CN106580587A - Automatic-separating-and-docking integrated robot - Google Patents

Automatic-separating-and-docking integrated robot Download PDF

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Publication number
CN106580587A
CN106580587A CN201510679347.8A CN201510679347A CN106580587A CN 106580587 A CN106580587 A CN 106580587A CN 201510679347 A CN201510679347 A CN 201510679347A CN 106580587 A CN106580587 A CN 106580587A
Authority
CN
China
Prior art keywords
wheelchair
bed
frame
general frame
leg
Prior art date
Application number
CN201510679347.8A
Other languages
Chinese (zh)
Inventor
刘光宇
徐方
王宏玉
边弘晔
欧阳国帅
吴青海
Original Assignee
沈阳新松机器人自动化股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 沈阳新松机器人自动化股份有限公司 filed Critical 沈阳新松机器人自动化股份有限公司
Priority to CN201510679347.8A priority Critical patent/CN106580587A/en
Publication of CN106580587A publication Critical patent/CN106580587A/en

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/006Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs convertible to stretchers or beds
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/1056Arrangements for adjusting the seat
    • A61G5/1075Arrangements for adjusting the seat tilting the whole seat backwards
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/001Beds specially adapted for nursing; Devices for lifting patients or disabled persons with means for turning-over the patient
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/002Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
    • A61G7/015Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/05Parts, details or accessories of beds
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/10General characteristics of devices characterised by specific control means, e.g. for adjustment or steering

Abstract

The invention relates to the field of medical nursing and healthcare instruments, in particular to an automatic-separating-and-docking integrated robot which comprises a bed portion and a wheelchair portion, the bed portion comprises a bed integral frame, a bed back frame and a bed bent leg structure frame, a left-side turning-over frame and a back lifting linkage mechanism are mounted on the bed back frame, the wheelchair portion comprises an omnibearing moving chassis, at least one of a laser navigation device and a line patrol navigation device are mounted on the omnibearing moving chassis, and the bed portion is mounted with a corresponding positioning device matched with the omnibearing moving chassis. The automatic-separating-and-docking integrated robot can serve as a nursing bed to realize functions of lying posture adjustment and turning over and can realize functions of automatic separating and docking of the wheelchair portion and the bed portion. In addition, synchronous linkage of part of moving mechanisms is realized through linkage mechanisms, so that a driving device is simplified, and the integrated robot is simplified in structure and simple to control.

Description

A kind of bed chair integrated robot for being automatically separated docking

Technical field

The invention belongs to medical treatment and nursing care appliance field, and in particular to a kind of bed chair integration machine for being automatically separated docking People.

Background technology

When nursing on the bed to the special population of the bodies such as old man and patient inconvenience, needs be easy to assist to be sat up by care-giver and Change prone position.Meanwhile, when between wheelchair and care bed to carrying out transfer tasks by care-giver, for nursing staff and quilt Care-giver is very big burden.Existing care bed product focus on mostly assistance adjustment by care-giver's prone position, sit up, The function such as stand up, and have ignored between wheelchair and care bed by care-giver's transfer tasks function.Minority realizes a chair and turns The product for changing there is also relatively low separation docking operation intelligence degree, bed body and Wheelchair structure and limit lacking for partial function Fall into.Therefore needs one kind is on the basis of care bed function is possessed, can realize that bed body is changed with wheelchair again, be provided simultaneously with height certainly The bed chair integrated robot of dynamicization feature.

The content of the invention

In order to realize above-mentioned target, the present invention provides a kind of bed chair integrated robot for being automatically separated docking, can pass through The modality conversion between bed and wheelchair is realized in automatic butt and separation, and can have been realized when seat bed form is docked The function that routine care bed needs such as carry on the back, stand up, all-around mobile and sitting posture adjustment can be realized in wheelchair form, Ensure to improve comfortableness, and simple structure on the basis of security.

