CN103610545B - Nursing robot with bathing and massaging functions - Google Patents

Abstract

The present invention proposes a nursing robot with bathing and massage functions. The robot can assist the nursing personnel to complete functions such as turning over, sitting up, lying down, massaging, and bathing, and also has the functions of an electric wheelchair and a bed. It can provide certain nursing work for the nursing staff, which can effectively reduce the burden on the nursing staff. The invention is not only practical, but also powerful. A nursing robot with bathing and massage functions can be applied in hospitals, homes and other places.

Description

A nursing robot with bathing and massage functions

technical field

The invention is an electromechanical product, a robot capable of providing users with services such as bathing and massage.

Background technique

Caring for a bedridden person is a lot of work. If the nursing object is a bedridden and incontinent person, this kind of nursing work is even more onerous. It is very meaningful to design a robot that can quickly, timely and conveniently clean up excrement and urine excreted by people who are bedridden and incontinent, and can also bathe patients. This robot can effectively reduce the workload of nursing staff and improve the quality of care.

Contents of the invention

The present invention proposes a nursing robot with bathing and massage functions. The robot can assist the nursing personnel to complete such as turning over, sitting up, lying down, massaging, bathing, and also has the functions of an electric wheelchair and a bed. It can provide certain nursing work for the care recipients, which can effectively reduce the burden on the caregivers. The invention is not only practical, but also powerful. A nursing robot with bathing and massage functions can be applied in hospitals, homes and other places.

The present invention provides the following technical solutions: a nursing robot with bathing and massage functions, including: backboard 1, first hinge 2, second hinge 3, buttock board 4, third hinge 5, leg board 6, fourth hinge Hinge 7, first electric push rod 8, fifth hinge 9, support frame 10, steering wheel 11, universal wheel 12, runner 13, driving wheel 14, sixth hinge 15, second electric push rod 16, seventh Hinge 17, eighth hinge 18, third electric push rod 19, first and ninth hinge 20, bathtub 21, cleaning device 22, collector 23, heater 24, controller 25, steering motor 26, storage battery 27, travel motor 28 and defecation sensor 29.

The backboard 1 is connected to the hip board 4 through the first hinge 2, the leg board 6 is connected to the hip board 4 through the third hinge 5, the hip board 4 is connected to the support frame 10 through the second hinge 3, and the backboard 1 is connected on the third electric Under the action of the push rod 19, it can rotate clockwise or counterclockwise around the axis of rotation of the first hinge 2, and the leg plate 6 can rotate clockwise or counterclockwise around the axis of rotation of the third hinge 5 under the action of the first electric push rod 8 , the buttock plate 4 can rotate clockwise or counterclockwise around the rotation axis of the second hinge 3 under the action of the second electric push rod 16 .

One end of the first electric push rod 8 is connected to the leg plate 6 through the fourth hinge 7, and the other end is connected to the support frame 10 through the fifth hinge 9; one end of the third electric push rod 19 is connected to the back plate through the first ninth hinge 20 1 connection, the other end is connected with the support frame 10 through the eighth hinge 18; one end of the second electric push rod 16 is connected with the hip plate 4 through the seventh hinge 17, and the other end is connected with the support frame 10 through the sixth hinge 15; Under the action of the push rod, the board surfaces of the backboard 1, the buttock board 4 and the leg board 6 are on a horizontal plane, or the hip board 4 is horizontal, the other end of the backboard 1 is inclined upward with the first hinge 2 as the axis, and the leg board 6 Taking the third hinge 5 as the axis, the other end is inclined downward.

The bottom of support frame 10 is equipped with steering wheel 11, universal wheel 12, runner 13, driving wheel 14, and steering wheel 11, universal wheel 12, runner 13, driving wheel 14 jointly support a kind of bathing and massage function. A nursing robot with bathing and massage functions can run indoors and outdoors; the battery 27 can provide energy for the operation of the robot, and the driving motor 28 can drive the driving wheel 14 to rotate, and the rotation of the driving wheel 14 can provide movement for the robot Power, the steering motor 26 controls the direction of motion of the robot through the steering wheel 11.

