TWI693932B - Care robot - Google Patents

Abstract

A care robot includes: a frame component, a back pad component, a horizontal traverse module, a fixed structure, a stopper structure, a moving module, a driving module and a controller; The present invention can reduce the burden of users (for example, patients and people with reduced mobility) and improve the convenience of defecation by the cooperative operation of the above-mentioned modules, structures and components. The assistance of others to achieve the effect of user self-care.

Description

Care robot

The invention relates to a mobility assisting device, in particular to provide a nursing robot for use by persons with reduced mobility.

According to the changes in the social pattern, the elderly population continues to increase. In an aging society, the biggest problem is the health status of the elderly. As the elderly get older, the situation of inconvenience becomes more and more difficult. Severe, or poor due to stroke, multiple arthritis, cancer and chronic diseases, etc. Once in bed for a long time, it is easy to cause damage to the function of various organs of the body; in recent years, the Ministry of the Interior Statistics Office announced that the elderly in China The ratio of (over 65 years old) has increased year by year. 2.8808 million people over 65 years old accounted for 11.99%. The aging index of the elderly population over 65 years old was 85.7%, which continued to increase year by year. In August 103, the number of people with physical and mental disabilities in Taiwan reached 1,141,677. The survey results for that year were the most physically disabled (30.1%). The ratio of people with physical and mental disabilities to the total population of each age group increased with age, 65 Those over the age of 38.2%.

In addition, people with general mobility problems or the elderly are mostly called disability. Disability refers to an individual’s ability to operate certain activities of daily life due to functional impairment, which is limited to more than 50%. Awake time activities are limited to bed and chairs. Therefore, for the elderly, physically handicapped, or those with mobility impairment due to illness, it is often necessary to use a wheelchair or electric scooter as an auxiliary means of transportation when going out to solve the restrictions on mobility caused by mobility problems.

However, the structural design of such wheelchairs or electric scooters is only to provide a mobility function for people with reduced mobility, and there are no additional functions, so when faced with the need to pick up objects from high places, it is not easy to move , It is difficult to get up in a short time, causing inconvenience in use, and users are unable to perform a standing action through a wheelchair or electric scooter; in addition, the current wheelchair or electric scooter is structurally designed and cannot provide a stable stand , Or may not provide the user with a reclining rest, and let the feet straighten up, as well as the user's better posture of rest and posture; it can be seen that the above wheelchair or electric scooter is suitable for the elderly and limbs It is more inconvenient for people with disabilities or disabilities that cause mobility problems.

In addition, when users temporarily want to use the toilet, they need to find a nearby toilet, and ordinary electric wheelchairs or wheelchairs cannot be tried or combined with toilets, so it is quite inconvenient; that is, if the user has a physical disability or movement In case of inconvenience, a third person is needed to help the user go to the toilet, and cannot easily go to the toilet by himself.

However, most of the elderly people or people with reduced mobility mentioned above use wheelchairs as mobility aids, and today’s wheelchairs or electric nursing devices are used to support patients or users. When it is in a standing form, it has a structure that supports the user's body. However, the wheelchair that can support the body in a standing position is mostly supported by the armrests to support the user's armpit to support the user. Therefore, the wheelchair and electric The user of the type care device is prone to many defects during use.

The above-mentioned lacks are as follows: First, increase the burden on the user's strength: After the wheelchair supports the user to stand up, the user's foot is stepped on the pedal, and there is no support on the foot, so the user needs to use the full strength It is supported by the armpit of the hand, so the user needs more force to apply force. Secondly, the body of the user is easy to slide down. If the knees of the feet are unable to support the bending hand, the body may slip down. Third, it is prone to danger. If the body slides down while standing, it may cause a second injury to the user.

Therefore, the inventor of the present case has produced the present invention after observing the above-mentioned deficiency.

The main purpose of the present invention is to provide a care robot, which can reduce the burden of users (for example, patients and people with reduced mobility), improve the convenience of defecation of users, and has the purpose of self-care without the assistance of others; In the process, the institutions of the care robot are properly used to provide the user with the most appropriate and careful care, which can avoid the second injury of the patient and reduce the hard work of the medical care or care staff.

