CN1699031A

CN1699031A - Intelligent nurse robot

Info

Publication number: CN1699031A
Application number: CN 200410042307
Authority: CN
Inventors: 丁化; 韩泰康; 黄复梅; 韩昆霖
Original assignee: Individual
Current assignee: Individual
Priority date: 2004-05-17
Filing date: 2004-05-17
Publication date: 2005-11-23
Anticipated expiration: 2024-05-17
Also published as: CN100341473C

Abstract

An intelligent nurse robot. The invention provides a rehabilitation medical device which can be controlled by a user and can change postures and move out, and the rehabilitation medical device comprises a frame, wheels, and a bendable plate body group consisting of a back plate, a seat plate, a backup plate and a pedal which are sequentially pivoted and connected; the bottom of the seat plate is provided with a first driving device for controlling the back plate and the backup plate to form a bending angle or to be horizontally arranged relative to the seat plate, and the bottom of the backup plate is provided with a second driving device for controlling the pedal to swing; the back plate, the seat plate, the backup plate and two sides of the pedal of the bendable plate body group can be embedded from the bed head of the sickbed to the middle section of the sickbed; the hospital bed is characterized in that a frame body extending upwards is arranged on the periphery of the hospital bed, the top of the frame body is a generally rectangular frame, and a suspension system comprising a driving structure, a driven structure and a guide structure which are arranged on two opposite sides in the frame is arranged on the frame; the guide structure is provided with a rehabilitation device which can perform matrix displacement within the frame range; the bottom end of the rehabilitation device is provided with a bag body with an upward opening.

Description

Intelligent nursing robot

Technical field

The invention belongs to rehabilitation medicine equipment, particularly a kind of intelligent nursing robot.

Background technology

The trend in epoch is impelled the human "sport for all" of pursuing.Modern young man stresses and goes through hell and high water, advocate the outdoor dangerous motion that stimulates again, such as climb rocks, strike, hang gliding, diving, racing car etc., though have positive meaning, but its danger also improves relatively, inevitable unexpected the generation often arranged, cause limbs or spinal cord injury, even second limb or total paralysis become the plant person.In addition, still have because traffic accident, anoxic caused for some reason serious limbs injury that cerebral paralysis, employment injuries caused.And the people of this badness walking couches at ordinary times on sickbed, even hand still can be controlled electric wheelchair, also can't move on the wheelchair voluntarily.When needs are sought medical advice or are gone out, move on the wheelchair even need take in one's arms by nurse, not only need many people nurses, also be a load greatly for the muscle power of nurse.

Report according to Medical device news again, the ratio of whole world population at advanced age (over-65s) Japan is maximum at present, and statistics reaches 17.2% 2000 Christian eras, and moral, English, the method in Europe account for 16%, the U.S. is low slightly to be about 12.6%, and Taiwan is lower than 8.4%.But the average national income in Taiwan is roughly equal to 13000 yuan on U.S. dollar, still not as good as half (promptly more than 30000 dollars) of advanced state, and estimates the year two thousand fifty in Christian era, and Taiwan population at advanced age ratio is present twice up to 16.5% promptly.At present Taiwan equals 8 people and supports a elderly, but when estimating the year two thousand thirty, elderly population can reach 19.5% about three people and support a people.To the year two thousand forty estimate 25%, it is serious that situation more becomes.

No matter and be somatopsychic disturbance friends congenital or posteriority, a lifetime, maximum hope can be taken care of oneself exactly, can independently stand up socially, more positive entered into the crowd and society permeates.But in the actual environment, no matter be to go out or only be to move all to need other people's (nurse) to assist and can't take care of oneself, it is many to the outdoor chance that contact with society to cause somatopsychic disturbance person to lose, in addition be Time for Sunshine and with wind must not be for it.

So existing equipment is extremely inconvenient for somatopsychic disturbance person's use, causing needs nurse to assist and can move, thereby increases the physical load of nurse; And the strong chance of not lost many contact sunlight of independence owing to the patient has the necessity that is improved in fact.