The bathtub 21 is arranged under the buttock plate 4, the toilet sensor 29 is arranged on the buttock plate 4, the cleaning device 22 is arranged in the bathtub 21, and is used for cleaning the buttock plate 4 and the body of the care receiver, and the heater 24 is arranged on the bathtub 21. Used to dry the buttocks 4 and the body of the care receiver, the collector 23 is arranged at the bottom of the tub 21 to temporarily store the waste water produced after cleaning.

The controller 25 is electrically connected with the first electric push rod 8 , the second electric push rod 16 , the third electric push rod 19 , the toilet sensor 29 , the cleaning device 22 and the heater 24 .

Further, the backboard 1 includes: a slat 888, a backboard frame 101, a first motor 102, a first transmission wheel 103, a first transmission belt 104, a guide rail 105, a slider 106, a connecting rod 107, a tenth hinge 108, a first Four electric push rods 109, the eleventh hinge 110, the second motor 111, the twelfth hinge 112 and the mechanical arm, and the mechanical arm includes: an upper arm 113, a third motor 114, a forearm 115 and an armrest 116.

The guide rail 105 is installed on the backplane frame 101, the slider 106 is installed on the guide rail 105, the two sliders 106 are connected together by a connecting rod 107, and the end of the connecting rod 107 is connected to the manipulator arm by the twelfth hinge 112; One end of the fourth electric push rod 109 is connected to the backboard frame 101 through the eleventh hinge 110, and the other end is connected to the connecting rod 107 through the tenth hinge 108; The rod 107 and the robot arm can move along the guide rail 105 .

Driven by the second motor 111, the mechanical arm can rotate around the shaft of the twelfth hinge 112, and the third motor 114 can drive the forearm 115 to rotate, and the rotation of the forearm 115 will drive the armrest 116 to rotate around the third motor 114 shaft.

The shaft end of the first motor 102 is equipped with the first transmission wheel 103, and the shaft end of the plate 888 of the backboard 1 is also equipped with the first transmission wheel 103, and the first motor 102 can be driven by the first transmission wheel 103 and the first transmission belt 104. The slats 888 of the backboard 1 rotate, and a plurality of slats 888 arranged in the same direction constitute the board surface of the backboard 1 .

Further, the buttock board 4 includes: slats 888, hip board frame 401, second transmission wheel 402, second transmission belt 403, fourth motor 404 and third transmission belt 405; the shaft end of the fourth motor 404 is equipped with a second transmission The wheel 402, the shaft end of the slat 888 of the buttock plate 4 is also equipped with a second drive wheel 402; the fourth motor 404 drives the slat 888 of the buttock plate 4 through the second drive wheel 402, the second drive belt 403 and the third drive belt 405 Rotate, a plurality of slats 888 arranged in the same direction constitute the board surface of the buttock board 4 .

Further, the leg board 6 includes: a slat 888, a leg board frame 601, a third transmission wheel 602, a fourth transmission belt 603, a fifth motor 604 and a fifth transmission belt 605; the shaft end of the fifth motor 604 is equipped with a third transmission Wheel 602, the shaft end of the slat 888 of leg plate 6 is also equipped with the third drive wheel 602; Rotate, a plurality of slats 888 arranged in the same direction constitute the board surface of the leg board 6 .

Further, the first motor 102, the fourth motor 404 and the fifth motor 604 are DC, AC or stepper motors, the first transmission belt 104, the second transmission belt 403, the third transmission belt 405, the fourth transmission belt 603 and the fifth transmission belt 605 It is a chain or a timing belt.

Further, the slat 888 includes: a rotating shaft 8881 , a slat body 8882 , and soft fibers 8883 , the rotating shaft 8881 is arranged at both ends of the slat body 8882 , and the soft fiber 8883 is arranged on the outer wall of the slat body 8882 .

Further, the cross section of the slat body 8882 is an ellipse, a centrosymmetric figure surrounded by two arcs and two straight lines or a chamfered rectangle, the diameter of the two arcs is larger than that of the two straight lines distance.