To achieve the above purpose, the care robot provided by the present invention includes: a frame assembly, which includes: a base frame, which has an open accommodating space, and the rear side of the base frame has An insertion port, the insertion port communicates with the accommodating space; a riding support frame, which is pivotally connected to the top side of the base frame; and a cushion support frame, which is pivotally connected to the riding support frame; a back cushion The assembly includes a backrest member and a head fixing member, the backrest member is assembled on the cushion support frame, the head fixing member is assembled on the cushion support frame, and is located on the upper side of the backrest member; The horizontal traverse module includes: at least one traverse linkage structure, which is set on the riding support frame; two seat cushions, which are horizontally movably assembled on the ride by the traverse linkage structure Support frame; a fixed structure, which is set on the backrest member and has a body; at least one sling, which is set on the top side of the body and sets up the backrest member; at least two waist fixing belts, which are respectively Located on both sides of the body; at least two legs wrapped around the belt, which are spaced on the bottom side of the body; a stopper structure, which is pivotally connected to the base frame; a mobile module, which has two omnidirectional Wheels and two drive wheels, the omnidirectional wheels and the drive wheels are pivotally connected to both sides of the base frame; a drive module, which includes: a plurality of wheel body actuating units, which are provided on the base frame , And connect the omnidirectional wheels and the driving wheels; a plurality of lifting actuation units, which are located in the accommodating space, and are used to link the riding support frame with the lifting movement of the base frame to make the ride The support frame and the base frame form a first included angle; the plural traverse actuation units, which are set up On the riding support frame, connected with the traverse linkage structure, and used to control the horizontal traverse of the cushions; a plurality of tilting actuation units, which are located behind the cushion support frame and the accommodating space of the base frame, At least one tilt actuation unit is used to control the tilt of the cushion support frame relative to the riding support frame, and a second included angle is formed between the cushion support frame and the riding support frame, and at least another tilt actuation The unit is connected to the stopper structure; a controller is provided on the frame assembly and is electrically connected to the stopper structure and the drive module.

Preferably, the front end of the riding support frame is pivotally connected to the base frame, and the two sides of the rear end respectively have a pivot connection portion and a connection portion, the pivot connection portion pivotally connects the cushion support frame, and the cushion Two tilt actuation units are provided on the rear side of the support frame. A telescopic rod of the tilt actuation units is connected to the connecting portion, and the second included angle is between 0 degrees and 180 degrees.

Preferably, wherein the traverse linkage structure has at least two racks and at least two gears, the racks are respectively provided on the bottom side of the seat cushion, the tooth conditions are in the same linear arrangement, and the gears The train is set on the traverse actuation units, and the gears mesh with the racks.

Preferably, the traverse linkage structure further has a plurality of sliding supports, and the front and rear ends of the riding support frame have a cross bar respectively, and the sliding supports are provided at the bottom of the seat cushions Side, and the sliding support members are respectively slidingly arranged on the cross bars.

Preferably, a pedal member is further connected to the front side of the base frame, and a lift actuation unit and a tilt actuation unit are respectively provided on both sides of the base frame, and the tilt actuation unit is located before the lift actuation unit Side, and arranged at intervals. In addition, a telescopic rod of the lifting actuation unit is connected to the bottom side of the riding support frame.

Preferably, wherein the stopper structure is in a zigzag shape, and is pivotally arranged at the front end of the base frame adjacent to the pedal member, and the stopper structure has at least two connecting rods and a leaning stopper, the connections The leaning stop is arranged between the rods, and the other ends of the connecting rods are pivotally connected to the base frame, and, The stopper structure is connected to the tilt actuating units through a connecting member near the pivotal connection of the connecting rods.

Preferably, wherein the head fixing member has a body, the system is convexly provided with two headrest convex parts, the headrest convex parts are arranged at intervals, and between the headrest convex parts and the body A head rest space is formed. In addition, the head fixing member further includes a head fixing belt, and the head fixing belt is connected to the headrest convex portions.

Preferably, two armrests are further included, and the armrests are pivotally connected to both sides of the cushion support frame.

Preferably, the controller is arranged on one of the armrests, and a clamping component is arranged on one of the armrests, the clamping component has a plurality of rods and an elastic clamp, the rods are They are pivotally connected to each other, and the elastic clamping member is set on one of the rod members, and the elastic clamping member is used to clamp a portable electronic device.

Preferably, it further includes an anti-collision sensing module, which includes an arithmetic processing unit and a plurality of anti-collision sensors, the arithmetic processing units are electrically connected to the anti-collision sensors, and the anti-collision sensors The collision sensor group is arranged on the peripheral side of the base frame.

In the care robot provided by the present invention, when the toilet is in use, the insertion port of the care robot corresponds to a toilet, and the controller controls the mobile module so that the toilet is located in the accommodating space, and the base The inner peripheral side of the rack is separated from the toilet by a distance; in addition, the present invention is provided by the cooperation of the controller, the drive module, the frame assembly and the mobile module, so that the user can according to personal needs Decide the proper angle, and can achieve postures such as standing, lying down and sitting and lying; furthermore, the fixed structure and the stopper structure are for the present invention to provide persons with limited mobility when standing, lying down and sitting and lying etc. In use, the center of gravity is kept stable, and the safe use of standing anti-tilt, as well as providing the user with a better posture of leaning back and relaxing pressure; thereby, the present invention can reduce users (for example, patients, people with reduced mobility) The burden of the user and improve the convenience of the user's bowel movement Human assistance to achieve the effect of user self-care; in addition, the various mechanisms of the care robot are properly used in the operation process for the user to receive the most appropriate and careful care, which can avoid the second injury of the patient and reduce the medical care or care staff Toil.