The technical scheme is that:

A kind of bed chair integrated robot for being automatically separated docking, including bed body part and wheelchair part;

The bed body part includes bed body general frame, bed body back frame, bed body song leg structural framing, the bed body back of the body Framework and lift back of the body link gear are stood up on portion's framework equipped with left side;Driver is stood up on the bed body general frame equipped with left side Structure, left side stand up electric pushrod, right side and stand up transmission mechanism, right side and stand up electric pushrod;The bed body song leg structural frames Equipped with bent leg structure linkage on frame;

The bed body general frame includes upper strata, middle level, lower floor, bed body back frame base and bed body general frame upper strata It is hinged, bed body song leg structural framing top margin is hinged with bed body general frame upper strata;Stand up transmission mechanism, right side and stand up in left side Transmission mechanism one end is hinged with bed body general frame middle level, and left side is stood up transmission mechanism, right side and stands up transmission mechanism in addition One end top by roller supporting it is corresponding stand up base of frame and bottom with it is corresponding stand up electric pushrod head connection Part is hinged;Stand up that electric pushrod, right side stand up the back connector of electric pushrod and bed body general frame lower floor is hinged in left side;

The wheelchair part includes all-around mobile chassis, wheelchair general frame, wheelchair back frame, wheelchair song leg mechanism Framework, wheelchair leg frames, wheelchair sole framework, equipped with lift back of the body electric pushrod, bent leg electricity on the wheelchair general frame Dynamic push rod, leg electric pushrod, sole linkage structure;Framework and wheelchair are stood up in the wheelchair back frame equipped with right side Side lift back of the body linkage;Wheelchair lateral curvature leg linkage is housed on the wheelchair song leg mechanism framework;

The wheelchair general frame includes the upper and lower, and all-around mobile chassis is with wheelchair general frame lower floor by being connected Part connects, and wheelchair back framework bottom side is hinged with wheelchair general frame upper strata, and wheelchair song leg mechanism framework top margin is whole with wheelchair Body framework upper strata is hinged, and wheelchair leg frames top margin is hinged with wheelchair general frame upper strata, wheelchair leg frames base with wheel Chair leg plate framework top margin is hinged.

A connecting rod is connected between the wheelchair part wheelchair sole framework and wheelchair general frame, the connecting rod and wheelchair sole frame The part-structure of frame, wheelchair leg frames and wheelchair general frame forms parallel four-bar linkage, it is ensured that sole framework upper table Face makes sole frame structure without the need for individually controlling all the time parallel to wheelchair general frame upper surface, simplifies frame for movement and control System.

The all-around mobile chassis is provided with least one in supplied laser navigation apparatus, line walking guider, the bed body Part coordinates all-around mobile chassis to be provided with corresponding positioner, in docking and separation process, the motion of wheelchair part Realized by all-around mobile chassis, back frame is coordinated by appropriate navigation mode (such as laser navigation line walking navigation etc.) The attitudes vibration of frame and leg frames realizes that full-automatic bed chair separates/docking, saves manpower, improves comfortableness and security.

Bed body general frame has prominent support section to wheelchair back frame and wheelchair leg frame under bed body state after docking Frame is supported, it is to avoid wheelchair lift back of the body electric pushrod and wheelchair leg electric pushrod are all the time in by thrust rating, it is ensured that electricity Dynamic push rod service life increases security simultaneously.

After docking under bed body state, bed body back frame is connected by link gear with wheelchair back frame, the wheelchair lift back of the body Electric pushrod driving wheel seat back portion framework can simultaneously drive bed body back frame to carry out together when being moved by link gear Step motion;Bed body song leg structural framing is connected by the bent leg mechanism framework of link gear and wheelchair, and leg is electronic pushes away for wheelchair song Bar can simultaneously drive bed body song leg structural framing to carry out when driving wheelchair song leg mechanism framework to be moved by link gear It is synchronized with the movement, being so designed that can simplify structure with control.

Beneficial effects of the present invention are:The present invention can realize prone position adjustment, the body turning function as care bed, while energy Enough realize being automatically separated of wheelchair and bed body part, to connection function.Componental movement mechanism is realized additionally by link gear Synchronous interaction, has simplified driving means, structure simplified, controlled simply.

Description of the drawings

Fig. 1 is bed chair integrated robot overall schematic of the present invention.