Summary of the invention

The purpose of this invention is to provide a kind of can controlling voluntarily and alter one's posture, move the intelligent nursing robot of going out.

The present invention comprises vehicle frame, can be driven the wheel of displacement and be located at the bent plate body group at vehicle frame top; Bent plate body group is formed by articulating the backboard, seat, backup plate and the pedal that connect in regular turn; And be provided with in seat bottom so as to control backboard and the relative seat of backup plate and be bent to form bending angle or become first drive unit of horizontal positioned and be provided with second drive unit in the backup plate bottom so as to the control pedal beat; The backboard of bent plate body group, seat, backup plate and pedal both sides can be embedded in the stage casing of the head of a bed of sick bed to sick bed; Sick bed week, side was provided with the support body that up extends, and the top of support body is general rectangular framework, is provided with suspension system in framework; Suspension system comprise be located at the drives structure on the two opposite sides in the framework, driven structure and be connected in drives structure and driven structure between guiding structural; Guiding structural is provided with the rehabilitation device that is able to do the matrix displacement in framework; The bottom of rehabilitation device is provided with opening bag up.

Wherein:

The guiding structural of suspension system has the guide bar that connects and be set in parallel in the driving screw both sides by driven structure driven lead screw and two respectively; Rehabilitation device is located on driving screw and two guide bars, it comprises the seat of honour that is incorporated on the guiding structural, be incorporated into following of the hollow of bottom, the seat of honour, be incorporated into down the seat lower semisection and extend downwards wave seat, be incorporated into seat of honour side and with axostylus axostyle run through first motor that is hubbed at the seat of honour, be incorporated into down a side and with axostylus axostyle through following with second motor, restrict body, joint and the bag that wave; The axostylus axostyle of second motor with wave the seat fixedly connected; Wave the seat bottom and be provided with hollow tube body portion; The rope body is set around on the axostylus axostyle of first motor, the tube body that its free end down passes down seat, wave and be incorporated into joint, and bag is suspended on the below of joint.

Following seat articulates and is incorporated into bottom, the seat of honour and seat of honour pivot relatively; Between upper and lower seat, be provided with so as to control in conjunction with holder fixing or that seat is freely pivoted.

Bottom, the seat of honour is provided with the perforation that runs through up and down; Following seat top be provided with several distribute in the form of a ring and can be respectively with the seat of honour on perforation be involutory wear groove; Holder is fixed in the side in the seat of honour, and it is provided with to be piercing in the control handle outside the seat of honour and to be positioned at the inboard correspondence in the seat of honour and to be inserted in seat of honour perforation and also can be formed on down the inserted link that seat is worn groove by the control handle control card.

The drives structure of suspension system has the hollow skeleton frame that is coated on a side in the sick bed support body top frame, is provided with motor and connection and by electric motor driven gear in the inner side of skeleton frame; Sick bed support body top frame is provided with tooth bar corresponding with the skeleton frame internal gear and engagement; The driven structure that is positioned at the drives structure opposite side is provided with the hollow skeleton frame that is coated on sick bed support body top frame opposite side, is provided with so as to driving guiding structural power spare in skeleton frame.

First drive unit is provided with the linear activated structure that is incorporated into the seat bottom, linear activated structure has straight-line displacement is extended and can be done at two ends respectively toward backboard, backup plate drive link, is respectively equipped with so as to first syndeton that drives backboard deflection and so as to driving second syndeton of backup plate deflection in two free ends of drive link; First and second syndeton is respectively equipped with first and second skeleton frame that is incorporated into the drive link end, and is respectively equipped with the elongated slot that runs through both sides on first and second skeleton frame, place the body of rod respectively on two elongated slots, and the body of rod is connected on backboard, the backup plate with cantilever respectively; Second drive unit is provided with the linear activated structure that is incorporated into backup plate bottom, and linear activated structure has terminally extends and can do the drive link of straight-line displacement towards the pedal side, and the drive link end is provided with so as to driving the 3rd syndeton of pedal deflection.

The 3rd syndeton is provided with the skeleton frame that is incorporated into the drive link end, is provided with the elongated slot that runs through both sides in skeleton frame, places the body of rod on elongated slot, and the body of rod is connected on the pedal with cantilever.

