TWI693932B - Care robot - Google Patents

Care robot Download PDF

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Publication number
TWI693932B
TWI693932B TW108104605A TW108104605A TWI693932B TW I693932 B TWI693932 B TW I693932B TW 108104605 A TW108104605 A TW 108104605A TW 108104605 A TW108104605 A TW 108104605A TW I693932 B TWI693932 B TW I693932B
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Taiwan
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support frame
base frame
traverse
frame
pivotally connected
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TW108104605A
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Chinese (zh)
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TW202029945A (en
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李敦基
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大陸商上海多扶智能科技有限公司
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Priority to TW108104605A priority Critical patent/TWI693932B/en
Priority to CN201920715466.8U priority patent/CN211244150U/en
Priority to CN201910415193.XA priority patent/CN111616878A/en
Priority to JP2020000387U priority patent/JP3225928U/en
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Publication of TWI693932B publication Critical patent/TWI693932B/en
Publication of TW202029945A publication Critical patent/TW202029945A/en

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    • 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
    • A61G5/04Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • 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
    • 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
    • A61G5/14Standing-up or sitting-down aids
    • 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
    • A61G2203/70General characteristics of devices with special adaptations, e.g. for safety or comfort
    • A61G2203/72General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention

Abstract

一種看護機器人,其係包含有:一車架組件、一背墊組件、一水平橫移模組、一固定結構、一擋件結構、一移動模組、一驅動模組及一控制器;其中,本發明藉由上述該等模組、該等結構及該等組件之協同運作,藉以達到可以減低使用者(例如,病人、行動不便者)的負擔,增進使用者排便的方便性,具有無需他人協助,達到使用者自理之效用。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

看護機器人Care robot

本發明係與一種行動輔助裝置有關,特別是指一種提供行動不便者使用的看護機器人。 The invention relates to a mobility assisting device, in particular to provide a nursing robot for use by persons with reduced mobility.

按,隨著社會型態的改變,高齡人口不斷地增加,而在高齡化社會裡,最大的問題就是老人的健康狀況,老人在年齡越來越大的情形下,行動不便的狀況越來越嚴重,或是因中風、多發性關節炎、癌症及慢性疾病等病症而不良於行,一旦長期臥床就容易導致身體各器官功能的損傷;近幾年於內政部統計處公告,我國的高齡者(65歲以上)比率逐年上升,65歲以上者280萬8,690人占11.99%,65歲以上老年人口之老化指數為85.7%,續呈逐年增加趨勢。而103年8月台灣身心障礙人數達1,141,677人,該年調查結果以肢體障礙最多(30.1%),各年齡層之身心障礙人口占各該年齡層總人口之比率隨年齡之增加而遞升,65歲以上者則達38.2%。 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%.

另外,一般行動不便的人或老年人,其大多為所謂失能(disability),失能(disability)是指個人因功能缺損,以致操作某些日常生活活動之能力受到限制,即50%以上的清醒時間活動受限於床椅上。因此對於年長者、肢體殘障或因疾病而導致行動不便者而言,出門時常須使用輪椅或電動代步車作為輔助交通工具,以解決行動不便所造成的外出活動限制。 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.

惟,因此類輪椅或電動代步車在結構設計上,僅是為了提供行動不便者可外出之代步功能,並無任何附加功能,是以,當面臨需要拿取高處物品時,因其行動不便,很難在短時間內起身,造成使用上之不便,使用者更無法透過輪椅或電動代步車上執行站立的動作;另外,就目前輪椅或電動代步車在結構設計上,並無法穩固提供站立,亦或是無法提供使用者傾躺休息,並讓腳伸直抬起,以及無法提供使用者較佳後傾舒壓的休息姿勢;由此可知,上述輪椅或電動代步車對於年長者、肢體殘障或因疾病而導致行動不便者而言,較為不便。 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.

另外,當使用者如果臨時想要上廁所時,需要找尋附近的廁所,且一般的電動輪椅或輪椅並無法試用或結合馬桶,所以是相當的不便;亦即,若是使用者身體有殘缺或行動不便時,則需第三人輔助幫忙使用者如廁,而無法輕易的自行上廁所。 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.