Fig. 2 is bed body partial schematic diagram of the present invention.

Fig. 3 is wheelchair partial schematic diagram of the present invention.

Fig. 4 is wheelchair form schematic side view of the present invention.

In figure, 1, bed body part;2nd, wheelchair part;3rd, bed body general frame;4th, bed body back frame;5th, it is left Turning body framework;6th, bed body song leg structural framing;7th, bent leg structure linkage;8th, lift back of the body link gear;9th, it is right Turning body electric pushrod;10th, transmission mechanism is stood up on right side;11st, transmission mechanism is stood up in left side;12nd, left side is stood up electronic Push rod;13rd, all-around mobile chassis;14th, wheelchair general frame;15th, wheelchair back frame;16th, the lift back of the body is electronic pushes away Bar;17th, framework is stood up on right side;18th, wheelchair song leg mechanism framework;19th, bent leg electric pushrod;20th, leg is electronic pushes away Bar;21st, wheelchair leg frames;22nd, wheelchair sole framework;23rd, wheelchair side lift back of the body linkage;24th, wheelchair lateral curvature Leg linkage.

Specific embodiment

The specific embodiment of the present invention is described further below in conjunction with the accompanying drawings:

As shown in Figure 1,2,3, 4, a kind of bed chair integrated robot for being automatically separated docking, including bed body part 1 With wheelchair part 2;

The bed body part 1 includes bed body general frame 3, bed body back frame 4, bed body song leg structural framing 6, described Framework 5 and lift back of the body link gear 8 are stood up in bed body back frame 4 equipped with left side;It is equipped with the bed body general frame 3 Stand up transmission mechanism 11, left side and stand up electric pushrod 12, right side and stand up transmission mechanism 10, right side and stand up electronic pushing away in left side Bar 9;Equipped with bent leg structure linkage 7 on the bed body song leg structural framing 6;

The bed body general frame 3 includes upper strata, middle level, lower floor, the base of bed body back frame 4 and bed body general frame 3 upper stratas are hinged, and the top margin of bed body song leg structural framing 6 is hinged with the upper strata of bed body general frame 3;Stand up transmission mechanism in left side 11st, the one end of transmission mechanism 10 is stood up on right side and the middle level of bed body general frame 3 is hinged, and transmission mechanism 11, the right side are stood up in left side The other end top of turning body transmission mechanism 10 by roller supporting it is corresponding stand up base of frame and bottom with it is corresponding The electric pushrod head connector that stands up be hinged;Stand up the back company that electric pushrod 12, right side stands up electric pushrod 9 in left side Fitting is hinged with the lower floor of bed body general frame 3;

The wheelchair part 2 includes all-around mobile chassis 13, wheelchair general frame 14, wheelchair back frame 15, wheel Chair song leg mechanism framework 18, wheelchair leg frames 21, wheelchair sole framework 22 is equipped with the wheelchair general frame 14 Lift back of the body electric pushrod 16, bent leg electric pushrod 19, leg electric pushrod 20, sole linkage structure;The wheelchair back Framework 17 and wheelchair side lift back of the body linkage 23 are stood up on framework 15 equipped with right side;The wheelchair song leg mechanism framework 18 It is upper that wheelchair lateral curvature leg linkage 24 is housed;

The wheelchair general frame 14 includes the upper and lower, under all-around mobile chassis 13 and wheelchair general frame 14 Layer is connected by connector, and the base of wheelchair back frame 15 is hinged with the upper strata of wheelchair general frame 14, wheelchair song leg mechanism The top margin of framework 18 is hinged with the upper strata of wheelchair general frame 14, on the top margin of wheelchair leg frames 21 and wheelchair general frame 14 Layer is hinged, and the base of wheelchair leg frames 21 is hinged with the top margin of wheelchair sole framework 22.

Be connected with a connecting rod between the wheelchair sole framework 22 of the wheelchair part 2 and wheelchair general frame 14, the connecting rod with wheel The part-structure of chair leg plate framework 22, wheelchair leg frames 21 and wheelchair general frame 14 forms parallel four-bar linkage, Ensure sole frame upper surface all the time parallel to the upper surface of wheelchair general frame 14, make sole frame structure without the need for individually controlling System, simplifies frame for movement and control.