Description of drawings

Fig. 1 is a schematic diagram of a nursing robot with bathing and massage functions.

Fig. 2 is a schematic diagram of a nursing robot with bathing and massage functions when viewed from the left.

Fig. 3 is the structure schematic diagram after the assembly of supporting frame 10, driving motor 28, steering motor 26, steering wheel 11, universal wheel 12, running wheel 13, driving wheel 14 main components.

FIG. 4 is three schematic diagrams of the structure of the backplane frame 101 obtained when the observer observes the backplane frame 101 from three different angles: top, left, and front.

FIG. 5 is three structural diagrams of the hip plate frame 401 obtained by the observer when observing the hip plate frame 401 from three different angles: top, left, and front.

FIG. 6 is three structural schematic diagrams of the leg frame 601 obtained by the observer when observing the leg frame 601 from three different angles: top, left, and front.

FIG. 7 is three schematic diagrams of the structure of the support frame 10 obtained when the observer observes the support frame 10 from three different angles: top, left, and front.

FIG. 8 is a schematic structural view of a nursing robot backboard 1 with bathing and massage functions. FIG. 8 does not include the first motor 102, the first transmission wheel 103, the first transmission belt 104, and the slats 888 of the backboard 1.

Fig. 9 is a structural schematic diagram of a mechanical arm of a nursing robot with bathing and massage functions.

Fig. 10 is a structural schematic diagram of a nursing robot backboard 1 with bathing and massage functions. In Fig. 10, only the backboard frame 101 of the backboard 1, the first motor 102, the first transmission wheel 103, and the first transmission belt 104 are included. , Part 888 of slats.

Fig. 11 shows that the slat 888 of the backboard 1 is rotated 90 degrees around the rotating shaft 8881 of the slat 888 from the position shown in Fig. Schematic diagram of the structure of the first transmission wheel 103, the first transmission belt 104, and the slats 888.

Fig. 12 is a structural schematic diagram of a buttock plate 4 of a nursing robot with bathing and massage functions.

Fig. 13 is a structural schematic diagram of the buttock plate 4 after the slat 888 of the buttock plate 4 is rotated 90 degrees around the rotation axis 8881 of the slat 888 from the position shown in Fig. 12 .

Fig. 14 is a structural schematic diagram of a nursing robot leg board 6 with bathing and massage functions.

Fig. 15 is a schematic diagram of the structure of the leg board 6 after the lath 888 of the leg board 6 of a nursing robot with bathing and massage functions is rotated 90 degrees around the rotating shaft 8881 of the lath 888 from the position shown in Fig. 14 .

FIG. 16 is a schematic diagram of the structure of the slat 888 when viewed from the front of the slat 888 .

FIG. 17 is a schematic view of the structure of the slat 888 when viewed from the left side of the slat 888 .

FIG. 18 , FIG. 19 , and FIG. 20 can all be cross-sectional views of the slat body 8882 .

Fig. 21 is a structural schematic diagram of the main body parts of the backboard 1, the hip board 4 and the leg board 6 on a horizontal plane.

Fig. 22 is a schematic diagram showing another state of the main parts of the back board 1, the hip board 4, and the leg board 6 under the action of the electric push rod.

Reference sign

The whole system consists of backboard 1, first hinge 2, second hinge 3, hip board 4, third hinge 5, leg board 6, fourth hinge 7, first electric push rod 8, fifth hinge 9, support frame 10 , Steering wheel 11, universal wheel 12, runner 13, drive wheel 14, sixth hinge 15, second electric push rod 16, seventh hinge 17, eighth hinge 18, third electric push rod 19, first first Nine hinges 20, bathtub 21, cleaning device 22, collector 23, heater 24, controller 25, steering motor 26, accumulator 27, driving motor 28, defecation sensor 29 and other major components.

The back plate 1 and the hip plate 4 are connected together through the first hinge 2, the leg plate 6 and the hip plate 4 are connected together with the third hinge 5, the hip plate 4 and the support frame 10 are connected together through the second hinge 3, and the support frame The bottom of 10 is equipped with turning wheel 11, universal wheel 12, running wheel 13, driving wheel 14.