100: care of the robot

10: Frame components

11: Base frame

111: accommodating space

112: insertion port

12: Ride the support frame

121: pivot

122: Connection

123: Crossbar

13: Cushion support frame

14: pedal parts

15: armrest

151: clamping assembly

1511: Rod

1512: Elastic clamping part

20: Back cushion assembly

21: backrest piece

22: head fixture

221: Headrest convex

222: head strap

223: Head leaning on space

30: Horizontal traverse module

31: Traverse linkage structure

311: rack

312: Gear

313: Slip support

32: seat cushion

40: fixed structure

41: Ontology

42: Sling

43: waist strap

44: Leg wrap

50: Stopper structure

51: connecting rod

52: Lean on the stop

53: Connector

60: mobile module

61: Omnidirectional wheel

62: Drive wheel

70: drive module

701: Telescopic rod

71: Wheel actuation unit

72: Lifting and actuating unit

73: Traverse actuator unit

74: Tilt actuation unit

80: controller

90: Anti-collision sensing module

91: Anti-collision sensor

A: The first included angle

B: The second included angle

200: toilet

300: Portable electronic device

400: Calf strap

401: limit strap

402: Devil Felt

FIG. 1 is a perspective view of a preferred embodiment of the present invention.

2 is a side cross-sectional view of a preferred embodiment of the present invention.

FIG. 3 is a schematic structural diagram of a preferred embodiment of the present invention.

FIG. 4 is a schematic diagram showing a bottom view of the horizontal traverse module in a preferred embodiment of the present invention.

FIG. 5 is a schematic diagram showing the state of use of the toilet in a preferred embodiment of the present invention.

FIG. 6 is a schematic view showing a state of use of the horizontal traverse module when using the toilet in a preferred embodiment of the present invention.

FIG. 7 is a schematic diagram showing the state of use of the toilet in a preferred embodiment of the present invention.

FIG. 8 is a schematic view showing the use state of the horizontal traverse module in a preferred embodiment of the present invention.

FIG. 9 is a schematic view showing the use state of the horizontal traverse module in a preferred embodiment of the present invention.

FIG. 10 is a schematic diagram showing a use state showing a standing state in a preferred embodiment of the present invention.

FIG. 11 is a schematic diagram showing the state of use of the toilet in a preferred embodiment of the present invention.

FIG. 12 is a schematic diagram showing the use state of mobile display in a preferred embodiment of the present invention.

13 is a schematic view showing the use state of the head fixing member and the clamping assembly in a preferred embodiment of the present invention.

14 is a combined perspective view of yet another embodiment of the present invention.

Please refer to FIG. 1 and FIG. 2, together with FIG. 3 and FIG. 4, which is a perspective view, a side cross-sectional view, a structural schematic diagram and a bottom structural schematic diagram of a horizontal traverse module 30 of a preferred embodiment of the present invention. A care robot 100 is disclosed. The care robot 100 includes: a frame assembly 10, which includes: a base frame 11, which has an open accommodating space 111, and the accommodating space 111 is It is a trapezoidal space body, and the rear side of the base frame 11 has an insertion port 112, the insertion port 112 communicates with the accommodating space 111; a riding support frame 12, which is pivotally connected to the top side of the base frame 11; And a cushion support frame 13, which is pivotally connected to the ride support frame 12; in this embodiment, the front end of the ride support frame 12 is pivotally connected to the base frame 11, and the rear sides have respective pivot portions 121 and a connecting portion 122, the pivoting portion 121 pivotally connects the cushion support frame 13, and the front and rear ends of the bottom side of the riding support frame 12 have a cross bar 123; in addition, the front side of the base frame 11 A pedal member 14 is further connected; two armrest members 15 are pivotally connected to both sides of the cushion support frame 13; a clamping assembly 151 having a plurality of rod members 1511 and an elastic clamp A holding member 1512, the rod members 1511 are pivotally connected to each other, and the elastic clamping member 1512 is set on one of the rod members 1511, and the elastic clamping member 1512 is used to sandwich a portable electronic device 300 .