然而,而上述所提及的老年人或行動不便的人,其大多使用輪椅作為行動之輔具,又,以現今之輪椅或電動式的護理裝置,其係為方便將患者或使用者撐起成站立之形態時,均具有撐起使用者身體之結構,然而其中可支撐身體成站立姿勢之輪椅,多半係由扶手支撐支撐使用者之腋下將使用者撐起,因此,上述輪椅及電動式護理裝置的使用者於使用時則易產生諸多之缺失。 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.

上述所稱缺失,如下:其一,增加使用者力量之負擔:輪椅將使用者支撐站立後,使用者之腳部係踩踏於踏板處,且於腳部無支撐,因此使用者需將力量全靠手部之腋下加以支撐,所以使用者施力亦需較大之力量者。其二,使用者之身體易下滑,若腳部之膝蓋若產生彎曲手部之力量無法支撐時,身體則有產生滑落之現象。其三,易生危險,若於站立時身體產生下滑,則可能對使用者產生第二次之傷害。 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.

是以,本案發明人在觀察到上述缺失後,而遂有本發明之產生。 Therefore, the inventor of the present case has produced the present invention after observing the above-mentioned deficiency.

本發明之主要目的係在提供一種看護機器人,可以減低使用者(例如,病人、行動不便者)的負擔,增進使用者排便的方便性,具有無需他人協助,達到使用者自理之目的;在操作過程中妥善運用該看護機器人的各機構,以供使用者得到最妥善、細心的照顧,遂能避免患者二度傷害及減輕醫護或看護人員的辛勞。 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.

為達上述目的,本發明所提供之看護機器人,其係包含有:一車架組件,其係包含有:一基架,其係具有一開放式之容置空間,且該基架後側具有一插入口,該插入口與該容置空間相連通;一乘坐支撐架,其係組樞接該基架之頂側;及一靠墊支撐架,其係樞接該乘坐支撐架;一背墊組件,其係包含有一靠背件及一頭部固定件,該靠背件係組設於該靠墊支撐架,該頭部固定件係組設於該靠墊支撐架,並位於該靠背件之上側;一水平橫移模組,其係包含有:至少一橫移連動結構,其係組設於該乘坐支撐架;二坐墊,其係藉由該橫移連動結構呈可水平移動地組設於該乘坐支撐架;一固定結構,其係組設於該靠背件,並具有一本體;至少一吊帶,其係設於該本體頂側,並組設該靠背件;至少二腰部固定帶,其係分別設於該本體之兩側;至少二腿部纏繞帶,其係間隔設於該本體之底側;一擋件結構,其樞接於該基架;一移動模組,其係具有二全向輪及二驅動輪,該等全向輪及該等驅動輪係樞接該基架之兩側;一驅動模組,其係包含有:複數輪體致動單元,其係設於該基架,並連接該等全向輪及該等驅動輪;複數升降致動單元,其係設於該容置空間,並用以連動該乘坐支撐架相對該基架呈一升降之動作,並使該乘坐支撐架與該基架形成有一第一夾角角度;複數橫移致動單元,其係設 於該乘坐支撐架,並連接該橫移連動結構,並用以控制該等坐墊之水平橫移;複數傾斜致動單元,其係設於該靠墊支撐架之後側及該基架之容置空間,其中至少一傾斜致動單元用以控制該靠墊支撐架相對該乘坐支撐架之傾斜,且該靠墊支撐架與該乘坐支撐架之間係形成有一第二夾角角度,又,另外至少一傾斜致動單元係連接該擋件結構;一控制器,其係設於該車架組件,並電性連接該擋件結構及該驅動模組。 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.

較佳地,其中該乘坐支撐架之前端係樞接於該基架,而後端兩側係具有分別一樞接部及一連接部,該樞接部係樞接該靠墊支撐架,而該靠墊支撐架後側設有二傾斜致動單元,該等傾斜致動單元之一伸縮桿係連接該連接部,且該第二夾角角度係為0度至180度之間。 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.

較佳地,其中該橫移連動結構係具有至少二齒條及至少二齒輪,該等齒條係分別設於該坐墊之底側,該等齒條件係呈同一線性設置,又,該等齒輪係組設於該等橫移致動單元,且該等齒輪係嚙合該等齒條。 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.

較佳地,其中該橫移連動結構更具有複數滑移支撐件,而該乘坐支撐架之前端及後端分別具有一橫桿,又,該等滑移支撐件係設於該等坐墊之底側,且該等滑移支撐件係分別滑設於該等橫桿。 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.