The backboard 1 can rotate clockwise or counterclockwise around the rotation axis of the first hinge 2 under the action of the third electric push rod 19 , and the leg board 6 can rotate around the rotation axis of the third hinge 5 under the action of the first electric push rod 8 . The rotating shaft rotates clockwise or counterclockwise, and the hip plate 4 can rotate clockwise or counterclockwise around the rotating shaft of the second hinge 3 under the action of the second electric push rod 16 . Under the action of the electric push rod, the backboard 1, buttock board 4, and leg board 6 of a nursing robot with bathing and massage functions can be on a horizontal plane as shown in Figure 21, or can appear as shown in Figure 22 structure shown.

Among them, the backboard 1 is composed of slats 888, backboard frame 101, first motor 102, first transmission wheel 103, first transmission belt 104, guide rail 105, slider 106, connecting rod 107, tenth hinge 108, fourth motor Push rod 109, the eleventh hinge 110, the second motor 111, the twelfth hinge 112 mechanical arms and other parts, the mechanical arm is made up of upper arm 113, the third motor 114, forearm 115, handrail 116 and other parts.

Slats 888, a backboard frame 101, a first motor 102, a first transmission wheel 103, and a first transmission belt 104 are installed on the backboard 1, and the structure of this part of the backboard 1 is shown in FIG. 10 . The shaft end of the first motor 102 is equipped with a first transmission wheel 103, and the shaft end of the slat 888 of the backboard 1 is also equipped with a first transmission wheel 103, and the first motor 102 can pass through the first transmission wheel 103 and the first transmission belt 104. The slats 888 of the backboard 1 are driven to rotate, and a plurality of slats 888 arranged in the same direction constitute the board surface of the backboard 1 .

The guide rail 105 is installed on the backplane frame 101, and the slider 106 is installed on the guide rail 105. The two sliders 105 are connected together by a connecting rod 107, and the end of the connecting rod 107 is connected to the manipulator arm by the twelfth hinge 112. , one end of the fourth electric push rod 109 is connected to the backplane frame 101 through the eleventh hinge 110 , and one end is connected to the connecting rod 107 through the tenth hinge 108 . Under the action of the fourth electric push rod 109 , the slider 106 , the connecting rod 107 and the mechanical arm can move along the guide rail 105 , and the structure of this part of the backplane 1 is shown in FIG. 8 . Driven by the second motor 111 , the mechanical arm can rotate around the shaft of the twelfth hinge 112 , the third motor 114 can drive the forearm 115 to rotate, and the rotation of the forearm 115 will drive the armrest 116 to rotate around the shaft of the third motor 114 . The structure of the mechanical arm is shown in Figure 9. The fourth electric push rod 109 can push the connecting rod 107 and the entire mechanical arm to move along the guide rail 105 .

Wherein, hip board 4 is made up of parts such as slat 888, hip board frame 401, second transmission wheel 402, second transmission belt 403, fourth motor 404, third transmission belt 405, structure as shown in Figure 12. The shaft end of the fourth motor 404 is equipped with the second transmission wheel 402, and the shaft end of the slat 888 of the buttock plate 4 is also equipped with the second transmission wheel 402. The fourth motor 404 drives the slats 888 of the hip board 4 to rotate through the second transmission wheel 402 , the second transmission belt 403 and the third transmission belt 405 , and a plurality of slats 888 arranged in the same direction constitute the board surface of the hip board 4 .

Wherein, leg board 6 is made up of parts such as lath 888, leg board frame 601, the 3rd transmission wheel 602, the 4th transmission belt 603, the 5th motor 604, the 5th transmission belt 605, structure as shown in Figure 14. The shaft end of the fifth motor 604 is equipped with the third transmission wheel 602, and the shaft end of the slat 888 of the leg plate 6 is also equipped with the third transmission wheel 602, the fifth motor 604 can pass the third transmission wheel 602, the fourth transmission belt 603 , The fifth transmission belt 605 drives the slats 888 of the leg board 6 to rotate, and a plurality of slats 888 arranged in the same direction constitute the board surface of the leg board 6 .