A back cushion assembly 20 includes a backrest member 21 and a head fixing member 22, the backrest member 21 is assembled on the cushion support frame 13, and the head fixing member 22 is assembled on the cushion support frame 13 , And is located on the upper side of the backrest member 21; in this embodiment, the head fixing member 22 has a body 41, the body 41 is protrudingly provided with two headrest convex portions 221, the headrest convex portions 221 are They are arranged at intervals, and a head-resting space 223 is formed between the headrest protrusions 221 and the body 41. In addition, the head-fixing member 22 further includes a head-fixing strap 222, and the head-fixing strap 222 The headrest convex portion 221 is connected.

A horizontal traverse module 30, which includes: a traverse linkage structure 31, which is set on the riding support frame 12; and, two seat cushions 32, which are horizontal by the traverse linkage structure 31 It is movably arranged on the riding support frame 12; in this embodiment, the traverse linkage structure 31 has There are at least two racks 311 and at least two gears 312. The racks 311 are respectively disposed on the bottom side of the seat cushion 32. The racks 311 are arranged in the same linear manner. Furthermore, the traverse linkage structure 31 has more complex numbers The sliding supports 313 are provided on the bottom sides of the seat cushions 32, and the sliding supports 313 are respectively provided on the cross bars 123.

A fixing structure 40, which is set on the backrest member 21, and has a body 41; at least one strap 42, which is set on the top side of the body 41 and sets up the backrest member 21; at least two waist fixing straps 43 , Which are respectively provided on both sides of the body 41; at least two leg winding straps 44, which are spaced on the bottom side of the body 41; in this embodiment, the waist fixing straps 43 are used to bypass A user's waist, and one end of the leg wraps 44 is used to bypass the user's two thighs and to secure the user's two thighs.

A blocking member structure 50 is pivotally connected to the base frame 11, and the blocking member structure 50 is in a zigzag shape, and is pivotally disposed at the front end of the base frame 11 adjacent to the pedal member 14, and the blocking member structure 50 is There are at least two connecting rods 51 and a leaning stop 52. The leaning stop 52 is assembled between the connecting rods 51, and the other ends of the connecting rods 51 are pivotally connected to the base frame 11.

A mobile module 60 has two omnidirectional wheels 61 and two driving wheels 62. The omnidirectional wheels 61 and the driving wheels 62 are pivotally connected to both sides of the base frame 11.

A driving module 70, which includes: a plurality of wheel body actuation units 71, a plurality of lift-up actuation units 72, a plurality of traverse actuation units 73 and a plurality of tilt actuation units 74, and the wheel-body actuation units 71. The lift actuation units 72, the lateral actuation units 73 and the tilt actuation units 74 are selected from one or a combination of mechanical brakes, electromagnetic actuated brakes and fluid actuators, Wherein, the wheel body actuating units 71 are installed on the base frame 11 and are connected to the omnidirectional wheels 61 and the driving wheels 62.

The lifting and actuating units 72 are arranged in the accommodating space 111 and are used to link the riding support frame 12 with a lifting movement relative to the base frame 11 and to form the riding support frame 12 and the base frame 11 There is a first included angle A, which is between 90 degrees and 180 degrees.

The traverse actuation units 73 are provided on the riding support frame 12 and are connected to the traverse linkage structure 31, and are used to control the horizontal traverse of the seat cushions 32; in this embodiment, the gears 312 The set is provided on the traverse actuating units 73, and the gears 312 are engaged with the racks 311.

The tilt actuation units 74 are disposed behind the cushion support frame 13 and the accommodating space 111 of the base frame 11, wherein the two tilt actuation units 74 are used to control the cushion support frame 13 relative to the riding support frame 12 is inclined, and a second included angle B is formed between the cushion support frame 13 and the riding support frame 12, and another two tilt actuation units 74 are connected to the stopper structure 50, specifically, the stopper The member structure 50 is connected to the tilt actuating units 74 through a connecting member 53 near the pivotal connection of the connecting rods 51. In this embodiment, as shown in FIG. 3, the back side of the cushion support frame 13 is provided with two tilt actuating units 74. A telescopic rod 701 of the tilt actuating units 74 is connected to the connecting portion 122, and the first The second angle B is between 0 degrees and 180 degrees.

In addition, in this embodiment, as shown in FIG. 2, on both sides inside the base frame 11 are a lift actuation unit 72 and a tilt actuation unit 74, and the tilt actuation unit 74 is located in the lift actuation unit The front side of the 72 is arranged at intervals. In addition, a telescopic rod 701 of the lifting actuation unit 72 is connected to the bottom side of the riding support frame 12.

A controller 80 is disposed on the frame assembly 10 and is electrically connected to the stopper structure 50 and the driving module 70.