Because the bent plate body group that the present invention comprises vehicle frame, wheel and is made up of the backboard, seat, backup plate and the pedal that articulate connection in regular turn; Be provided with in seat bottom so as to control backboard and the relative seat of backup plate and form bending angle or become first drive unit of horizontal positioned and be provided with second drive unit in the backup plate bottom so as to the control pedal beat; The backboard of bent plate body group, seat, backup plate and pedal both sides can be embedded in the stage casing of the head of a bed of sick bed to sick bed; Sick bed week, side was provided with the support body that up extends, and the top of support body is general rectangular framework, is provided with suspension system in framework; Suspension system comprise be located at the drives structure on the two opposite sides in the framework, driven structure and be connected in drives structure and driven structure between guiding structural; Guiding structural is provided with the rehabilitation device that is able to do the matrix displacement in framework; The bottom of rehabilitation device is provided with opening bag up.As the present invention during as wheelchair, drive simultaneously respectively by first drive unit that backboard up rotates, backup plate down rotates, and be bent into wheelchair seat, backboard and can for shank against backup plate; Drive the pedal rotation and form the pedal that wheelchair is placed for sole by second drive unit; Otherwise when desiring the generate bed board, sufferer can be controlled voluntarily, makes first and second drive unit reverse operating, and backboard, seat, backup plate and pedal are flattened; During use, intelligent nursing robot can be incorporated into the centre of sick bed, and control makes backboard, seat, backup plate and pedal flattening and contour with sick bed; If will withdraw from the time, can earlier intelligent nursing robot be controlled and withdraw from after being transformed into the wheelchair kenel, can control voluntarily between each diagnosis and treatment or outdoor Time for Sunshine by sufferer; And swing voluntarily by controlling the rehabilitation device upper bag body that is arranged on the suspension system and is able in framework, do the matrix displacement, make the sufferer limbs that are positioned on the bag be obtained rehabilitation.Not only can control voluntarily and alter one's posture, and can move voluntarily and go out, thereby reach purpose of the present invention.

Description of drawings

Fig. 1, for structural representation side view of the present invention (being the wheelchair state).

Fig. 2, for structural representation upward view of the present invention.

Fig. 3, for structural representation side view of the present invention (being transformed into the bed board state).

Fig. 4, be incorporated into the structural representation stereogram of sick bed for the present invention.

Fig. 5,, the present invention shifts out sick bed structural representation stereogram for being transformed into wheelchair.

Fig. 6, for suspension system plan structure schematic sectional view of the present invention.

Fig. 7, for rehabilitation device structural representation stereogram of the present invention.

Fig. 8, for rehabilitation device structural representation cutaway view of the present invention.

The specific embodiment

As Fig. 1, Fig. 2, shown in Figure 3, the intelligent nursing robot 1 of the present invention is a kind of capable combination of sleeping, and it can flatten into bed board automatically or be bent into the wheelchair shape, has a rest in the following prone position of changing into voluntarily of unmanned nurse to make things convenient for sufferer, perhaps changes into sitting posture and moves.

As shown in Figure 1, the intelligent nursing robot 1 of the present invention comprises bent plate body group, first drive unit 20, second drive unit 30, vehicle frame, drive unit and so as to the wheel of displacement.

The plate body group be arranged at the top and in regular turn by bendable be converted into backrest backboard 10, be hubbed at an end in backboard 10 two ends seat 11, be hubbed at four plate bodys that seat 11 differs from the backup plate 12 of backboard 10 ends and be hubbed at the pedal 13 of backup plate 12 other ends relatively and form.

Articulate mutually by first hinged arm 14 between backboard 10 and the seat 11; Articulate mutually by second hinged arm 15 between seat 11 and the backup plate 12; Articulate mutually by the 3rd hinged arm 16 between backup plate 12 and the pedal 13.

The end face of backboard 10, seat 11, backup plate 12 can be provided with pad 100, so as to providing sufferer more comfortable sense of touch.