較佳地,其中該基架之前側更連接有一踏板件,且該基架內部之兩側分別有一升降致動單元及一傾斜致動單元,而該傾斜致動單元位於該升降致動單元之前側,並呈間隔設置,另,該等該升降致動單元之一伸縮桿係連接該乘坐支撐架之底側。 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.

較佳地,其中該擋件結構,係呈ㄇ字狀,並樞設於該基架前端並鄰近該踏板件,而該擋件結構係具有至少二連接桿及一倚靠擋件,該等連接桿之間係組設有該倚靠擋件,且該等連接桿之另一端係樞接於該基架,又, 該擋件結構於靠近該等連接桿樞接處透過一連接件係連接該等傾斜致動單元。 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.

較佳地,其中該頭部固定件係具有一本體,該本體係凸設有二頭靠凸部,該等頭靠凸部係呈間隔設置,而該等頭靠凸部與該本體之間係形成有一頭部倚靠空間,另,該頭部固定件更包括有一頭部固定帶,該頭部固定帶係連接該等頭靠凸部。 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.

較佳地,其中更包含有二扶手件,該等扶手件係樞接該靠墊支撐架之兩側。 Preferably, two armrests are further included, and the armrests are pivotally connected to both sides of the cushion support frame.

較佳地,其中該控制器係設於其中一扶手,又,其中一扶手件上係設有一夾持組件,該夾持組件係具有複數桿件及一彈性夾持件,該等桿件係相互樞接,且該彈性夾持件係組設於其中一桿件,又,該彈性夾持件係用以夾設一攜帶型電子裝置。 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.

較佳地,其中更包含有一防撞感測模組,其係包含有一運算處理單元及複數防撞感測器,該等運算處理單元電性連接該等防撞感測器,而該等防撞感測器組設於該基架周側。 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.

本發明所提供之看護機器人,於如廁使用狀態時,該看護機器人之插入口係對應一便器,並藉由該控制器控制該移動模組,使該便器位於該容置空間,且該基架之內周側與該便器相隔有一間距;另外,本發明藉由該控制器、該驅動模組、該車架組件及移動模組之協同運作,以供於使用者可依據個人的需要而決定適當角度,並可達到站立、平躺及坐臥等姿勢態樣;再者,該固定結構及該擋件結構係供本發明於站立、平躺及坐臥等姿勢時,提供行動不便者於使用上重心保持平穩,以及站立防傾之安全使用,以及提供使用者使用時之較佳後傾舒壓的休息姿勢;藉此,本發明可以減低使用者(例如,病人、行動不便者)的負擔,增進使用者排便的方便性,具有無需他 人協助,達到使用者自理之效用;又,在操作過程中妥善運用該看護機器人的各機構,以供使用者得到最妥善、細心的照顧,遂能避免患者二度傷害及減輕醫護或看護人員的辛勞。 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:看護機器人 100: care of the robot

