a lower bed sheet and an upper bed sheet. The two sides of the lower bed sheet are fixedly connected to two crossbars, and the lower bed sheet has three through holes, which correspond to the patient's head, buttocks and feet respectively.

[0016] Preferably, one side of the upper bed sheet is detachably connected to one side of the lower bed sheet, and the upper bed sheet has three covering parts that cover the three through holes.

[0017] Preferably, it further includes a limiting component, which connects the bed frame and the lifting frame assembly, for constraining the lifting frame assembly downwards; and synchronously controls the limiting component according to the movement of the lifting assembly, so that the tension of the limiting component on the lifting frame assembly is kept within a preset range, so as to constrain the lifting frame assembly to the lifting assembly and restrict its displacement in the horizontal direction.

[0018] Preferably, the double-layered bed sheet is provided with V-shaped cotton, the V-shaped cotton is provided with clearance holes, and a urinal / fecal container is detachably provided below the clearance holes, and a urinal / fecal sensor is provided in the urinal / fecal container.

[0019] Preferably, the limiting component includes four steel wire ropes connected at one end to the lifting frame assembly and four tensioning members fixed to the bed frame. The tensioning members are connected to the other end of the steel wire ropes via a tension sensor, which is used to monitor the tension of the steel wire ropes in real time and send the signal to the controller.

[0020] The bed frame is rotatably mounted with guide wheels, and the wire rope passes around the guide wheels.

[0021] This invention also proposes a posture control method based on the above-described electric nursing bed, comprising the following steps:

[0022] Initialization: Read the initial angles of the four joint motors and the initial tension values ​​of the four tension sensors. If any of the wire ropes does not reach the preset pre-tension range, control the corresponding tensioning component to perform pre-tension adjustment.

[0023] Receive attitude commands: Receive and identify the mode corresponding to the attitude command;

[0024] 1. Determine the target angle: Determine the target angle of the four joint motors based on the target posture pattern;

[0025] Motor coordinated drive: Control the four joint motors to run synchronously to the target angle;

[0026] 1. Determine the theoretical length change of the wire rope: Based on the real-time angle changes of each joint motor, determine the theoretical length change of the corresponding wire rope within the current control cycle. ;

[0027] Angle-tension coupling compensation: reads the actual tension from the tension sensor. Calculate its relationship with the target tension. Tension deviation And based on the tensile deviation The theoretical length change determined in step S5 Make adjustments to control the tensioning element to perform rope winding or unwinding;

[0028] Off-center load judgment and adjustment: Compare the total tension difference of the wire rope at different positions. When the difference exceeds the preset off-center load threshold, reduce the running speed of the joint motor. When the off-center load safety threshold is exceeded, stop the adjustment and sound an alarm.

[0029] Position holding: When all four joint motors reach the target angle and the detection values ​​of each tension sensor are within the preset pre-tension range, the joint motors and tensioning components are controlled to maintain their current positions.

[0030] Preferred steps middle,

[0031] The tension deviation of the wire rope for:

[0032]

[0033] The angle-tension coupling control amount of the tensioning member for:

[0034]

[0035] in, Indicates the first A steel wire rope, Indicates the control cycle number. This is the tensile force correction factor.

[0036] Preferred steps In the middle, the target tension Dynamically adjust according to the tilt of the lifting frame components:

[0037]

[0038] in, Indicates the first A steel wire rope, Based on the preload tension, The attitude compensation coefficient is... For the first The absolute value of the height deviation of each wire rope at its corresponding connection point.

[0039] Preferably, it is the actual tensile force. Set pre-tightening lower limit With pre-tightening upper limit And with a safety lower limit With safety limit ;but:

[0040] when Below But higher At that time, control the corresponding tensioning component to tighten;

[0041] when Higher than But lower At that time, control the release of the corresponding tensioning component;

[0042] when Below or higher When this occurs, the joint motor stops and an alarm sounds.

[0043] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0044] 1. The lifting and restraining components are both hidden under the lifting frame components, and there are no exposed push rods or supports around the bed. This eliminates the obstruction of emergency operations by the traditional head and foot structure of nursing beds. In emergencies, medical staff can approach patients without obstacles, providing ample operating space for rescue measures such as cardiopulmonary resuscitation and endotracheal intubation, and significantly improving emergency safety.

[0045] 2. The lifting frame assembly is tilted as a whole by four joint motors to achieve turning. The patient's body is always flexibly supported by a double-layered sheet, eliminating the need for pressure against hard edges like in a split-type bed board. The large force-bearing area and even weight distribution during turning prevent pressure from concentrating on one side of the body, effectively reducing the risk of pressure sores and improving patient comfort.

[0046] 3. The lifting frame assembly can be raised as a whole to form a "nursing suspension" state, creating an operating space between the double-layered sheets and the bed board. With the through holes on the lower sheet corresponding to the head, buttocks and feet, and the liftable cover of the upper sheet, nursing staff can complete operations such as washing hair, washing feet, and cleaning buttocks without moving the patient, reducing the intensity of nursing labor and reducing the pain of moving the patient.

[0047] 4. A V-shaped cotton container with a built-in urination / defecation container and sensor is placed on the double-layered bed sheet. After the sensor detects a defecation signal, the controller automatically raises the lifting frame to a suspended position, separating the container from the bed board, allowing caregivers to easily change the container. The entire process requires no moving the patient, enabling timely and convenient management of urination and defecation, and improving the quality of life for bedridden patients.

[0048] 5. The limiting component pulls the lifting frame assembly from below with a steel wire rope. The controller feeds forward to adjust the amount of steel wire rope extension and retraction based on the change in the joint motor angle, and uses a tension sensor for closed-loop correction. This angle-tension coupling control keeps the steel wire rope tension within the preset range, preventing the lifting frame assembly from shaking, slipping or getting stuck when lifting, turning or tilting, and ensuring a smooth and safe process for changing the patient's posture.