An anti-collision sensing module 90, which includes an arithmetic processing unit (not shown) and a plurality of anti-collision sensors 91, the arithmetic processing units (not shown) are electrically connected to the anti-collision sensors 91, and the anti-collision sensors 91 are arranged on the peripheral side of the base frame 11; in this embodiment, the arithmetic processing unit can be disposed in the circuit element inside the controller 80; The collision sensors 91 are used to Capture more than one obstacle information, more than one image information or millimeter wave signal, and analyze the obstacle information, millimeter wave signal or image information through the arithmetic processing unit, and will continue to receive obstacles while driving Information, and by performing a filtering analysis mechanism that can filter out noise and a comparative analysis mechanism of the door, the arithmetic processing unit can eliminate non-obstacles to correctly obtain the front target information.

In order to further understand the structural features of the present invention, the use of technical means and the expected effect, the use of the present invention is described here. I believe that I can have a deeper and more specific understanding of the present invention as follows: please continue to refer to FIG. 5 and FIG. 6, together with FIG. 7, are schematic views of the use state of the toilet according to a preferred embodiment of the present invention; in the use state, the user can control the controller 80 so that the The driving module 70 drives the driving wheels 62 and the omnidirectional wheels 61, and makes the insertion port 112 of the care robot 100 correspond to a toilet 200, and controls the mobile module 60 to move by the controller 80 In order to locate the toilet 200 in the accommodating space 111, and the inner peripheral side of the base frame 11 is spaced apart from the toilet 200; and then, the controller 80 controls the lateral movement actuating units 73, so that Moving the traverse linkage structure 31, so that the gears 312 interlock the racks 311, so as to control the lateral traverse of the seat cushions 32; at this time, when the seat cushions 32 are traversed outwards, the A gap is formed between the seat cushions 32, and the gap corresponds to the toilet 200, and then the user can sit on the toilet 200 at the gap and perform a toileting action.

It should be further explained that during the process of using the toilet, as shown in FIG. 7, the user can put his hand or head against the leaning stop 52 of the stop structure 50, so that it can be used When the user is using the toilet to apply force to defecate, the hand is supported or the head is used, so as to provide users with better toilet comfort.

In addition, when the user finishes toileting, on the contrary, the user controls the controller 80 to operate the other lifting and actuating units 72, so that the riding support frame 12 moves upward relative to the base frame 11 Then, the controller 80 controls the traverse actuation units 73 to actuate the traverse linkage structure 31, so that the gears 312 interlock the racks 311, so as to control the seats 32 Move horizontally toward the inside; finally, the lifting and actuating units 72 will be controlled to make the riding support frame 12 drop to the base frame 11 and return the user to a sitting posture.

Thereby, the burden of users (for example, patients and people with reduced mobility) can be reduced, the convenience of defecation can be improved, and the utility model can achieve the effect of self-care without the assistance of others; the care robot 100 can be properly used in the operation process The coordinated operation of various institutions and components for users to receive the most appropriate and careful care, so as to avoid second-degree injuries to patients and reduce the hard work of medical or nursing staff.

Please refer to FIG. 4 and FIG. 6 in conjunction with FIG. 8 and FIG. 9, which is a schematic diagram of a bottom view of a preferred embodiment of the present invention and a schematic view of the use state; in the use state, when the user must leave the seat cushion 32, When moving to another chair or bed, the user can first pull up the armrest 15 on one side, and then control one of the traverse actuation units 73 by the controller 80 to actuate the traverse linkage structure 31, so that the gears 312 interlock with the racks 311, so as to control one of the seat cushions 32 to move laterally outward.

Please refer to FIG. 10, which is a schematic view showing the use state of the standing state in a preferred embodiment of the present invention; due to the arrangement of the fixing structure 40 of the present invention, when in use, the present invention uses these The leg wrapping tape 44 has a connecting action, which is formed by bending one end of the leg wrapping tape 44 and forming two binding spaces, and the waist fixing tape 43 is used to bypass a use The waist of the user, and one end of the leg wraps 44 is used to bypass the user's two thighs; more specifically, when the care device is in a standing state, the user can fix the upper body of the body In the present invention in the standing state, it effectively prevents the danger of users (for example, patients, the elderly, and people with reduced mobility) who are unable to stand and support the care device due to physical factors; further explanation is needed , When the user is in the toilet state, as shown in Figure 11, the ride support The frame 12 moves up with respect to the base frame 11, and then, the controller 80 controls the traverse actuation units 73 to actuate the traverse linkage structure 31, so that the gears 312 interlock the The rack 311, Biida controls the horizontal movement of the cushions 32 toward the inside and outside. At this time, when the cushions 32 are traversed outwards, a gap is formed between the cushions 32; finally, the The controller 80 controls the riding support frame 12 to be lowered relative to the base frame 11 and allows the user to assume a sitting posture; and the gap corresponds to the toilet 200, and then the user can ride the toilet at the gap 200, and the action of going to the toilet.