Wherein, lath 888 is made up of main parts such as rotating shaft 8881, lath body 8882, soft fiber 8883, and structure sees Fig. 16,17.

detailed description

A nursing robot with bathing and massage functions is used in pairs. When two nursing robots with bathing and massage functions on the left and right are placed on a horizontal plane, the structure of the two nursing robots with bathing and massage functions is about The plane passing through the rotation axis of the second hinge 3 and perpendicular to the horizontal plane is symmetrical. The care receiver can lie on the plane formed by the board surfaces of the back board 1, the hip board 4 and the leg board 6 together.

When the care receiver lying on the board needs to sit up, as long as the sit-up control button on the controller 25 is pressed, the third electric push rod 19 will push the back board 1 clockwise around the rotating shaft of the first hinge 2 Rotate by a certain angle. At the same time, the leg plate 6 rotates clockwise at a certain angle around the rotation axis of the third hinge 5 under the pull of the first electric push rod 8 . Like this, the plate surface of backboard 1, buttock plate 4, leg plate 6 can jointly form a "chair surface" as shown in Figure 22, and this "chair surface" is suitable for being sat up by nursing staff. At this time, a nursing robot with bathing and massage functions presents a "wheelchair-like" state.

When the care receiver who sits up needs to lie down, as long as the lying down control button on the controller 25 is pressed, the third electric push rod 19 pulls the backboard 1 to rotate a certain angle counterclockwise around the rotating shaft of the first hinge 2, so that The board surface of the backboard 1 and the board surface of the buttock board 4 are coplanar. Simultaneously, the first electric push rod 8 pushes the leg plate 6 to rotate counterclockwise at a certain angle around the rotating shaft of the third hinge 5, so that the board surface of the leg plate 6 and the buttock plate 4 are coplanar. When the board surfaces of the back board 1, hip board 4, and leg board 6 are on the same plane as shown in Figure 21, a nursing robot with bathing and massage functions presents a "bed-like" state.

When the nursing person in a lying state needs to turn over, as long as the turn over control button on the controller 25 is pressed, the second electric push rod 16 will promote the hip plate 4 to rotate around the rotating shaft of the second hinge 3, and the hip plate 4 will drive the backboard 1 and the leg board 6 to rotate around the rotating shaft of the second hinge 3 together. In this way, the care receiver can be assisted to complete the turning action, and the care receiver can also be transferred to the other side on the board of a nursing robot with bathing and massage functions.

The defecation sensor 29 is housed on the slat of the buttock plate 4, and the defecation sensor 29 can perceive the defecation state of the care receiver, and when the defecation sensor 29 senses that the care receiver has big or urine discharge, the resultant defecation will be discharged. The signal is transmitted to the controller 25, and the controller 25 controls the fourth motor 404 to drive the plurality of slats 888 on the buttock plate 4 to rotate around their own rotating shafts 8881, so that the buttock plate 4 will have a plurality of strip-shaped gaps exposed, and the cleaning device 22 The warm water and cleanser are alternately sprayed onto the slats 888 of the buttocks board 4 and the buttocks or legs of the care receiver. In this way, the slats 888 and the care receiver's buttocks can be cleaned. The dirty water that cleaning produces can be collected into the collector 23 that is positioned at buttock plate 4 below, and temporarily stores up. After cleaning, press the control button of the heater 24 on the controller 25, the heater 24 can dry the buttocks of the buttocks 4 and the care receiver.

When the care recipient wants to take a bath, a nursing robot with bathing and massage functions can be set to a "chair-like" state, so as to reduce the space occupied by a nursing robot with bathing and massage functions and facilitate movement. Move a kind of nursing robot with bathing and massage functions to the toilet or other places convenient for taking a bath, start the first motor 102, the fourth motor 404, the fifth motor 604, and make the backboard 1, hip board 4, leg board 6 The slats 888 rotate, feed warm water to the cleaning device 22, adjust the orientation of the cleaning device 22 spraying warm water and cleaning agent, so that the cleaning water and cleaning agent can be sprayed to the body parts to be cleaned by the caregiver. In this way, the care receiver can be bathed.