[0049] 6. The controller has preset multiple posture modes, including overall lifting, left and right turning, Tessellation position, reverse Tessellation position, nursing suspension, and reset. Nursing staff can switch between these modes with a single button on the control panel. The motor-driven system features gentle start and stop, minimizing impact on the patient. No manual adjustment of the bed or patient movement is required, significantly reducing the intensity of daily nursing work.

[0050] 7. Traditional nursing beds that use rigid tie rods or fixed-length ropes to restrain moving parts may experience interference, jamming, or constraint failure during changes in posture such as turning over or tilting. The limiting component of this invention uses a retractable steel wire rope in conjunction with a tension sensor and controller, which can dynamically adjust the rope length and maintain a constant preload as the lifting frame changes posture. Regardless of overall lifting, turning left or right, or tilting in a specific position, it can always maintain a close fit and constraint without interference or loosening, achieving stable limiting in all postures. Attached Figure Description

[0051] Figure 1 This is a three-dimensional structural diagram of the lifting frame assembly of the present invention during lifting.

[0052] Figure 2 This is a three-dimensional structural diagram of the anti-Teutonic position of the present invention;

[0053] Figure 3 This is a three-dimensional structural diagram of the lifting frame assembly of the present invention when it is lowered;

[0054] Figure 4 This is a side view of the lifting component and the limiting component in this invention.

[0055] Figure 5 This is a schematic cross-sectional view of the lifting component in this invention.

[0056] Figure 6 A three-dimensional structural diagram to enhance defecation function;

[0057] Figure 7 for Figure 6 A schematic diagram of the planar structure;

[0058] Figure 8 for Figure 7 A partial structural diagram;

[0059] Figure 9 This is a schematic diagram of the connection structure of a double-layer bed sheet;

[0060] Figure 10 This is a schematic diagram of a split-type double-layer bed sheet.

[0061] The numbers in the image represent:

[0062] 1-Bed frame; 11-Bed board; 2-Lifting assembly; 21-Joint motor; 22-Swing arm; 23-Slider; 24-Guide rail; 3-Restriction assembly; 31-Tightening component; 32-Guide wheel; 33-Wire rope; 34-Tension sensor; 4-Lifting assembly; 41-Crossbar; 42-Guard rail; 43-Stop bar; 44-Lower bed sheet; 441-Through hole; 45-Upper bed sheet; 451-Blinding part; 51-Urine / urine container; 52-V-shaped cotton; 53-Urine / urine sensor. Detailed Implementation

[0063] The above-mentioned and other technical features and advantages of the present invention will be described in more detail below with reference to the accompanying drawings.

[0064] Example 1

[0065] This embodiment provides a technical solution: an electric nursing bed with lifting function, such as... Figures 1-5 As shown, the device includes a bed frame 1, a lifting assembly 4, a lifting assembly 2, and a restraining assembly 3. The bed frame 1 serves as the overall load-bearing base and is equipped with casters at its lower part for easy movement of the nursing bed. The upper side of the bed frame 1 has a bed board 11, which forms a basic support surface when the lifting assembly 4 is in the lowered state. The lifting assembly 4 is positioned above the bed board 11 to support the patient's body. The lifting assembly 4 is mounted on the upper side of the bed frame 1 via the lifting assembly 2, which adjusts the posture of the lifting assembly 4.

[0066] The bed frame 1 is also equipped with a battery and a controller. The battery supplies power to various electrical devices, while the controller receives operating commands and sensor signals, and coordinates the actions of each actuator. The controller includes a main control board, an operation panel, and a motor drive module. The operation panel has operation buttons for overall raising, overall lowering, left turning, right turning, Trästätschler position, reverse Trästätschler position, nursing suspension, reset, and emergency stop. The joint motors 21 preferably use motors with angle feedback function. The controller can determine the current position of the swing arm 22 based on the feedback angle of each joint motor 21, and control the rotation direction and rotation angle of the four joint motors 21 according to the preset posture mode.

[0067] The lifting assembly 2 includes four articulated motors 21 mounted on the bed frame 1, with the four articulated motors 21 distributed in pairs on both sides of the bed frame 1. Specifically, two articulated motors 21 are located on one side of the bed frame 1, and the other two articulated motors 21 are located on the other side of the bed frame 1. Each articulated motor 21 has a swing arm 22 fixed at its output end. The upper end of the swing arm 22 is movably connected to the lifting assembly 4. Specifically, a guide rail 24 is fixed at the bottom side of the lifting assembly 4 along its length. A slider 23 is slidably connected on the guide rail 24. The upper end of the swing arm 22 is rotatably connected to the slider 23. Limiting blocks can be set at both ends of the guide rail 24 to limit the maximum sliding stroke of the slider 23 and prevent the slider 23 from disengaging from the guide rail 24.

[0068] For ease of description, in this embodiment, the orientation reference is the direction of the patient lying supine on the lifting frame assembly 4. The end closer to the patient's head is the head end of the bed, and the end closer to the patient's feet is the foot end of the bed. The patient's left side corresponds to the left side of the bed, and the patient's right side corresponds to the right side of the bed. The side closer to the center of the bed is the inner side, and the side farther from the center of the bed is the outer side. The posture and movements of the lifting frame assembly 4 include the following:

[0069] When the four joint motors 21 drive the swing arm 22 to rotate from bottom to top at the same time, the four swing arms 22 drive the slider 23 to slide along the guide rail 24 from the outside to the inside, and at the same time raise the height of the lifting frame assembly 4, completing the overall lifting of the lifting frame assembly 4. When the lifting frame assembly 4 rises to the preset nursing height, it is in the nursing suspension posture.

[0070] When the four joint motors 21 drive the swing arm 22 to rotate from top to bottom at the same time, the four swing arms 22 drive the slider 23 to slide from the inside to the outside along the guide rail 24 in a straight line. At the same time, the height of the lifting frame assembly 4 will be reduced, and the overall descent of the lifting frame assembly 4 will be completed. When the lifting frame assembly 4 descends and fits against the bed board 11, it is in the reset posture.