More specifically, the present invention can be used by users with reduced mobility or partially paralyzed users, and can reduce the burden on users. If the setting through the fixing structure 40 is increased, the crotch can be supported and supported by the user The care robot 100 is in a standing state, thereby dispersing the force of both arms and legs, and can provide a function of rest in the toilet, rehabilitation, or prevent the user from falling. It is important to prevent the user from falling down. Phenomenon, so as to increase the safety of use.

Please refer to FIG. 12, which is a schematic view of the use state of the mobile state in a preferred embodiment of the present invention; since the mobile module 60 of the present invention is provided with the omnidirectional wheels 61 at the bottom on both sides of the front end of the base frame 11 , And the driving wheels 62 are pivotally connected to the bottom of the rear end of the base frame 11, so the invention uses the characteristics of the omnidirectional wheels 61 to move laterally and rotate in place during the movement process The invention can conveniently shuttle in a narrow and crowded space and flexibly complete displacements in various directions.

Please refer to FIG. 13, which is a schematic view showing the use state of the head fixing member 22 and the clamping assembly 151 in a preferred embodiment of the present invention; a clamping assembly 151 having a plurality of rods 1511 and an elastic clamping member 1512, the rod members 1511 are pivotally connected to each other, and the elastic clamping member 1512 is set on one of the rod members 1511, and the elastic clamping member 1512 is used for clamping A portable electronic device 300; more specifically, the present invention provides users to use the portable electronic device 300 (for example, smart phones, tablet computers), therefore, in addition to providing user entertainment, Contact others... and other purposes, in addition, when the present invention is dumped, the user can quickly contact others, and let the rescue personnel rush to the accident site as soon as possible.

Please continue to refer to FIG. 14, which is a combined perspective view of another embodiment of the present invention; this example further includes a calf fixing strap 400, and both ends of the calf fixing strap 400 are respectively connected to the front side of the riding support frame 12, and, At the central position of the calf fixing belt 400, two limiting straps 401 are arranged at intervals, and a devil felt 402 is arranged on one side of the limiting straps 401. More specifically, in the use state, the limit strap 401 covers the user's calf, and the devil felt 402 of the limit strap 401 is bonded to each other to fix the user's calf In this way, this embodiment can provide users with reduced mobility or partially paralyzed users to use, due to the weakness of their legs, so they can firmly help the user to fix the upper body of the body to the standing state when standing, and can reduce The burden of the user, at the same time, for the caregivers or family members, can also reduce the burden.

It is worth mentioning that, as shown in FIG. 12, the present invention is provided with the anti-collision sensing module 90, so that it can predict the front or rear conditions when moving, and early warning and stabilization of the system, because it can accurately predict in advance Identify non-obstacles, environmental reflections, ground objects and other noise, and eliminate them, and adjust the movement route to achieve the purpose of improving mobile safety.

It is worth mentioning that, as shown in FIG. 6, since the horizontal traverse module 30 not only uses the rack 311 and the gear 312 to mesh with the traverse support structure, but also uses the sliding support 313 is respectively slid on the crossbars 123, and the sliding members are used to support more than 90% of the user's weight, so that the present invention has better support strength and long service life characteristics.

It is worth mentioning that the headrest convex portions 221 of the head fixing member 22 can provide the user's head against, so as to provide better use comfort; in addition, the head fixing belt 222 can The head of the user is elastically bound, in other words, the head strap 222 can be applied to a user with a neck injury.

It should be further explained that the riding support frame 12 and the base frame 11 can be in a horizontal state, and the first included angle A is 180 degrees, for the user to lie flat, and the user The footsteps lean on the stopper structure 50; more specifically, the present invention can determine an appropriate angle according to individual needs, and can achieve lying and sitting postures.

It should be further explained that when the present invention is in an upright state, the tilting actuation units 74 are connected to the connecting rods 51 so that the leaning stop 52 is close to the seat cushions 32, and the leaning stop 52 is It can fasten the user's feet to help the user stand stably, and when the frame assembly 10 is placed in a reclining position, the tilt actuating units 74 are connected to the connecting rod 51 to move the leaning stop 52 The specific position for the user's foot to lean on.

Next, the characteristics of the present invention and the expected achievable functions thereof are described as follows: the care robot 100 of the present invention, the care robot 100 provided by the present invention, when the toilet is in use, the insertion port 112 of the care robot 100 is Corresponding to a toilet 200, and the controller 80 controls the mobile module 60 so that the toilet 200 is located in the accommodating space 111, and the inner peripheral side of the base frame 11 is separated from the toilet 200 by a distance; According to the invention, the controller 80, the driving module 70, the frame assembly 10 and the mobile module 60 cooperate to allow the user to determine an appropriate angle according to individual needs, and to achieve standing and lying down Postures such as sitting and lying; furthermore, the fixed structure 40 and the stopper structure 50 are provided for the present invention in standing, lying, sitting and lying postures, etc., to provide a handicapped person with a stable center of gravity in use and standing Safe use of anti-tilt, and provide the user with a better posture of rest and relaxation.