When the care recipient needs a massage, a kind of nursing robot with bathing and massage functions is set to the massage mode by the control button of the controller 25, and the first motor 102, the motor 405, and the motor 605 drive the slats 888 to press the massager. way to turn.

A nursing robot with bathing and massage functions can run indoors and outdoors. The storage battery 27 can provide energy for the operation of a nursing robot with bathing and massage functions. The driving motor 28 can drive the driving wheel 14 to rotate, and the driving wheel 14 can rotate. To provide movement power for a nursing robot with bathing and massage functions, the steering motor 26 controls the movement direction of a nursing robot with bathing and massage functions through the steering wheel 11 .

Claims (7)

1. A nursing robot with bathing and massage functions, characterized in that it comprises: a backboard (1), a first hinge (2), a second hinge (3), a buttock plate (4), a third hinge (5 ), leg plate (6), fourth hinge (7), first electric push rod (8), fifth hinge (9), support frame (10), steering wheel (11), universal wheel (12), Runner (13), driving wheel (14), sixth hinge (15), second electric push rod (16), seventh hinge (17), eighth hinge (18), third electric push rod (19) , the first ninth hinge (20), bathtub (21), cleaning device (22), collector (23), heater (24), controller (25), steering motor (26), storage battery (27), Driving motor (28) and defecation sensor (29); The back panel (1) is connected with the hip panel (4) through the first hinge (2), the leg panel (6) is connected with the hip panel (4) through the third hinge (5), and the hip panel (4) is connected with the second hinge (3) is connected with the support frame (10), the backboard (1) can rotate clockwise or counterclockwise around the rotating shaft of the first hinge (2) under the action of the third electric push rod (19), and the leg board (6 ) can rotate clockwise or counterclockwise around the rotating shaft of the third hinge (5) under the action of the first electric push rod (8), and the hip plate (4) can rotate around the rotating shaft of the second electric push rod (16) Rotate clockwise or counterclockwise along the rotating shaft of the second hinge (3); One end of the first electric push rod (8) is connected with the leg plate (6) through the fourth hinge (7), and the other end is connected with the support frame (10) through the fifth hinge (9); the third electric push rod (19) One end of one end is connected with the backboard (1) through the first ninth hinge (20), and the other end is connected with the support frame (10) through the eighth hinge (18); one end of the second electric push rod (16) is connected through the seventh hinge (17) is connected with the hip plate (4), and the other end is connected with the support frame (10) through the sixth hinge (15); under the action of the electric push rod, the back plate (1), the hip plate (4), the leg plate The plate surface of (6) is on a horizontal plane, or, the hip plate (4) is horizontal, the back plate (1) is inclined upward with the first hinge (2) as the other end of the axis, and the leg plate (6) is tilted upward with the third hinge (5). ) is the other end of the shaft sloping downward; Steering wheel (11), universal wheel (12), runner (13), driving wheel (14) are equipped with at the bottom of bracing frame (10), and steerable wheel (11), universal wheel (12), runner ( 13), the driving wheels (14) jointly support a nursing robot with bathing and massage functions, a nursing robot with bathing and massage functions can run indoors and outdoors; the battery (27) can provide energy for the operation of the robot, Traveling motor (28) can drive driving wheel (14) to rotate, and driving wheel (14) rotates and can provide the power of motion for robot, and steering motor (26) controls the direction of motion of robot by steering wheel (11); The bathtub (21) is arranged under the buttock plate (4), the defecation sensor (29) is arranged on the buttock plate (4), and the cleaning device (22) is arranged in the bathtub (21) to clean the buttock plate (4) and the buttock plate (4). The care receiver's body, the heater (24) is arranged on the bathtub (21) to dry the buttocks (4) and the care receiver's body, and the collector (23) is arranged at the bottom of the bathtub (21) for temporarily Wastewater generated after cleaning; Controller (25) and the first electric push rod (8), the second electric push rod (16), the third electric push rod (19), toilet sensor (29), cleaning device (22) and heater (24 ) electrical connection. 