[0071] When the two joint motors 21 on one side of the bed frame 1 simultaneously drive the swing arm 22 to rotate to the upper side, and the two joint motors 21 on the other side of the bed frame 1 simultaneously drive the swing arm 22 to rotate to the lower side, the lifting frame assembly 4 tilts along its width direction, thereby enabling the patient to be turned to the lower side, and turning to the left and right are respectively.

[0072] When the two joint motors 21 located at the head end of the bed frame 1 simultaneously drive the swing arm 22 to rotate to the upper side, and the two joint motors 21 located at the tail end of the bed frame 1 simultaneously drive the swing arm 22 to rotate to the lower side, the entire lifting frame assembly 4 tilts along its length, with the side closer to the patient's head being the higher position and the side closer to the patient's feet being the lower position, which is the reverse Teutonic position.

[0073] When the two joint motors 21 at the head end of the bed frame 1 simultaneously drive the swing arm 22 to rotate to the lower side, and the two joint motors 21 at the tail end of the bed frame 1 simultaneously drive the swing arm 22 to rotate to the upper side, the entire lifting frame assembly 4 tilts along its length, with the side closer to the patient's head being the lower position and the side closer to the patient's feet being the higher position, which is the Te's position.

[0074] The limiting component 3 includes four tensioning members 31 fixed to the bottom of the bed board 11. The four tensioning members 31 are distributed in pairs on both sides of the bed frame 1, that is, two tensioning members 31 are located on one side of the bed frame 1 and the other two tensioning members 31 are located on the other side of the bed frame 1. The four tensioning members 31 can be distributed inside or to the side of the four joint motors 21. A tension sensor 34 is fixed to the output end of the tensioning member 31. The tension sensor 34 can be any commercially available model. A steel wire rope 33 is fixed to the other end of the tension sensor 34. The end of the steel wire rope 33 away from the tension sensor 34 is fixedly connected to the lifting frame component 4. The tension sensor 34 can monitor the tension of the steel wire rope 33 in real time and transmit the monitored data to the controller.

[0075] To allow the wire rope 33 to turn smoothly, a guide wheel 32 can be installed at the bottom of the bed board 11. The wire rope 33 passes around the guide wheel 32, so that the wire rope 33 forms a straight traction section between the guide wheel 32 and the lifting frame assembly 4.

[0076] It should be noted that the tensioning component 31 can be an electric push rod, a rope reel, or other actuator capable of retracting the traction component, used to tension or loosen the wire rope 33. The tensioning component 31 is connected to the controller signal. While driving the joint motor 21, the controller synchronously adjusts the retraction or extension length of the corresponding wire rope 33 according to the height or tilt changes of the lifting frame assembly 4, so that the wire rope 33 is always kept within the preset tension range, preventing the lifting frame assembly 4 from swaying during lifting or tilting.

[0077] When the lifting assembly 4 is raised, lowered, turned to the left, turned to the right, reset, suspended for nursing care, or in a Tessellation or reverse Tessellation position using the lifting assembly 2, the loosening length of the steel wire rope 33 in the corresponding limiting assembly 3 is adjusted by the rotation angle of the corresponding joint motor 21. Since the steel wire rope 33 is not extensible, the length of the traction part is fixed. Therefore, the lifting assembly 4 can be tightly attached to the lifting assembly 2 by the steel wire rope 33 to prevent it from sliding on its own. The action of the tensioning member 31 can be controlled according to the feedback of the tension sensor 34, so that the tensioning force of the steel wire rope 33 is kept within a certain range, ensuring the stability of the lifting assembly 4.

[0078] When in use, if it is necessary to adjust the relative length of the lifting frame assembly 4 and the bed frame 1, the steel wire rope 33 of the limiting assembly 3 can be loosened, and then the lifting frame assembly 4 can be pushed. Then, the steel wire rope 33 can be tightened again to fix the lifting frame assembly 4, as the pulling force of the steel wire rope 33 restricts the lifting frame assembly 4 downwards. This function is applicable to some special usage scenarios. For example, when washing or drying a patient's hair, the lifting frame assembly 4 can be moved to one side of the headboard, so that the headboard end of the lifting frame assembly 4 extends beyond the bed frame 1, allowing the patient's hair to fall freely without being obstructed by the bed frame 1, thus facilitating hair washing or drying.

[0079] Therefore, this nursing bed can achieve various postures, including overall raising, overall lowering, left turning, right turning, Te's position, reverse Te's position, nursing suspension, and repositioning, without relying on the external push rod structure at the head and foot of the bed.

[0080] The advantage of this embodiment is that the joint motor 21 drives the swing arm 22 to rotate, thereby driving the lifting frame assembly 4 to rise, fall, turn over, and tilt. The lifting frame assembly 4 is fixed and limited by the limiting component 3, which is completely hidden under the lifting frame assembly 4. The joint motor 21 can also be completely stored in the space under the lifting frame assembly 4, thereby reducing the space occupied by the push rod motors used at the head and foot of the existing nursing bed, and the overall design becomes simpler.

[0081] Example 2

[0082] This embodiment is a further optimization based on Embodiment 1. The parts that are the same as those described above will not be repeated here. Figures 6-10 As shown, to further better realize the present invention, the following configuration is specifically adopted:

[0083] In this embodiment, the lifting frame assembly includes two crossbars 41, which are arranged along the length of the bed frame 1. The guide rail 24 is fixed to the crossbars 41, and a guardrail 42 is fixed on the crossbars 41. A double-layered sheet is connected between the two crossbars 41. The double-layered sheet is made of fabric and has a certain degree of softness. The width of the double-layered sheet is greater than the distance between the two crossbars 41, so that when the patient lies down, it can form a slightly concave and flexible support state, thereby increasing the contact area with the patient's body and reducing local pressure. A stop bar 43 is connected between the two ends of the two crossbars 41. The stop bar 43 can move relative to the crossbars 41 along the width of the double-layered sheet, so that when turning over, the two crossbars are not on the same horizontal plane, the double-layered sheet can be straightened, and it is not a rigid connection, while the stop bar 43 can move adaptively.