First drive unit 20 is arranged at the bottom of seat 11; Second drive unit 30 is provided with the bottom of backup plate 12.

Be bent to form bending angle by first drive unit, 20 control backboards 10 and backup plate 12 relative seats 11, perhaps relative 11 one-tenth horizontal positioned of seat.

Beat varicose by second drive unit, 30 control pedals 13.

Vehicle frame, drive unit and be located at seat 11 belows so as to the wheel of displacement.

Wheel is turned round by driving device controls, and it can be any pattern, and non-pass author content of the present invention, is clearly showed characteristics of the present invention in order to make drawing, so vehicle frame, drive unit and wheel are not illustrated.

As shown in Figure 2, first drive unit 20 is provided with the linear activated structure 21 that is incorporated into seat 11 bottoms, linear activated structure 21 has straight-line displacement is extended and can be done at two ends respectively toward backboard 10, backup plate 12 drive link 210, be respectively equipped with so as to drive backboard 10 be first syndeton 22 of axle center deflection with first hinged arm 14 and be second syndeton 23 of axle center deflection so as to driving backup plate 12 with second hinged arm 15 in two free ends of drive link 210, so respectively with seat 11 between formation bending angle or flatten into bed board.

Second drive unit 30 is arranged at backup plate 12 bottoms, it is provided with the linear activated structure 31 that is incorporated into backup plate 12 bottoms, linear activated structure 31 has the terminal drive link 310 that extends and can do straight-line displacement towards pedal 13 sides, it is the 3rd syndeton 26 of axle center rotation with the 3rd hinged arm 16 that drive link 310 ends are provided with so as to driving pedal 13, and then forms bending angle or flatten into bed board with backup plate 12 between backup plate 12.

In preferred embodiment of the present invention, first syndeton 22, second syndeton 23 are respectively equipped with first skeleton frame 220, second skeleton frame 230 that is incorporated into drive link 210 ends, and on first and second skeleton frame 220,230, be respectively equipped with the elongated slot 221,231 that runs through both sides, on two elongated slots 221,231, place the body of rod 24,25 respectively, and the body of rod 24,25 is connected on backboard 10, the backup plate 12 with cantilever 101,121 respectively.

Be provided with the skeleton frame 260 that is incorporated into drive link 310 ends with the 3rd syndeton 26 of second drive unit, 30 interlocks, be provided with the elongated slot 261 that runs through both sides in skeleton frame 260, place the body of rod 27 on elongated slot 261, the body of rod 27 is connected on the pedal 13 with cantilever 131.

As the present invention during as wheelchair, the type of drive of its preferred embodiment is: the drive link 210 of the linear activated structure 21 of first drive unit 20 goes out toward backboard 10 thrusters, first skeleton frame 220, second skeleton frame 230 drive simultaneously respectively that backboard 10 up rotates, backup plate 12 down rotates, and be bent into wheelchair seat 11, backboard 10 and can for shank against backup plate 12; The drive link 310 of second drive unit 30 then goes out toward pedal 13 thrusters, drives the body of rod 27 by skeleton frame 260 and forms the pedal 13 that wheelchair is placed for sole together with pedal 13 rotations; Otherwise when desiring the generate bed board, sufferer can be controlled voluntarily, makes first drive unit 20, second drive unit, 30 reverse operatings, can as shown in Figure 3 backboard 10, seat 11, backup plate 12 and pedal 13 be flattened.

As shown in Figure 4, during use, the intelligent nursing robot 1 of the present invention can be incorporated into the centre of sick bed 4.The centre of sick bed 4 is provided with by the head of a bed and extends to a bed stage casing for the chimeric hollow fitting portion 40 of the intelligent nursing robot of the present invention 1, and control flattens backboard 10, seat 11, backup plate 12 and the pedal 13 of the intelligent nursing robot 1 of the present invention and contour with sick bed 4; If will withdraw from the time, as shown in Figure 5, can earlier the intelligent nursing robot 1 of the present invention be controlled and withdraw from after being transformed into the wheelchair kenel.Hospital also can design one on the ground and overlap the guidance system A (for example track guiding systems) that extends between sick bed 4 and outdoor or each diagnosis and treatment, intelligent nursing robot 1 then is provided with corresponding induction installation, can control voluntarily along guidance system A between each diagnosis and treatment or outdoor Time for Sunshine by sufferer; Can also the matching computer system, in the set time sufferer is moved to default place automatically, make the patient that can't control voluntarily also can move under the situation that does not need to nurse between required diagnosis and treatment or outdoor.