2. A nursing robot with bathing and massage functions according to claim 1, characterized in that the backboard (1) comprises: slats (888), backboard frame (101), first motor (102) , the first transmission wheel (103), the first transmission belt (104), the guide rail (105), the slider (106), the connecting rod (107), the tenth hinge (108), the fourth electric push rod (109), the first Eleven hinges (110), the second motor (111), the twelfth hinge (112) and the mechanical arm, the mechanical arm includes: upper arm (113), the third motor (114), forearm (115) and armrest ( 116); Guide rail (105) is installed on the backplane frame (101), and slide block (106) is installed on the guide rail (105), and two slide blocks (106) are connected together by connecting rod (107), and the connecting rod (107) The end is connected to the manipulator arm through the twelfth hinge (112); one end of the fourth electric push rod (109) is connected to the backplane frame (101) through the eleventh hinge (110), and the other end is connected to the backplane frame (101) through the tenth hinge ( 108) connected to the connecting rod (107); under the action of the fourth electric push rod (109), the slider (106), the connecting rod (107) and the mechanical arm can move along the guide rail (105); Driven by the second motor (111), the mechanical arm can rotate around the rotating shaft of the twelfth hinge (112), and the third motor (114) can drive the forearm (115) to rotate, and the rotation of the forearm (115) will drive the handrail ( 116) rotate around the third motor (114) shaft; The first transmission wheel (103) is installed on the shaft end of the first motor (102), and the first transmission wheel (103) is also installed on the shaft end of the plate (888) of the backboard 1, and the first motor (102) passes through the first The transmission wheel (103) and the first transmission belt (104) can drive the slats (888) of the backboard 1 to rotate, and a plurality of slats (888) arranged in the same direction constitute the board surface of the backboard 1 . 3. A nursing robot with bathing and massage functions according to claim 2, characterized in that the buttock plate (4) comprises: slats (888), hip plate frame (401), second transmission wheel (402 ), the second transmission belt (403), the fourth motor (404) and the third transmission belt (405); the shaft end of the fourth motor (404) is equipped with a second transmission wheel (402), and the slat (888 ) is also equipped with a second transmission wheel (402); the fourth motor (404) drives the slats of the hip plate 4 through the second transmission wheel (402), the second transmission belt (403) and the third transmission belt (405) (888) rotates, and many laths (888) that are arranged in the same direction have constituted the board surface of buttock plate (4). 4. A nursing robot with bathing and massage functions according to claim 3, characterized in that the leg board (6) comprises: a slat (888), a leg board frame (601), a third transmission wheel (602 ), the fourth transmission belt (603), the fifth motor (604) and the fifth transmission belt (605); the shaft end of the fifth motor (604) is equipped with the third transmission wheel (602), and the slat (888 ) is also equipped with a third transmission wheel (602); the fifth motor (604) passes through the third transmission wheel (602), the fourth transmission belt (603), and the fifth transmission belt (605) to drive the leg plate (6) The lath (888) rotates, and a plurality of laths (888) arranged in the same direction constitute the board surface of the leg plate 6. 5. A nursing robot with bathing and massage functions according to claim 4, characterized in that the first motor (102), the fourth motor (404) and the fifth motor (604) are direct current, alternating current or step Into the motor, the first transmission belt (104), the second transmission belt (403), the third transmission belt (405), the fourth transmission belt (603) and the fifth transmission belt (605) are chains or synchronous toothed belts. 6. A nursing robot with bathing and massage functions according to claim 4, characterized in that the slats (888) include: a rotating shaft (8881), a slat body (8882), soft fibers (8883), a rotating shaft (8881) is arranged on the two ends of the lath body (8882), and the soft fiber (8883) is arranged on the outer wall of the lath body (8882). 7. A nursing robot with bathing and massage functions according to claim 6, characterized in that the cross-section of the slat body (8882) is oval, symmetrical to the center surrounded by two arcs and two straight lines For a figure or a chamfered rectangle, the diameters of the two arcs are greater than the distance between the two straight lines.