[0084] The double-layer bed sheet includes a lower bed sheet 44 and an upper bed sheet 45. The two sides of the lower bed sheet 44 are fixedly connected to two crossbars 41 respectively. Three through holes 441 are provided on the lower bed sheet 44. The three through holes 441 are set along the length of the lower bed sheet 44 and correspond to the patient's head, buttocks and feet respectively. One side of the upper bed sheet 45 is connected to one side of the lower bed sheet 44 by a zipper, and the other side is fastened to the edge of the lower bed sheet 44 by Velcro. The upper bed sheet 45 has three covering parts 451, which cover the three through holes 441 respectively.

[0085] After the entire body is raised into a nursing suspension posture, there is a certain distance between the double-layer bed sheet and the bed board 11. At this time, by opening the Velcro at different positions on the bed sheet and folding the corresponding covering part 451 to one side, cleaning and nursing work such as washing hair, washing feet, and washing buttocks can be performed on the patient lying on the double-layer bed sheet.

[0086] A device for the patient to urinate and defecate is placed on a double-layered bed sheet, including a V-shaped cotton 52. A clearance hole is provided on the V-shaped cotton 52, and a urination and defecation container 51 is detachably installed below the clearance hole. The urination and defecation container 51 contains a urination and defecation sensor 53, which can be one or more of a humidity sensor, weight sensor, liquid level sensor, or odor sensor. In this embodiment, the urination and defecation sensor 53 is electrically connected to a controller. When it detects a defecation signal, it sends the signal to the controller. The controller can notify the nursing staff to handle the situation in a timely manner through sound and light prompts, operation panel prompts, or wireless reminders.

[0087] Holes can be made at the corresponding positions on the bed board 11 to avoid the urinal 51, so that when the double-layer bed sheet is laid on the bed board 11, the urinal 51 and the bed board 11 will not interfere with each other.

[0088] When the urinal 51 is needed, the obstruction 451 in the middle is lifted so that the urinal 51 can pass through the through hole 441 in the middle. When the urination and defecation sensor 53 detects that the patient has urinated or defecated, the four joint motors 21 rotate upwards at the same time. After forming a nursing suspension posture, the double-layered bed sheet, along with the V-shaped cotton 52 above it and the urinal 51, lifts the patient upwards, thereby separating the patient's body from the bed board 11. After the whole body rises into a nursing suspension posture, there is a certain distance between the double-layered bed sheet and the bed board 11. This distance is used to change the urinal 51, thus achieving convenient management of the patient's urination and defecation.

[0089] This embodiment enables nursing staff to perform nursing tasks such as washing hair, washing feet, cleaning buttocks, and managing urination and defecation while the patient is in bed. This reduces the frequency of moving the patient, helps reduce discomfort during the care of long-term bedridden patients, and also reduces the workload of nursing staff.

[0090] Example 3

[0091] This embodiment is a further proposed posture control method for an electric nursing bed with lifting function based on Embodiment 2. This embodiment does not change the mechanical structure in Embodiment 1, and uses the bed frame 1, lifting component 2, limiting component 3, and lifting frame component 4 as the basic structure. It is mainly used to coordinate the rotation angle of the four joint motors 21 and the retraction and extension actions of the four tensioning components 31, and combined with the detection results of the four tension sensors 34, so that the lifting frame component 4 maintains stable movement during the overall rising, overall lowering, left turning, right turning, Tessellation position, reverse Tessellation position, nursing suspension, and reset processes.

[0092] The attitude control method in this embodiment includes:

[0093] S1. System initialization: The controller reads the initial feedback angle of the four joint motors 21 and the initial tension value of the four tension sensors 34; if any wire rope 33 does not reach the preset pretension range, the controller first controls the corresponding tensioning component 31 to perform pretension adjustment;

[0094] S2. Receive posture commands: The controller receives posture commands sent by the operation panel, remote control or wireless terminal, and identifies the posture command corresponding to the overall rising, overall falling, left turning, right turning, Te's position, reverse Te's position, nursing suspension or reset mode.

[0095] S3. Target Angle Determination: The controller determines the target angle of the four joint motors 21 according to the target posture mode through preset angle combinations, geometric conversion or angle-posture calibration table.

[0096] S4. Motor Cooperative Drive: The controller controls the four joint motors 21 to run synchronously according to the current angle and target angle of the four joint motors 21, and performs slow start and slow stop control during the start and stop phases.

[0097] S5. Determination of the theoretical release and retraction trend of the wire rope: Based on the real-time angle changes of the four joint motors 21 and the angle-rope length calibration relationship, the controller determines whether each wire rope 33 needs to be released, retracted, or held within the current control cycle, and determines the theoretical length change. ;

[0098] S6, Angle-Tension Coupling Compensation: The controller reads the actual tension from four tension sensors 34. ,according to Calculate the tensile force deviation, and based on Control the corresponding tensioning component 31 to perform rope winding or unwinding, so that the wire rope 33 remains in a controlled pre-tensioned state during the attitude switching process;

[0099] S7. Off-center load judgment: The controller compares the total tension of the steel wire ropes 33 on both sides, the total tension of the steel wire ropes 33 at the head end and the tail end of the bed, and the tension difference among the four steel wire ropes 33. When the tension difference exceeds the preset off-center load threshold, the controller reduces the running speed of the joint motor 21; when the tension difference exceeds the off-center load safety threshold, the controller stops the attitude adjustment and issues an alarm.

[0100] S8. Position Holding: When all four joint motors 21 reach the target angle and the detection values ​​of the four tension sensors 34 are all within the preset pre-tension range, the controller controls the four joint motors 21 to enter the braking holding state and controls the four tensioning parts 31 to maintain the current position, so that the lifting frame assembly 4 is stably held in the target posture.