10:車架組件 10: Frame components

11:基架 11: Base frame

111:容置空間 111: accommodating space

112:插入口 112: insertion port

12:乘坐支撐架 12: Ride the support frame

121:樞接部 121: pivot

122:連接部 122: Connection

123:橫桿 123: Crossbar

13:靠墊支撐架 13: Cushion support frame

14:踏板件 14: pedal parts

15:扶手件 15: armrest

151:夾持組件 151: clamping assembly

1511:桿件 1511: Rod

1512:彈性夾持件 1512: Elastic clamping part

20:背墊組件 20: Back cushion assembly

21:靠背件 21: backrest piece

22:頭部固定件 22: head fixture

221:頭靠凸部 221: Headrest convex

222:頭部固定帶 222: head strap

223:頭部倚靠空間 223: Head leaning on space

30:水平橫移模組 30: Horizontal traverse module

31:橫移連動結構 31: Traverse linkage structure

311:齒條 311: rack

312:齒輪 312: Gear

313:滑移支撐件 313: Slip support

32:坐墊 32: seat cushion

40:固定結構 40: fixed structure

41:本體 41: Ontology

42:吊帶 42: Sling

43:腰部固定帶 43: waist strap

44:腿部纏繞帶 44: Leg wrap

50:擋件結構 50: Stopper structure

51:連接桿 51: connecting rod

52:倚靠擋件 52: Lean on the stop

53:連接件 53: Connector

60:移動模組 60: mobile module

61:全向輪 61: Omnidirectional wheel

62:驅動輪 62: Drive wheel

70:驅動模組 70: drive module

701:伸縮桿 701: Telescopic rod

71:輪體致動單元 71: Wheel actuation unit

72:升降致動單元 72: Lifting and actuating unit

73:橫移致動單元 73: Traverse actuator unit

74:傾斜致動單元 74: Tilt actuation unit

80:控制器 80: controller

90:防撞感測模組 90: Anti-collision sensing module

91:防撞感測器 91: Anti-collision sensor

A:第一夾角角度 A: The first included angle

B:第二夾角角度 B: The second included angle

200:便器 200: toilet

300:攜帶型電子裝置 300: Portable electronic device

400:小腿固定帶 400: Calf strap

401:限位綁帶 401: limit strap

402:魔鬼氈 402: Devil Felt

圖1係本發明一較佳實施例之立體圖。 FIG. 1 is a perspective view of a preferred embodiment of the present invention.

圖2係本發明一較佳實施例之側面剖視圖。 2 is a side cross-sectional view of a preferred embodiment of the present invention.

圖3係本發明一較佳實施例之結構示意圖。 FIG. 3 is a schematic structural diagram of a preferred embodiment of the present invention.

圖4係本發明一較佳實施例中顯示該水平橫移模組的仰視結構示意圖。 FIG. 4 is a schematic diagram showing a bottom view of the horizontal traverse module in a preferred embodiment of the present invention.

圖5係本發明一較佳實施例中顯示如廁的使用狀態示意圖。 FIG. 5 is a schematic diagram showing the state of use of the toilet in a preferred embodiment of the present invention.

圖6係本發明一較佳實施例中顯示如廁時該水平橫移模組的使用狀態示意圖。 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.

圖7係本發明一較佳實施例中顯示如廁的使用狀態示意圖。 FIG. 7 is a schematic diagram showing the state of use of the toilet in a preferred embodiment of the present invention.

圖8係本發明一較佳實施例中顯示該水平橫移模組的使用狀態示意圖。 FIG. 8 is a schematic view showing the use state of the horizontal traverse module in a preferred embodiment of the present invention.

圖9係本發明一較佳實施例中顯示該水平橫移模組的使用狀態示意圖。 FIG. 9 is a schematic view showing the use state of the horizontal traverse module in a preferred embodiment of the present invention.

圖10係本發明一較佳實施例中顯示站立狀態的使用狀態示意圖。 FIG. 10 is a schematic diagram showing a use state showing a standing state in a preferred embodiment of the present invention.

圖11係本發明一較佳實施例中顯示如廁的使用狀態示意圖。 FIG. 11 is a schematic diagram showing the state of use of the toilet in a preferred embodiment of the present invention.

圖12係本發明一較佳實施例中顯示移動的使用狀態示意圖。 FIG. 12 is a schematic diagram showing the use state of mobile display in a preferred embodiment of the present invention.

圖13係本發明一較佳實施例中顯示該頭部固定件及該夾持組件的使用狀態示意圖。 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.

圖14係本發明又一實施例之組合立體圖。 14 is a combined perspective view of yet another embodiment of the present invention.

請參閱圖1及圖2,並搭配圖3及圖4所示,係為本發明之一較佳實施例之立體圖、側面剖視圖、結構示意圖及水平橫移模組30的仰視結構示意圖,本發明係揭露有一種看護機器人100,該看護機器人100係包含有:一車架組件10,其係包含有:一基架11,其係具有一開放式之容置空間111,該容置空間111係呈梯形空間體,且該基架11後側具有一插入口112,該插入口112與該容置空間111相連通;一乘坐支撐架12,其係組樞接該基架11之頂側;及一靠墊支撐架13,其係樞接該乘坐支撐架12;於本實施例中,該乘坐支撐架12之前端係樞接於該基架11,而後端兩側係具有分別一樞接部121及一連接部122,該樞接部121係樞接該靠墊支撐架13,又,該乘坐支撐架12底側之前端及後端分別具有一橫桿123;另,該基架11之前側更連接有一踏板件14;二扶手件15,該等扶手件15係樞接該靠墊支撐架13之兩側;一夾持組件151,該夾持組件151係具有複數桿件1511及一彈性夾持件1512,該等桿件1511係相互樞接,且該彈性夾持件1512係組設於其中一桿件1511,又,該彈性夾持件1512係用以夾設一攜帶型電子裝置300。 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 .