The all-around mobile chassis 13 is provided with least one in supplied laser navigation apparatus, line walking guider, described Bed body part 1 coordinates all-around mobile chassis 13 to be provided with corresponding positioner, in docking and separation process, wheelchair The motion of part 2 is realized that (such as laser navigation line walking is led by appropriate navigation mode by all-around mobile chassis 13 Boat etc.) coordinate the attitudes vibration of back frame and leg frames to realize that full-automatic bed chair separates/docking, manpower is saved, carry High-comfort and security.

Bed body general frame 3 has prominent support section to wheelchair back frame 15 and wheel chair leg under bed body state after docking Portion's framework 21 is supported, it is to avoid wheelchair lift back of the body electric pushrod 16 and wheelchair leg electric pushrod 20 are in are pushed away all the time Power state, it is ensured that electric pushrod service life increases security simultaneously.

After docking under bed body state, bed body back frame 4 is connected by link gear with wheelchair back frame 15, wheel The chair lift back of the body driving wheel seat back portion framework 15 of electric pushrod 16 can simultaneously drive bed body back when being moved by link gear Framework 4 synchronizes motion;Bed body song leg structural framing 6 is connected by link gear with wheelchair song leg mechanism framework 18 Connect, wheelchair song leg electric pushrod 19 drives wheelchair song leg mechanism framework 18 simultaneously to drive by link gear when being moved Dynamic bed body song leg structural framing 6 synchronizes motion, and being so designed that can simplify structure with control.

Merely illustrating the principles of the invention described in above-described embodiment and specification and most preferred embodiment, without departing from this On the premise of bright spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within requirement and protect In the scope of the invention of shield.

Claims (7)

1. a kind of bed chair integrated robot for being automatically separated docking, including bed body part and wheelchair part, its feature exists In:
The bed body part includes bed body general frame, bed body back frame, bed body song leg structural framing, the bed body back of the body Framework and lift back of the body link gear are stood up on portion's framework equipped with left side;Driver is stood up on the bed body general frame equipped with left side Structure, left side stand up electric pushrod, right side and stand up transmission mechanism, right side and stand up electric pushrod;The bed body song leg structural frames Equipped with bent leg structure linkage on frame;
The wheelchair part includes all-around mobile chassis, wheelchair general frame, wheelchair back frame, wheelchair song leg mechanism Framework, wheelchair leg frames, wheelchair sole framework, equipped with lift back of the body electric pushrod, bent leg electricity on the wheelchair general frame Dynamic push rod, leg electric pushrod, sole linkage structure;Framework and wheelchair are stood up in the wheelchair back frame equipped with right side Side lift back of the body linkage;Wheelchair lateral curvature leg linkage is housed on the wheelchair song leg mechanism framework.
2. the bed chair integrated robot for being automatically separated docking according to claim 1, it is characterised in that:It is described Bed body general frame includes upper strata, middle level, lower floor, and bed body back frame base is hinged with bed body general frame upper strata, bed Body song leg structural framing top margin is hinged with bed body general frame upper strata;Stand up transmission mechanism, right side and stand up transmission mechanism in left side One end is hinged with bed body general frame middle level, and the other end top that transmission mechanism, right side stand up transmission mechanism is stood up in left side Base of frame is stood up and bottom is hinged with the corresponding electric pushrod head connector that stands up corresponding by roller supporting;It is left Turning body electric pushrod, right side stand up the back connector of electric pushrod and bed body general frame lower floor is hinged.
3. the bed chair integrated robot for being automatically separated docking according to claim 1, it is characterised in that:It is described Wheelchair general frame includes the upper and lower, and all-around mobile chassis is connected with wheelchair general frame lower floor by connector, Wheelchair back framework bottom side is hinged with wheelchair general frame upper strata, on wheelchair song leg mechanism framework top margin and wheelchair general frame Layer is hinged, and wheelchair leg frames top margin is hinged with wheelchair general frame upper strata, wheelchair leg frames base and wheelchair sole frame Frame top margin is hinged.
4. the bed chair integrated robot for being automatically separated docking according to claim 1, it is characterised in that:It is described A connecting rod is connected between wheelchair part wheelchair sole framework and wheelchair general frame, the connecting rod and wheelchair sole framework, wheelchair The part-structure of leg frames and wheelchair general frame forms parallel four-bar linkage.
5. the bed chair integrated robot for being automatically separated docking according to claim 1, it is characterised in that:It is described All-around mobile chassis is provided with least one in supplied laser navigation apparatus, line walking guider.
6. the bed chair integrated robot for being automatically separated docking according to claim 1, it is characterised in that:Docking Afterwards bed body general frame has prominent support section to carry out propping up to wheelchair back frame and wheelchair leg frames under bed body state Support.
7. the bed chair integrated robot for being automatically separated docking according to claim 1, it is characterised in that:Docking Afterwards bed body back frame is connected by link gear with wheelchair back frame under bed body state, and bed body song leg structural framing leads to Cross link gear to be connected with wheelchair song leg mechanism framework.
CN201510679347.8A 2015-10-19 2015-10-19 Automatic-separating-and-docking integrated robot CN106580587A (en)