[0101] The specific operating principle is as follows:

[0102] When the articulated motor 21 drives the lifting frame assembly 4 to perform overall raising, lowering, left turning, right turning, Tessellation, reverse Tessellation, reset, or nursing suspension, the controller pre-determines the theoretical tensioning trend of the wire rope 33 based on the real-time angle changes of the articulated motor 21, and performs closed-loop correction of the tensioning amount of the tensioning member 31 through feedback from the tension sensor 34, so that the wire rope 33 is always kept within the preset pre-tension range. This reduces the swaying, offset, and uncontrolled slippage of the lifting frame assembly 4 during multi-position switching, improving the stability and safety of patient bedridden care.

[0103] The controller in this embodiment includes a main control board, an operation panel, and a motor drive module. The main control board is electrically connected to four joint motors 21, four tensioning components 31, four tension sensors 34, a urination / defecation sensor 53, and the operation panel. The operation panel is equipped with operation buttons for overall raising, overall lowering, left turning, right turning, Tessellation position, reverse Tessellation position, nursing suspension, reset, and emergency stop. The controller can also be connected to a buzzer, indicator light, or wireless prompting unit to alert nursing staff when there is abnormal tension, abnormal angle, or changes in the patient's nursing status. The buzzer, indicator light, or wireless prompting unit only serves as an electrically controlled prompting component and does not change the lifting, traction, and support mechanical structure of the nursing bed.

[0104] Each articulated motor 21 has an angle feedback function. The angle feedback of the articulated motor 21 can be achieved by the motor's built-in encoder, Hall angle feedback element, or other detection element that can reflect the rotation angle of the output end of the articulated motor 21. When the angle feedback element of the articulated motor 21 outputs an absolute angle, the controller first calibrates the feedback angle according to the preset zero position angle. The calibrated effective angle is used as the actual angle of the articulated motor 21 participating in attitude control.

[0105] The controller has multiple preset attitude modes, each corresponding to a target angle combination of the four joint motors 21 and a target preload state of the four steel wire ropes 33, namely:

[0106] In the overall lifting mode, the four joint motors 21 rotate upward synchronously, causing the four swing arms 22 to simultaneously drive the sliders 23 to slide along the guide rails 24, thereby raising the lifting frame assembly 4;

[0107] In the overall lowering mode, the four joint motors 21 rotate downwards synchronously, so that the lifting frame assembly 4 approaches or fits against the bed board 11;

[0108] In the left turning mode, the two joint motors 21 corresponding to the patient's right side rotate upward, and the two joint motors 21 corresponding to the patient's left side rotate downward or remain at a low angle, so that the lifting frame assembly 4 tilts in the width direction.

[0109] In the right-turning mode, the two joint motors 21 corresponding to the patient's left side rotate upward, while the two joint motors 21 corresponding to the patient's right side rotate downward or remain at a low angle.

[0110] In the Specific position mode, the two joint motors 21 at the head end of the bed rotate downward or maintain a low angle, while the two joint motors 21 at the foot end of the bed rotate upward.

[0111] In the reverse Tessellation mode, the two joint motors 21 at the foot of the bed rotate downward or maintain a low angle, while the two joint motors 21 at the head of the bed rotate upward.

[0112] In nursing suspension mode, four joint motors 21 rise synchronously at low speed, creating a nursing operation space between the double-layer bed sheet and the bed board 11;

[0113] In reset mode, the controller restores the lifting frame assembly 4 to the normal bed rest state according to the safety path.

[0114] After receiving the posture adjustment command, the controller first reads the current angle of the four joint motors 21 and the current tension value of the four tension sensors 34, and determines whether the current posture is suitable for performing the target action. If any wire rope 33 is too loose, too tight, or in an abnormal signal state, the controller first stops the posture adjustment command and prompts the nursing staff to check through the operation panel or alarm unit.

[0115] Before attitude adjustment begins, the controller determines the target angles of the four joint motors 21 based on the target attitude. These target angles are established during factory testing using an angle-attitude calibration table, which contains fixed values. The controller obtains the target angles by looking up or interpolating from this calibration table. The angle-attitude calibration table can be obtained by controlling each joint motor 21 to rotate sequentially to different angles and recording the actual attitudes of the lifting frame assembly 4 under overall rising, overall lowering, left turning, right turning, Tessellation position, reverse Tessellation position, reset, and nursing suspension conditions. Since this type of table lookup and interpolation method is a conventional control technique in this field, its specific mathematical process will not be elaborated upon in this embodiment.

[0116] When controlling the movement of the four joint motors 21, the controller employs a synchronous progress control method. Specifically, the controller compares the difference between the actual angle and the target angle of each joint motor 21 and adjusts the corresponding motor drive output according to the degree of completion of each joint motor 21's movement. When a certain joint motor 21 lags behind the others, the controller appropriately increases the drive output of that joint motor 21; when a certain joint motor 21 moves ahead, the controller appropriately decreases the drive output of that joint motor 21. This method ensures that the four support positions of the lifting frame assembly 4 move in a coordinated manner according to the target posture, preventing the lifting frame assembly 4 from twisting or jamming due to asynchronous movement of a single joint motor 21. The above synchronous control can be implemented using existing speed closed-loop, position closed-loop, or segmented acceleration / deceleration control methods. The controller preferably uses slow start and slow stop to prevent the patient from experiencing significant impact during posture changes.

[0117] The key point of this embodiment is that the controller does not passively adjust the wire rope 33 after the joint motor 21 has completed its operation. Instead, during the operation of the joint motor 21, it determines the theoretical winding and unwinding trend of the corresponding wire rope 33 in advance based on the real-time angle change of the joint motor 21, and uses the feedback value of the tension sensor 34 to correct the actual winding and unwinding amount of the tensioning member 31.