一背墊組件20,其係包含有一靠背件21及一頭部固定件22,該靠背件21係組設於該靠墊支撐架13,該頭部固定件22係組設於該靠墊支撐架13,並位於該靠背件21之上側;於本實施例中,該頭部固定件22係具有一本體41,該本體41係凸設有二頭靠凸部221,該等頭靠凸部221係呈間隔設置,而該等頭靠凸部221與該本體41之間係形成有一頭部倚靠空間223,另,該頭部固定件22更包括有一頭部固定帶222,該頭部固定帶222係連接該等頭靠凸部221。 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.

一水平橫移模組30,其係包含有:一橫移連動結構31,其係組設於該乘坐支撐架12;以及,二坐墊32,其係藉由該橫移連動結構31呈可水平移動地組設於該乘坐支撐架12;於本實施例中,該橫移連動結構31係具有至 少二齒條311及至少二齒輪312,該等齒條311係分別設於該坐墊32之底側,該等齒條311件係呈同一線性設置,又,該橫移連動結構31更具有複數滑移支撐件313,該等滑移支撐件313係設於該等坐墊32之底側,且該等滑移支撐件313係分別滑設於該等橫桿123。 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.

一固定結構40,其係組設於該靠背件21,並具有一本體41;至少一吊帶42,其係設於該本體41頂側,並組設該靠背件21;至少二腰部固定帶43,其係分別設於該本體41之兩側;至少二腿部纏繞帶44,其係間隔設於該本體41之底側;於本實施例中,該等腰部固定帶43係用以繞過一使用者之腰部,而該等腿部纏繞帶44之一端係用以繞過該使用者之二大腿部,並用以綁固該使用者之二大腿部。 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.

一擋件結構50,其樞接於該基架11,而該擋件結構50係呈ㄇ字狀,並樞設於該基架11前端並鄰近該踏板件14,而該擋件結構50係具有至少二連接桿51及一倚靠擋件52,該等連接桿51之間係組設有該倚靠擋件52,且該等連接桿51之另一端係樞接於該基架11。 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.

一移動模組60,其係具有二全向輪61及二驅動輪62,該等全向輪61及該等驅動輪62係樞接該基架11之兩側。 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.

一驅動模組70,其係包含有:複數輪體致動單元71、複數升降致動單元72、複數橫移致動單元73及複數傾斜致動單元74,又,該等輪體致動單元71、該等升降致動單元72、該等橫移致動單元73及該等傾斜致動單元74係選自機械式制動器、電磁致動式制動器及流體致動器其中之一或其組合,其中:該等輪體致動單元71,其係設於該基架11,並連接該等全向輪61及該等驅動輪62。 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.

該等升降致動單元72,其係設於該容置空間111,並用以連動該乘坐支撐架12相對該基架11呈一升降之動作,並使該乘坐支撐架12與該基架11形成有一第一夾角角度A,該第一夾角角度A係為90度至180度之間。 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.

該等橫移致動單元73,其係設於該乘坐支撐架12,並連接該橫移連動結構31,並用以控制該等坐墊32之水平橫移;於本實施例中,該等齒輪312係組設於該等橫移致動單元73,且該等齒輪312係嚙合該等齒條311。 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.

該等傾斜致動單元74,其係設於該靠墊支撐架13之後側及該基架11之容置空間111,其中二傾斜致動單元74用以控制該靠墊支撐架13相對該乘坐支撐架12之傾斜,且該靠墊支撐架13與該乘坐支撐架12之間係形成有一第二夾角角度B,又,另外二傾斜致動單元74係連接該擋件結構50,具體而言,該擋件結構50於靠近該等連接桿51樞接處透過一連接件53係連接該等傾斜致動單元74。於本實施例中,如圖3所示,該靠墊支撐架13後側設有二傾斜致動單元74,該等傾斜致動單元74之一伸縮桿701係連接該連接部122,且該第二夾角角度B係為0度至180度之間。 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.