The present invention has the following implementation and technical effects:

First, the present invention can reduce the burden of users (for example, patients and people with reduced mobility), improve the convenience of defecation for users, has the effect of not requiring the assistance of others, and achieves the self-care of users, and properly uses the care during operation The various mechanisms of the robot 100 are provided for the user to receive the most appropriate and careful care, so as to avoid the secondary injury of the patient and reduce the hard work of the medical care or caregivers.

Second, the present invention can be reversed to the toilet 200, and the toilet 200 can be accommodated in the accommodating space 111, and the accommodating space 111 can be applied to the toilet 200 of various sizes. In addition, when the present invention is reversed to When the toilet 200 is above, the notch is located directly above the toilet 200, so that the user can perform large and small defecation.

Thirdly, the present invention can help the user to take high or low objects by standing, and it is more convenient to approach the desktop, and can also be lowered to the same height as the bed surface to facilitate translation; at the same time, According to individual needs, the proper angle is determined, and the postures of lying down and sitting and lying can be achieved; the most important thing is that the invention not only has the function of lying backwards and easy to move to the bed, but also by lying or It is a function of posture change from sitting position to standing position, so that people who stay in bed for a long time can promote blood circulation, slow down muscle atrophy, rehabilitate and prevent bedsores.

Fourth, the present invention enables the caregiver to easily translate the patient to the bed, or from the bed to the frame assembly 10.

Fifth, the present invention can limit the upper body of the human body to the standing state, and effectively prevent the danger that patients, the elderly, and people with reduced mobility cannot stand on the care robot 100 due to physical factors.

Sixth, the present invention enables the care robot 100 to be free from environmental restrictions during the movement, and can immediately and accurately pre-determine and eliminate noises such as non-obstacles, environmental reflections, ground objects, etc., In order to improve the accuracy and stability of the care robot 100 in judging obstacles, the movement safety of the care robot 100 is improved.

Seventh, the present invention can reduce the burden on the user. If the setting through the fixing structure 40 is increased, the user's crotch can support and stand up in the care robot 100, thereby dispersing the arms and legs. It can provide the function of rest in the middle of rehabilitation or prevent the user from falling. It is important to prevent the user from falling down, so as to increase the safety of use.

Eighth, the present invention can reduce equipment costs for hospitals and nursing institutions. Even in the case of home care, the state of the care recipient will change every month or every year. There may be cases where a caregiver who is not originally suffering from bed sores becomes severe with the passage of time. Even when the above-mentioned conditions change, as long as the present invention is used to change its operating state, the occurrence of bed sores can be avoided. At the same time, it can be used for rehabilitation; therefore, it can save the cost of nursing and reduce the labor of hospitals and nursing institutions.

In summary, the present invention has its excellent progress and practicality in similar products. At the same time, it has searched the technical information about this kind of structure at home and abroad, and the same structure has not been found in the literature. Therefore, The present invention already possesses the essentials of the invention patent, and the application is filed according to law.

However, the above mentioned are only the preferred and feasible embodiments of the present invention. Therefore, any equivalent structural changes that apply to the description of the present invention and the scope of patent application should be included in the scope of the patent of the present invention.

100: care of the robot

10: Frame components

11: Base frame

12: Ride the support frame

123: Crossbar

13: Cushion support frame

14: pedal parts

15: armrest

151: clamping assembly

1511: Rod

1512: Elastic clamping part

20: Back cushion assembly

21: backrest piece

22: head fixture

221: Headrest convex

222: head strap

223: Head leaning on space

30: Horizontal traverse module

313: Slip support

32: seat cushion

40: fixed structure

41: Ontology

42: Sling

43: waist strap

44: Leg wrap

50: Stopper structure

51: connecting rod

52: Lean on the stop

60: mobile module

61: Omnidirectional wheel

62: Drive wheel

80: controller

90: Anti-collision sensing module

91: Anti-collision sensor

300: Portable electronic device

Claims (9)