[0118] Specifically, the controller reads the actual angle of each joint motor 21 in each control cycle and determines whether the corresponding connection point of the lifting assembly 4 has risen, fallen, or remained basically unchanged relative to the previous control cycle based on the angle-attitude calibration relationship. When the corresponding connection point of the lifting assembly 4 rises, the controller determines that the corresponding wire rope 33 should theoretically be released; when the corresponding connection point of the lifting assembly 4 falls, the controller determines that the corresponding wire rope 33 should theoretically be retracted; when the height of the corresponding connection point of the lifting assembly 4 remains basically unchanged, the controller controls the corresponding tensioning member 31 to maintain its current position or only makes a small tension correction.

[0119] To ensure that the wire rope 33 remains under controlled pretension during attitude switching, this embodiment employs a control method that couples angle feedforward and tension feedback. Let the... 33 steel wire ropes in the first The theoretical length change within each control cycle is , No. The actual tension value detected by each of the 34 tension sensors is , No. The target tension of the 33 steel wire ropes is , No. The tension deviation of the steel wire rope 33 is , No. The tensioner 31 is in the first The control quantity within each control cycle is ,in for , , or , Indicates the sequence number of the discrete control cycle. This indicates the previous control cycle. Greater than This indicates that the corresponding steel wire rope 33 should theoretically be released. Less than This indicates that the corresponding steel wire rope 33 theoretically needs to be recycled; Greater than This indicates that the corresponding tensioning component 31 tightens the wire rope 33. Less than This indicates that the corresponding tensioning element 31 releases the wire rope 33. It can be the equivalent extension / retraction length control amount of the tensioning member 31, or it can be converted into the motor rotation angle, control pulse number, or running time of the tensioning member 31.

[0120] No. The tension deviation of wire rope 33 is:

[0121]

[0122] No. The angle-tension coupling control value of the tensioning element 31 is:

[0123]

[0124] in, This is the tension correction factor, ranging from 0.01 to 10. The specific value is determined as follows: With the lifting frame assembly operating under no-load conditions, adjust... The value continues until the fluctuation range of the wire rope tension is less than a preset threshold. In the above formula, Used for feedforward compensation based on the angle change of the joint motor 21 and the posture change of the lifting assembly 4. Used for closed-loop correction based on feedback from tension sensor 34. When the joint motor 21 actuates, causing a wire rope 33 to theoretically need to be released, the controller first controls the corresponding tensioning element 31 to release. Appropriate length; if the tension sensor 34 detects that the actual tension is lower than the target tension after release, then... The corresponding tensioning element 31 is tightened compensatingly; if the actual tension is higher than the target tension, then... The corresponding tensioning element 31 is further released or the tightening is stopped. In this way, the winding and unwinding action of the wire rope 33 is synchronized with the posture action of the joint motor 21, avoiding the wire rope 33 from being too loose or too tight during the movement of the lifting frame assembly 4.

[0125] As a further optimization, when the patient is heavy, the tilt angle of the lifting frame component 4 is large, or the operating speed of the nursing bed is high, the controller can adjust the target pulling force. The dynamic target tension is set. The dynamic target tension is adjusted based on the tilt of the lifting assembly 4, the current attitude mode, and the position of each wire rope 33, so that wire ropes 33 in high, low, or significantly stressed positions have different target preload values. The dynamic target tension can be predetermined using an attitude mode table or calibration table, or it can be compensated using the following methods:

[0126]

[0127] in, Based on the preload tension, The attitude compensation coefficient is... For the first The absolute value of the height deviation of the connection point of the 33 steel wire ropes relative to the average height of the four connection points. Attitude compensation coefficient. It is a positive constant, ranging from 0 to 5, used to linearly increase the target tension of the high-position side wire rope according to the inclination of the lifting frame assembly 4. The specific values ​​were determined experimentally: under the maximum tilt attitude, adjust The value ensures that the ratio of the actual tension of the high-side wire rope to the actual tension of the low-side wire rope is between 1.2 and 2.0. The above formula ensures that the target pretension of the corresponding wire rope 33 can be increased as the tilt of the lifting frame assembly 4 increases, thereby enhancing the traction stability in the overturning, Te-Sin position, or reverse Te-Sin position states.

[0128] In actual operation, the controller is also set with a normal preload range and a safety protection range. The normal preload range includes the lower limit of preload. and pre-tightening limit The safety protection range includes the lower safety limit. and safety limit ,in Less than , Greater than When the actual tensile force Below But higher When the controller determines that the corresponding wire rope 33 is too loose, it controls the corresponding tensioning element 31 to tighten slightly; when the actual tension... Higher than But lower When the controller determines that the corresponding wire rope 33 is too tight, it controls the corresponding tensioning element 31 to release slightly; when the actual tension... Below or higher If the controller determines that there is a risk of loosening, rope breakage, jamming, or overload, it will immediately stop the four joint motors 21 from continuing to perform attitude adjustment actions and issue an alarm.

[0129] When the caregiver inputs the overall lifting command, the controller controls the four joint motors 21 to rotate synchronously upwards, and the four swing arms 22 drive the sliders 23 to move along the guide rails 24, causing the lifting frame assembly 4 to rise as a whole. During this process, the controller determines that all four steel wire ropes 33 need to be released as the lifting frame assembly 4 rises based on the angle changes of the four joint motors 21, and controls the four tensioning members 31 to release the steel wire ropes 33 synchronously according to the angle-tension coupling control method. At the same time, the controller continuously corrects the release amount using four tension sensors 34. If a steel wire rope 33 is released too much, causing the actual tension to be lower than the pre-tension lower limit, the controller immediately controls the corresponding tensioning member 31 to retract slightly; if a steel wire rope 33 is released too little, causing the actual tension to be higher than the pre-tension upper limit, the controller controls the corresponding tensioning member 31 to continue releasing. This ensures that the lifting frame assembly 4 remains stable during overall lifting, preventing pulling due to delayed release of the steel wire ropes 33 and preventing swaying due to excessive release.