另,於本實施例中,如圖2所示,該基架11內部之兩側分別有一升降致動單元72及一傾斜致動單元74,而該傾斜致動單元74位於該升降致動單元72之前側,並呈間隔設置,另,該等該升降致動單元72之一伸縮桿701係連接該乘坐支撐架12之底側。 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.

一控制器80,其係設於該車架組件10,並電性連接該擋件結構50及該驅動模組70。 A controller 80 is disposed on the frame assembly 10 and is electrically connected to the stopper structure 50 and the driving module 70.

一防撞感測模組90,其係包含有一運算處理單元(圖未示)及複數防撞感測器91,該等運算處理單元(圖未示)電性連接該等防撞感測器91,而該等防撞感測器91組設於該基架11周側;於本實施例中,該運算處理單元係能設置於該控制器80內部的電路元件中;另,該等防撞感測器91係分別用以 擷取一個以上的障礙物資訊、一個以上的影像資訊或毫米波訊號,並透過該運算處理單元對障礙物資訊、毫米波訊號或影像資訊進行分析,當在行駛的過程中將持續接收障礙物資訊,並藉由執行一可濾除雜訊的過濾分析機制以及一門體的比較分析機制,使得該運算處理單元係能排除非障礙物,以正確取得前方目標資訊。 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.

為供進一步瞭解本發明構造特徵、運用技術手段及所預期達成之功效,茲將本發明使用方式加以敘述,相信當可由此而對本發明有更深入且具體之瞭解,如下所述:請繼續參閱圖5及圖6,並搭配圖7所示,係為本發明之一較佳實施例之如廁的使用狀態示意圖;於使用狀態時,使用者係能藉由操控該控制器80,使得該等驅動模組70驅動該等驅動輪62及該等全向輪61,並讓該看護機器人100之插入口112係對應一便器200,並藉由該控制器80控制該移動模組60移動方為,使該便器200位於該容置空間111,且該基架11之內周側與該便器200相隔有一間距;而後,再藉由該控制器80控制該等橫移致動單元73,以致動該橫移連動結構31,使得該等齒輪312連動該等齒條311,俾達控制該等坐墊32之朝外側水平橫移;此時,當該等坐墊32朝外橫移後,該等坐墊32之間係形成有一缺口,而該缺口係對應該便器200,而後使用者係能於該缺口處乘坐於該便器200,並進行如廁的動作。 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.

需進一步說明的是,使用者於如廁的過程中,如圖7所示,使用者係能將手部或頭部抵靠於該擋件結構50之該倚靠擋件52,從而能夠給予使用者如廁施力排便時的手部攙扶或頭部抵靠用,從而能提供使用者較佳如廁舒適性。 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.

另外,當使用者如廁完畢時,反之,使用者操控該控制器80,以另該等升降致動單元72作動,使該乘坐支撐架12相對該基架11呈一升起之動 作,而後,再藉由該控制器80控制該等橫移致動單元73,以致動該橫移連動結構31,使得該等齒輪312連動該等齒條311,俾達控制該等坐墊32之朝內側水平橫移;最後,再將控制該等升降致動單元72,使該乘坐支撐架12相對該基架11呈一降落之動作,並讓使用者恢復成坐姿態樣。 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.

藉此,可以減低使用者(例如,病人、行動不便者)的負擔,增進使用者排便的方便性,具有無需他人協助,達到使用者自理之效用;在操作過程中妥善運用該看護機器人100的各機構及元件之協同運作,以供使用者得到最妥善、細心的照顧,遂能避免患者二度傷害及減輕醫護或看護人員的辛勞。 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.

請參閱圖4及圖6,並配合圖8及圖9所示,係為本發明一較佳實施例之仰視結構示意圖、使用狀態示意圖;於使用狀態時,當使用者須離該坐墊32,並移動至另外椅子或床時,使用者係能先將一側的扶手件15扳起,而後,再藉由該控制器80控制其中一橫移致動單元73,以致動該橫移連動結構31,使得該等齒輪312連動該等齒條311,俾達控制其中一坐墊32之朝外側水平橫移。 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.