A care robot includes: a frame assembly, which includes: a base frame, which has an open accommodating space, and a rear side of the base frame has an insertion port, the insertion population and the The accommodating spaces are connected; a riding support frame, which is pivotally connected to the top side of the base frame; and a cushion support frame, which is pivotally connected to the riding support frame; a back cushion component, which includes a backrest member and A head fixing part, the backrest part is set on the cushion support frame, the head fixing part is set on the cushion support frame, and is located on the upper side of the backrest part, and the head fixing part has a The main body of the system is provided with two headrest convex parts, the headrest convex parts are arranged at intervals, and a headrest space is formed between the headrest convex parts and the body, and the head part The fixing member further includes a head fixing belt, which connects the headrest convex portions; a horizontal traverse module, which includes: at least one traverse linkage structure, which is set on the ride Support frame; two seat cushions, which are horizontally movably assembled on the riding support frame by the traverse linkage structure; a fixed structure, which is assembled on the backrest member and has a body; at least one strap, It is arranged on the top side of the body and is assembled with the backrest member; at least two waist fixing belts are respectively arranged on both sides of the body; at least two leg winding belts are arranged on the bottom side of the body at intervals A stopper structure, which is pivotally connected to the base frame; a mobile module, which has two omnidirectional wheels and two drive wheels, the omnidirectional wheels and the drive wheels are pivotally connected to both sides of the base frame ; A drive module, which includes: a plurality of wheel body actuating units, which are installed on the base frame, and connect the omnidirectional wheels and the drive wheels; a plurality of lifting actuators, which are located on the container Space, and used to link the riding support frame to a lifting action relative to the base frame, and to form a first included angle between the riding support frame and the base frame; a plurality of traverse actuation units, which are located on the ride The support frame is connected to the traverse linkage structure and is used to control the horizontal traverse of the seat cushions; a plurality of tilting actuation units are provided behind the cushion support frame and the accommodation space of the base frame, at least one of which The tilt actuation unit is used to control the tilt of the cushion support frame relative to the riding support frame, and a second included angle is formed between the cushion support frame and the riding support frame, and at least another tilt actuation unit is connected The stopper structure; a controller, which is provided on the frame assembly and is electrically connected to the stopper structure and the drive module; wherein, the insertion port of the care robot corresponds to a toilet, and is controlled by the control The toilet controls the moving module so that the toilet is located in the accommodating space, and the inner peripheral side of the base frame is spaced apart from the toilet. The care robot according to item 1 of the scope of the patent application, wherein the front end of the riding support frame is pivotally connected to the base frame, and the two sides of the rear end are respectively provided with a pivot portion and a connecting portion, the pivot portion is The cushion support frame is pivotally connected, and two tilt actuation units are provided on the rear side of the cushion support frame, a telescopic rod of the tilt actuation units is connected to the connection portion, and the second included angle is 0 degrees to 180 degrees Degrees. The care robot according to item 1 of the patent application scope, wherein the traverse linkage structure has at least two racks and at least two gears, and the racks are respectively provided on the On the bottom side of the seat cushion, the tooth conditions are in the same linear arrangement, and the gear trains are provided on the traverse actuation units, and the gear trains mesh with the racks. The care robot according to item 3 of the patent application scope, wherein the traverse linkage structure further has a plurality of sliding supports, and the riding support frame has a cross bar at the front end and the rear end, respectively, and the sliding The supporting members are arranged on the bottom sides of the seat cushions, and the sliding supporting members are respectively arranged on the cross bars. The care robot according to item 1 of the patent application scope, wherein a pedal member is further connected to the front side of the base frame, and a lift actuation unit and a tilt actuation unit are provided on both sides of the base frame, and the tilt The actuation unit is located at the front side of the lift actuation unit and is arranged at intervals. In addition, a telescopic rod of the lift actuation unit is connected to the bottom side of the riding support frame. The care robot according to item 5 of the patent application scope, wherein the stopper structure is in a zigzag shape and is pivotally arranged at the front end of the base frame adjacent to the pedal member, and the stopper structure has at least two connections A lever and a leaning stopper, the leaning stopper is arranged between the connecting rods, and the other ends of the connecting rods are pivotally connected to the base frame, and the stopper structure is close to the connecting rods The pivot joint is connected to the tilt actuating units through a connecting piece. The nursing robot according to item 1 of the scope of the patent application further includes two armrests, which are pivotally connected to both sides of the cushion support frame. The nursing robot according to item 7 of the patent application scope, wherein the controller is provided on one of the handrails, and a holding component is provided on one of the handrails, the holding component is provided with a plurality of levers and a An elastic clamping member, the rod members are pivotally connected to each other, and the elastic clamping member is set on one of the rod members, and the elastic clamping member is used to sandwich a portable electronic device. The care robot according to item 1 of the patent application scope further includes an anti-collision sensing module, which includes an arithmetic processing unit and a plurality of anti-collision sensors, the arithmetic processing units are electrically connected to the anti-collision Sensors, and the anti-collision sensors are arranged on the peripheral side of the base frame.

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