[0130] When the nurse inputs the overall descent command, the controller controls the four joint motors 21 to rotate synchronously downwards, causing the lifting frame assembly 4 to gradually approach the bed board 11. During this process, the controller determines that all four steel wire ropes 33 need to be retracted as the lifting frame assembly 4 descends based on the angle changes of the four joint motors 21, and controls the four tensioning components 31 to retract the steel wire ropes 33 synchronously. If the detection value of a tension sensor 34 suddenly falls below the lower safety limit during descent, the controller determines that the corresponding steel wire rope 33 may be at risk of loosening or breaking, immediately stops the operation of the four joint motors 21, and alerts the nurse to check via the alarm unit; if the detection value of a tension sensor 34 suddenly exceeds the upper safety limit, the controller determines that the corresponding steel wire rope 33 may be at risk of jamming or overload, stops the descent, and controls the corresponding tensioning component 31 to release a small amount at a low speed.

[0131] When the nurse inputs the command to turn the patient to the left, the controller controls the two joint motors 21 corresponding to the patient's right side to rotate upwards, and the two joint motors 21 corresponding to the patient's left side to rotate downwards or maintain a lower angle, causing the lifting frame assembly 4 to tilt along its width. At this time, the right-side steel wire rope 33 is released as the right-side lifting frame assembly 4 rises, while the left-side steel wire rope 33 remains pre-tensioned or slightly retracted to prevent the lifting frame assembly 4 from slipping uncontrollably to the lower side. The controller continuously compares the total tension of the two left-side steel wire ropes 33 with the total tension of the two right-side steel wire ropes 33. When the difference in total tension between the left and right sides exceeds the preset off-center load threshold, the controller reduces the operating speed of the four joint motors 21; when the difference in total tension between the left and right sides exceeds the off-center load safety threshold, the controller stops the turning action and controls each tensioning component 31 to maintain its current position or slowly return to a safe posture.

[0132] When the nurse inputs the command to turn the patient to the right, the controller controls the two joint motors 21 corresponding to the left side of the patient to rotate upwards, while the two joint motors 21 corresponding to the right side of the patient rotate downwards or maintain a lower angle, causing the lifting frame assembly 4 to tilt in the opposite direction. At this time, the left steel wire rope 33 is released as the left lifting frame assembly 4 rises, while the right steel wire rope 33 remains pre-tensioned or slightly retracted. The controller also determines whether the patient is unbalanced based on the difference in total tension between the left and right sides, and performs deceleration, stop, alarm, or reversal actions according to the degree of unbalance.

[0133] When the nurse inputs the reverse Teutonic position command, the controller controls the two joint motors 21 at the head of the bed to rotate upwards, and the two joint motors 21 at the foot of the bed to rotate downwards or maintain a low angle, causing the lifting frame assembly 4 to tilt along its length, with the end closer to the patient's head higher than the end closer to the patient's feet. During this process, the steel wire rope 33 at the head of the bed is released according to the amount of elevation at the head of the bed, while the steel wire rope 33 at the foot of the bed remains pre-tensioned or slightly retracted. The controller continuously compares the total tension of the two steel wire ropes 33 at the head of the bed with the total tension of the two steel wire ropes 33 at the foot of the bed. When the difference between the two exceeds the preset front-to-back off-center load threshold, the controller reduces the tilting speed; when the difference exceeds the front-to-back off-center load safety threshold, the controller stops tilting and keeps the lifting frame assembly 4 in its current posture or slowly returns it to a safe posture.

[0134] When the nurse inputs the Tessellation position command, the controller controls the two joint motors 21 at the foot of the bed to rotate upwards, and the two joint motors 21 at the head of the bed to rotate downwards or maintain a lower angle, causing the lifting frame assembly 4 to tilt in the opposite direction along its length, with the end near the patient's feet higher than the end near the patient's head. The controller adjusts the four joint motors 21 according to the angle control logic opposite to the Tessellation position, and synchronously adjusts the extension and retraction of the four steel wire ropes 33 according to the angle-tension coupling control method to keep the lifting frame assembly 4 stable and restricted in the Tessellation position.

[0135] When the urination / defecation sensor 53 detects a discharge signal, or when a caregiver inputs a nursing suspension command, the controller enters the nursing suspension mode. In nursing suspension mode, the four articulated motors 21 rotate synchronously upwards at low speed, creating a nursing operation space between the double-layered sheet and the bed board 11. During nursing suspension, the controller controls the four tensioning components 31 to synchronously release the steel wire rope 33 according to angle changes, and performs closed-loop correction through feedback from the four tension sensors 34. After reaching the preset nursing height, the controller controls the four articulated motors 21 to enter a braking holding state, and controls the four tensioning components 31 to maintain the current pre-tension state, so that caregivers can change the urination / defecation container 51 or perform nursing operations such as washing hair, feet, and buttocks.

[0136] When a nurse inputs a reset command, the controller selects a safe reset path based on the current posture. If the lifting frame assembly 4 is in a left or right turning position, the controller first controls the left and right joint motors 21 to gradually return to the corresponding horizontal angle, and then controls the four joint motors 21 to descend synchronously. If the lifting frame assembly 4 is in a Tessellation or reverse Tessellation position, the controller first controls the head and foot of the bed to gradually return to the corresponding horizontal angle, and then controls the four joint motors 21 to descend synchronously. If the lifting frame assembly 4 is in a nursing suspension state, the controller directly controls the four joint motors 21 to descend synchronously at a low speed. During the reset process, the controller continuously executes the angle-tension coupling control of the steel wire rope 33, so that the steel wire rope 33 expands and contracts synchronously with the posture change of the lifting frame assembly 4, avoiding direct descent in an inclined state that could cause patient slippage or the steel wire rope 33 to become too loose or too tight momentarily.