As Fig. 4, shown in Figure 5, sick bed 4 can be a Rehabilitation table, be provided with the support body 5 that up lies along quadripolar corners and top in sick bed 4, the top of support body 5 is general rectangular framework 50, is provided with so as to be able to do the suspension system 60 of matrix displacement in the scope of framework 50 for rehabilitation device 70 in framework 50.As shown in Figure 7, the bottom of rehabilitation device 70 is provided with opening bag 71 up, is positioned on the bag 71 with the limbs with sufferer, and controls it is swung voluntarily, makes limbs be obtained rehabilitation.

As Fig. 5, shown in Figure 6, suspension system 60 comprise be located at drives structure 61, the driven structure 62 on the two opposite sides in sick bed 4 upper frames 5 top frame 50 and be connected in drives structure 61 and driven structure 62 between guiding structural 63.Rehabilitation device 70 promptly is located on the guiding structural 63.

As shown in Figure 6, drives structure 61 has the hollow skeleton frame 610 that is coated on a side in the framework 50, the gear 612 that is provided with motor 611 and connects and driven by motor 611 in skeleton frame 610 inner sides.Framework 50 is provided with the tooth bar 613 of and engagement corresponding with skeleton frame 610 internal gears 612.

During use, actuating motor 611 can rotate and move along tooth bar 613 by driven wheel 612, promptly makes whole group drives structure 61 along framework 50 displacements.Because drives structure 61 is to be connected with driven structure 62 by guiding structural 63, so when drives structure 61 moved, driven structure 62 produced displacement synchronously thereupon.

The driven structure 62 that is positioned at drives structure 61 opposite sides also is provided with the hollow skeleton frame 620 that is coated on framework 50 opposite sides, is provided with the power spare 621 that rotates so as to the driving screw 631 that drives guiding structural 63 in skeleton frame 620.

Guiding structural 63 has the guide bar 632 that connects and be set in parallel in driving screw 631 both sides by power spare 621 driven lead screw 631 and two of driven structure 62 respectively.

Rehabilitation device 70 is located on the driving screw 631 and two guide bars 632 of guiding structural 63.

When the power spare 621 of driven structure 62 drives driving screw 631 rotations, rehabilitation device 70 can be along its axial displacement, so rehabilitation device 70 is done laterally and matrix displacement longitudinally through the power of guiding structural 63 by the power and the driven structure 62 of drives structure 61, makes the position of rehabilitation so as to moving to the sufferer desire.

As Fig. 7, shown in Figure 8, rehabilitation device 70 comprises the hollow seat of honour 72 that is incorporated on the guiding structural 63, articulate be incorporated into 72 bottoms, the seat of honour and relatively following 73 of hollow pivoting of the seat of honour 72, be incorporated into down seat 73 lower semisections and extend downwards wave seat 74, be incorporated into the seat of honour 72 sides and with axostylus axostyle 751 run through first motor 75 that is hubbed at the seat of honour 72, be incorporated into down 73 side and with axostylus axostyle 761 through following 73 and wave second motor 76, restrict body 77, joint 78 and a bag 71 of 74.The axostylus axostyle 761 of second motor 76 with wave seat and 74 fixedly connected, wave seat 74 so as to driving and wave.Wave seat 74 bottoms and be provided with hollow tube body portion 741.Rope body 77 is set around on the axostylus axostyle 751 of first motor 75, and its free end down passes down seat 73, wave a tube body 741 of 74 and be incorporated into joint 78, and bag 71 is suspended on the below of joint 78.So when starting first motor 75, can so that rotating, axostylus axostyle 751 discharge or draw in rope body 77, and then control bag 71 is done lifting, when it reduces to a side corresponding to the sufferer health, the patient can place the limbs of sufferer on the bag 71, restart first motor 75, bag 71 is risen suitably highly.Then start second motor 76, its axostylus axostyle 761 is back and forth rotated,, wave seat 74 reciprocal beats so can drive because axostylus axostyle 761 is fixed with waving seat 74, and then make that passing the rope body 77 that waves seat 74 tube bodies 741 is located at the bag 71 of its below along with waving, with the limbs of activity sufferer.