請參閱圖10所示,係為本發明一較佳實施例中顯示站立狀態的使用狀態示意圖;由於本發明之固定結構40之設置,因此,於使用狀態時,於本發明係藉由該等腿部纏繞帶44具有一連接動作,該連接動作係為該等腿部纏繞帶44之一端經彎曲後,並形成二綁固空間,又,該等腰部固定帶43係用以繞過一使用者之腰部,而該等腿部纏繞帶44之一端係用以繞過該使用者之二大腿部;更詳而之,當該護理裝置於站立狀態時,使用者係能將身體上身固定於站立狀態之本發明上,且有效地防止使用者(例如,病患、老年人及行動不便者)因身體因素,從而無法站立支撐於該護理裝置上所發生的危險;需進一步說明的是,當使用者於如廁狀態時,如圖11所示,該乘坐支撐 架12相對該基架11呈一升起之動作,而後,再藉由該控制器80控制該等橫移致動單元73,以致動該橫移連動結構31,使得該等齒輪312連動該等齒條311,俾達控制該等坐墊32之朝內外側水平橫移,此時,當該等坐墊32朝外橫移後,該等坐墊32之間係形成有一缺口;最後,將藉由該控制器80控制該乘坐支撐架12相對該基架11呈一降落之動作,並讓使用者呈現坐姿態;而該缺口係對應該便器200,而後使用者係能於該缺口處乘坐於該便器200,並進行如廁的動作。 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.

更詳而言之,本發明係能提供行動不便者或部分癱瘓的使用者使用,並能減輕使用者之負擔,若增加透過該固定結構40之設置,從而讓使用者胯下能支撐並於該看護機器人100呈站立狀態,藉以分散雙臂及雙腿的受力,並能提供如廁中、復健中途歇息或防止使用者跌落的功能,重要的是,更能防止使用者往下滑落之現象,從而達到增加使用安全性之功效。 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.

請參閱圖12所示,係為本發明一較佳實施例中移動狀態的使用狀態示意圖;由於本發明之移動模組60於該基架11之前端兩側底部設置有該等全向輪61,且該等驅動輪62係樞接該基架11之後端兩側底部,因此,本發明於移動的過程中,藉助該等全向輪61於橫向移動和原地迴旋的特性,並讓本發明可方便的穿梭於狹窄擁擠空間中,靈活完成各種方位之位移。 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.

請參閱圖13所示,係為本發明一較佳實施例中顯示該頭部固定件22及該夾持組件151的使用狀態示意圖;一夾持組件151,該夾持組件151係具有複數桿件1511及一彈性夾持件1512,該等桿件1511係相互樞接,且該彈性夾持件1512係組設於其中一桿件1511,又,該彈性夾持件1512係用以夾設一攜帶型電子裝置300;更詳而言之,本發明提供使用者使用該攜帶型電子裝置300(例如,智慧型手機、平板電腦),因此,除了可提供使用者娛樂、 聯繫他人…等用途,另外,更能於當本發明傾倒時,使用者,可以快速聯繫他人,並讓求救人員儘速趕到意外現場。 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.

請繼續參閱圖14所示,係為本發明又一實施例之組合立體圖;本實例更包括有一小腿固定帶400,該小腿固定帶400之兩端係分別連接乘坐支撐架12之前側,又,該小腿固定帶400之中央位置處係間隔設有二限位綁帶401,該等限位綁帶401之一側面係設有魔鬼氈402。更詳而言之,於使用狀態時,該限位綁帶401係包覆使用者之小腿部,且該等限位綁帶401之魔鬼氈402係相互黏合,藉以固定使用者之小腿部;藉此,本實施例係能提供行動不便者或部分癱瘓的使用者於使用時,因其腿部無力,所以於站立時能夠穩固幫助使用者將身體上身固定於站立狀態,並能減輕使用者之負擔,同時,對於看護或家屬而言,也可以減輕負擔。 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.

值得一提的是,如圖12所示,由於本發明設置有該防撞感測模組90,從而能預測移動時前方或後側狀況,而提早預警並穩定系統,又因為能夠準確地預先判斷出非障礙物、環境反射、地面物等雜訊,並將其排除,並調整移動路線,以達到提移動安全之目的。 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.

值得再提的是,如圖6所示,由於該水平橫移模組30除了藉由該等齒條311與該等齒輪312箱嚙合之橫移支撐結構,更藉由該等滑移支撐件313係分別滑設於該等橫桿123,該等滑移件係用於支撐使用者90%以上重量,從而讓本發明具有較佳支撐強度及使用壽命長之特性。 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.