[0137] The controller also continuously monitors the angle and tension of the joint motors 21. If the feedback angle of a certain joint motor 21 does not change accordingly with the control command within a preset time, or if the deviation between the actual angle and the commanded angle of a certain joint motor 21 exceeds a preset angle deviation threshold, the controller determines that the joint motor 21 may be stalled, stuck, or have an abnormal angle feedback, and immediately stops all four joint motors 21 from continuing to operate. If any tension sensor 34 loses its signal, its detection value changes abruptly, or remains unchanged for a long time, the controller determines that the corresponding tension detection channel is abnormal and stops the attitude adjustment action. If the emergency stop button is triggered, the controller immediately cuts off the action output of the joint motors 21 and the tensioning component 31 and issues an alarm.

[0138] The above description is merely a preferred embodiment of the present invention and is illustrative rather than restrictive. Those skilled in the art will understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the present invention, all of which will fall within the protection scope of the present invention.

Claims

1. An electric nursing bed with lifting function, characterized in that, include: Bed frame (1); A lifting frame assembly (4) is disposed above the bed frame (1) for supporting the patient; A lifting assembly (2) is installed between the bed frame (1) and the lifting frame assembly (4) for adjusting the posture of the lifting frame assembly (4) relative to the bed frame (1); The controller is electrically connected to the lifting assembly (2) and controls its operation to change the posture of the lifting assembly (4).

2. The electric nursing bed with lifting function according to claim 1, characterized in that, The lifting assembly (2) includes four joint motors (21) mounted on the bed frame (1), with the four joint motors (21) distributed in pairs on both sides of the bed frame (1); each of the four joint motors (21) has a swing arm (22) fixed to its output end; the lifting assembly (4) has a guide rail (24) fixed to its side; and a slider (23) is slidably mounted on the guide rail (24) and rotatably connected to the upper end of the swing arm (22).

3. The electric nursing bed with lifting function according to claim 1, characterized in that, The lifting frame assembly (4) includes two crossbars (41) arranged along its length and a double-layered sheet connected between the two crossbars (41); The double-layer bed sheet includes a lower bed sheet (44) and an upper bed sheet (45). The two sides of the lower bed sheet (44) are fixedly connected to two crossbars (41) respectively, and the lower bed sheet (44) has three through holes (441), which correspond to the patient's head, buttocks and feet respectively.

4. The electric nursing bed with lifting function according to claim 3, characterized in that, One side of the upper sheet (45) is detachably connected to one side of the lower sheet (44), and the upper sheet (45) has three covering parts (451) that cover the three through holes (441).

5. The electric nursing bed with lifting function according to claim 2, characterized in that, It also includes a limiting component (3), which connects the bed frame (1) and the lifting assembly (4) for downward restraint of the lifting assembly (4); and synchronously controls the limiting component (3) according to the movement of the lifting assembly (2) so that the tension of the limiting component (3) on the lifting assembly (4) is kept within a preset range, so as to restrain the lifting assembly (4) on the lifting assembly (2) and restrict its horizontal displacement.

6. The electric nursing bed with lifting function according to claim 5, characterized in that, The limiting component (3) includes four steel wire ropes (33) connected at one end to the lifting frame component (4) and four tensioning members (31) fixed to the bed frame (1). The other end of the tensioning member (31) and the steel wire rope (33) are connected through a tension sensor (34). The tension sensor (34) is used to monitor the tension of the steel wire rope (33) in real time and send the signal to the controller. The bed frame (1) is rotatably mounted with guide wheels (32), and the wire rope (33) passes around the guide wheels (32).

7. A posture control method based on the electric nursing bed according to claim 6, characterized in that, Includes the following steps: Initialization: Read the initial angles of the four joint motors (21) and the initial tension values ​​of the four tension sensors (34). If any of the wire ropes (33) does not reach the preset pre-tension range, control the corresponding tensioning member (31) to perform pre-tension adjustment. Receive attitude commands: Receive and identify the mode corresponding to the attitude command; 1. Determine the target angle: Determine the target angle of the four joint motors (21) according to the target posture mode; Motor coordinated drive: control the four joint motors (21) to run to the target angle in a synchronous manner; 1. Determine the theoretical length change of the wire rope: Based on the real-time angle changes of each joint motor (21), determine the theoretical length change of the corresponding wire rope (33) within the current control cycle. ; Angle-tension coupling compensation: Read the actual tension from the tension sensor (34) Calculate its relationship with the target tension. Tension deviation And based on the tensile deviation The theoretical length change determined in step S5 Make adjustments to control the tensioner (31) to perform rope winding or unwinding; 1. Off-center load judgment and adjustment: Compare the total tension difference of the wire rope (33) at different positions. When the difference exceeds the preset off-center load threshold, reduce the running speed of the joint motor (21). When the off-center load safety threshold is exceeded, stop the adjustment and alarm.

1. Position holding: When all four joint motors (21) reach the target angle and the detection values ​​of each tension sensor (34) are within the preset pre-tension range, the joint motors (21) and the tensioning member (31) are controlled to maintain the current position.

8. The attitude control method according to claim 7, characterized in that, step middle, The tension deviation of the wire rope (33) for: ； The angle-tension coupling control amount of the tensioning member (31) for: ； in, Indicates the first A steel wire rope, Indicates the control cycle number. This is the tensile force correction factor.

9. The attitude control method according to claim 7, characterized in that, step In the middle, the target tension Dynamically adjust according to the tilt of the lifting frame assembly (4): ； in, Indicates the first A steel wire rope, Based on the preload tension, The attitude compensation coefficient is... For the first The absolute value of the height deviation of the connection point of each wire rope (33).

10. The attitude control method according to claim 7, characterized in that, The actual tensile force Set pre-tightening lower limit With pre-tightening upper limit And with a safety lower limit With safety limit ;but: when Below But higher At that time, control the corresponding tensioning element (31) to tighten; when Higher than But lower At that time, control the corresponding tensioning element (31) to release; when Below or higher When the joint motor (21) stops and an alarm is triggered.

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