Done the activity rehabilitation of different directions in addition for the limbs that make sufferer, the present invention is provided with holder 80 between the seat of honour 72 of rehabilitation device 70 and following 73, its set-up mode is that holder 80 is fixed in a side in the seat of honour 72, and holder 80 is provided with the inserted link 82 that is piercing in the outer control handle 81 in the seat of honour 72 and is positioned at 72 inboards, the seat of honour, and 72 bottoms, the seat of honour are provided with and run through the perforation 721 that can pass for inserted link 82 up and down.The top of following seat 73 then is provided with several and distributes in the form of a ring and can be respectively wear groove 731 with 72 bottom perforateds 721 are involutory.

When rotating the control handle 81 of holder 80, it is down outstanding and be placed through down the wearing groove 731 of seat 73 and fix following 73 to control its inserted link 82, perhaps up pull out and with following 73 break away from, make down seat 73 free to rotate, when so desire changes it and waves direction, as long as make down earlier seat 73 together with waving seat 74, bag 71 revolutions one angle, control holder 80 blockings location again, can change the direction of bag 71, and when starting second motor 76, can make the limbs of sufferer do the activity rehabilitation of different directions.

From the above, the intelligent nursing robot 1 of the present invention can be used in the Rehabilitation table with rehabilitation function, arrange in pairs or groups the again guidance system of hospital, can do rehabilitation so that need the sufferer of rehabilitation to move on to sick bed at a fixed time automatically, and really reach the situation of taking care of just as nurse, be intelligent nursing robot worthy of the name.

Operational transformation becomes bed board or wheelchair because the present invention has voluntarily, make the sufferer function of operational transformation posture and displacement voluntarily, and can directly combine and do not need mobile patient with sick bed, more can cooperate the guidance system of medical institutes and automatically displacement, make its can do not need still to be moved between diagnosis and treatment under the nurse, rehabilitation chamber or open air, and then save the expense of nurse and the muscle power that expends, and reach that the somatopsychic disturbance friend can take care of oneself, independent hope.

Claims

1. An intelligent nurse robot, which includes a vehicle frame, wheels that can be driven to move and a plate body set on the frame; it is characterized in that the plate body set is arranged on the top of the frame The connected backboard, seat board, back board and pedal are composed of a bendable board body group; and the bottom of the seat board is provided to control the bending of the back board and the back board relative to the seat board to form a bending angle or to be placed horizontally. A driving device and a second driving device is provided at the bottom of the backboard to control the deflection of the pedals; the backboard, seat board, backboard and both sides of the pedals of the bendable board group can be fitted from the head of the bed to the bed The middle section of the hospital bed; there is an upwardly extending frame around the bed, and the top of the frame is a roughly rectangular frame, and a suspension system is provided on the frame; the suspension system includes driving structures on two opposite sides of the frame 1. The driven structure and the guiding structure connected between the driving structure and the driven structure; the guiding structure is provided with a rehabilitation device capable of matrix displacement within the framework; the bottom of the rehabilitation device is provided with an opening facing upwards of the bag body.

2. The intelligent nurse robot according to claim 1, characterized in that the guide structure of the suspension system has a lead screw connected and driven by the driven structure and two guide screws respectively arranged in parallel on both sides of the lead screw. Guide rod; the rehabilitation device is set on the lead screw and two guide rods, which includes an upper seat combined with the guiding structure, a hollow lower seat combined with the bottom of the upper seat, and a swing that is combined with the lower half of the lower seat and extends downward The seat, the first motor combined with the side of the upper seat and pivotally installed on the upper seat through the shaft, the second motor combined with the side of the lower seat and passed through the lower seat and the swing seat with the shaft, the rope body, the joint and the bag ; The shaft of the second motor is fixedly connected with the swing seat; the bottom of the swing seat is provided with a hollow pipe body; The pipe body is combined with the joint, and the bag body is suspended below the joint.