Priority Applications (1)

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CN201510679347.8A CN106580587A (en) 2015-10-19 2015-10-19 Automatic-separating-and-docking integrated robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510679347.8A CN106580587A (en) 2015-10-19 2015-10-19 Automatic-separating-and-docking integrated robot

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CN106580587A true CN106580587A (en) 2017-04-26

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106580589A (en) * 2015-10-20 2017-04-26 沈阳新松机器人自动化股份有限公司 Steering engine type integrated rehabilitation bed/chair
US10627826B2 (en) 2018-03-27 2020-04-21 Toyota Motor Engineering & Manufacturing North America, Inc. Systems and methods for pairing a power base of a modular wheelchair system with a guide robot
GB2582102A (en) * 2013-03-14 2020-09-09 Stryker Corp Reconfigurable transport apparatus

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102475610A (en) * 2010-11-25 2012-05-30 刘永刚 Household multifunctional nursing bed
WO2012124271A1 (en) * 2011-03-16 2012-09-20 パナソニック株式会社 Bed and detachment method therefor
CN202458970U (en) * 2011-11-01 2012-10-03 城绍科技股份有限公司 Medical auxiliary device with functions of wheelchair and sickbed
CN103747708A (en) * 2011-09-22 2014-04-23 松下电器产业株式会社 Bed combination method, bed separation method and bed
CN104127289A (en) * 2014-08-19 2014-11-05 上海申磬产业有限公司 Split type robot nursing bed having rehabilitation training function
CN105816282A (en) * 2015-01-06 2016-08-03 沈阳新松机器人自动化股份有限公司 Multifunctional bed-chair integrated robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102475610A (en) * 2010-11-25 2012-05-30 刘永刚 Household multifunctional nursing bed
WO2012124271A1 (en) * 2011-03-16 2012-09-20 パナソニック株式会社 Bed and detachment method therefor
CN103747708A (en) * 2011-09-22 2014-04-23 松下电器产业株式会社 Bed combination method, bed separation method and bed
CN202458970U (en) * 2011-11-01 2012-10-03 城绍科技股份有限公司 Medical auxiliary device with functions of wheelchair and sickbed
CN104127289A (en) * 2014-08-19 2014-11-05 上海申磬产业有限公司 Split type robot nursing bed having rehabilitation training function
CN105816282A (en) * 2015-01-06 2016-08-03 沈阳新松机器人自动化股份有限公司 Multifunctional bed-chair integrated robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2582102A (en) * 2013-03-14 2020-09-09 Stryker Corp Reconfigurable transport apparatus
CN106580589A (en) * 2015-10-20 2017-04-26 沈阳新松机器人自动化股份有限公司 Steering engine type integrated rehabilitation bed/chair
US10627826B2 (en) 2018-03-27 2020-04-21 Toyota Motor Engineering & Manufacturing North America, Inc. Systems and methods for pairing a power base of a modular wheelchair system with a guide robot

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