3. The intelligent nurse robot according to claim 2, characterized in that the lower seat is pivotally connected to the bottom of the upper seat and can pivot relative to the upper seat; there is a device between the upper and lower seats to control the combination, fix or make The clamping device for the free pivoting of the lower seat.

4. The intelligent nurse robot according to claim 3, characterized in that the bottom of the upper seat is provided with perforations that penetrate up and down; Groove; the clamping device is fixed on one side of the upper seat, and it is provided with a control handle that passes out of the upper seat and is located on the inner side of the upper seat and is inserted into the perforation of the upper seat and can be controlled by the control handle and clamped in the lower seat through the slot. plunger.

5. The intelligent nurse robot according to claim 1, characterized in that the driving structure of the suspension system has a hollow frame covering one side of the top frame of the bed frame, and a There is a motor and a gear connected and driven by the motor; the top frame of the bed frame is provided with a rack corresponding to and meshing with the inner gear of the frame seat; the driven structure on the opposite side of the driving structure is provided with a cover on the top The hollow frame seat on the other side of the frame is provided with power parts for driving and guiding the structure on the frame seat.

6. The intelligent nurse robot according to claim 5, characterized in that the guiding structure of the suspension system has a lead screw connected and driven by the driven structure and two guide screws respectively arranged in parallel on both sides of the lead screw. Guide rod; the rehabilitation device is set on the lead screw and two guide rods, which includes an upper seat combined with the guiding structure, a hollow lower seat combined with the bottom of the upper seat, and a swing that is combined with the lower half of the lower seat and extends downward The seat, the first motor combined with the side of the upper seat and pivotally installed on the upper seat through the shaft, the second motor combined with the side of the lower seat and passed through the lower seat and the swing seat with the shaft, the rope body, the joint and the bag ; The shaft of the second motor is fixedly connected with the swing seat; the bottom of the swing seat is provided with a hollow pipe body; The pipe body is combined with the joint, and the bag body is suspended below the joint.

7. The intelligent nurse robot according to claim 6, characterized in that the lower seat is pivotally connected to the bottom of the upper seat and can pivot relative to the upper seat; The clamping device for the free pivoting of the lower seat.

8. The intelligent nurse robot according to claim 7, characterized in that the bottom of the upper seat is provided with perforations that penetrate up and down; Groove; the clamping device is fixed on one side of the upper seat, and it is provided with a control handle that passes out of the upper seat and is located on the inner side of the upper seat and is inserted into the perforation of the upper seat and can be controlled by the control handle and clamped in the lower seat through the slot. plunger.

9. The intelligent nurse robot according to claim 1, 2, 3, 4, 5, 6, 7 or 8, characterized in that the first drive device is provided with a linear actuation structure combined with the bottom of the seat , the linear actuation structure has a transmission rod with two ends respectively extending toward the backboard and the backboard and capable of linear displacement. The two free ends of the transmission rod are respectively provided with a first connection structure for driving the deflection of the backboard and a first connecting structure for driving the backboard. The deflected second connection structure; the first and second connection structures are respectively provided with the first and second frame seats combined with the end of the transmission rod, and the first and second frame seats are respectively provided with long grooves running through both sides. Rods are respectively placed on the long slots, and the rods are respectively connected to the backboard and the backboard by cantilevers; the second driving device is provided with a linear actuation structure combined with the bottom of the backboard, and the linear actuation structure has an end extending toward the pedal side and The transmission rod can be used for linear displacement, and the end of the transmission rod is provided with a third connecting structure for driving the pedal to deflect.

10. The intelligent nurse robot according to claim 9, characterized in that the third connection structure is provided with a frame seat combined with the end of the transmission rod, and the frame seat is provided with a long groove penetrating both sides, and the length A rod body is placed on the groove, and the rod body is connected to the pedal with a cantilever.