值得再提的是,該頭部固定件22之該等頭靠凸部221係能提供使用者頭部抵靠用,以達提供較佳使用舒適性;另外,該頭部固定帶222係能彈性綁固使用者的頭部,換言之,該頭部固定帶222可應用於頸部受傷的使用者。 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.

需進一步說明的是,該乘坐支撐架12與該基架11係能呈一水平之態樣,該第一夾角角度A係為180度,以供使用者呈平躺之態樣,而使用者之腳步係倚靠於該擋件結構50;更詳而言之,本發明可依據個人的需要而決定適當角度,並可達到平躺及坐臥等姿勢態樣。 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.

需再進一步說明的是,當於本發明於直立狀態時,該等傾斜致動單元74係連動等連接桿51,讓該倚靠擋件52並靠近該等坐墊32,且該倚靠擋件52係能緊固使用者腳部,以輔助使用者穩固站立,又,當該車架組件10於傾躺設置時,該等傾斜致動單元74係連動等連接桿51,讓該倚靠擋件52移動之特定位置,以供使用者之腳部倚靠。 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.

茲,再將本發明之特徵及其可達成之預期功效陳述如下:本發明之看護機器人100,本發明所提供之看護機器人100,於如廁使用狀態時,該看護機器人100之插入口112係對應一便器200,並藉由該控制器80控制該移動模組60,使該便器200位於該容置空間111,且該基架11之內周側與該便器200相隔有一間距;另外,本發明藉由該控制器80、該驅動模組70、該車架組件10及移動模組60之協同運作,以供於使用者可依據個人的需要而決定適當角度,並可達到站立、平躺及坐臥等姿勢態樣;再者,該固定結構40及該擋件結構50係供本發明於站立、平躺及坐臥等姿勢時,提供行動不便者於使用上重心保持平穩,以及站立防傾之安全使用,以及提供使用者使用時之較佳後傾舒壓的休息姿勢。 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.

本發明係具有以下實施功效及技術功效: The present invention has the following implementation and technical effects:

其一,本發明可以減低使用者(例如,病人、行動不便者)的負擔,增進使用者排便的方便性,具有無需他人協助,達到使用者自理之效用,且在操作過程中妥善運用該看護機器人100的各機構,以供使用者得到最妥善、細心的照顧,遂能避免患者二度傷害及減輕醫護或看護人員的辛勞。 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.

其二,本發明係能倒退至便器200上,並便器200能容置入於該容置空間111,且該容置空間111係能應用於各種尺寸的便器200,另外,當本發明倒退至便器200上方時,缺口即位在便器200正上方,以利使用者進行大、小排便。 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.

其三,本發明其係能藉由站立態樣,俾利於使用者拿取高處或低處物品,更可便於靠近桌面,亦能下降高度至與床面同高以利平移;同時,可依據個人的需要而決定適當角度,並可達到平躺及坐臥等姿勢態樣;最重要的是,本發明不僅進具有向後躺平便於移位到床上的功能,更能藉由躺姿或是坐姿轉為站姿的體位變換的功能,以讓長期臥床的人群促進血液、迴圈減緩肌肉萎縮、進行復健、防止褥瘡產生。 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.

其四,本發明係能使看護人員輕易地將患者平移至床上,亦或由床上平移至該車架組件10上。 Fourth, the present invention enables the caregiver to easily translate the patient to the bed, or from the bed to the frame assembly 10.

其五,本發明係能將人體上身限定於站立狀態,且有效地防止病患、老年人及行動不便者因身體因素,從而無法站立支撐於該看護機器人100上所發生的危險。 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.

其六,本發明其係能令該看護機器人100在移動的過程中不受環境的限制,可即時、準確地預先判斷出非障礙物、環境反射、地面物等雜訊,並將其排除,以增進該看護機器人100對障礙物判斷的準確度與穩定性,以該提升看護機器人100的移動安全。 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.

其七,本發明係能減輕使用者之負擔,若增加透過該固定結構40之設置,從而讓使用者胯下能支撐並於該看護機器人100呈站立狀態,藉以分散雙臂及雙腿的受力,並能提供復健中途歇息或防止使用者跌落的功能,重要的是,更能防止使用者往下滑落之現象,從而達到增加使用安全性之功效。 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.

其八,本發明對於醫院及護理機構而言,能夠減低設備成本。即使是在居家護理的情況下,被看護者每個月或每年其狀態也會產生變化。會有原本未患有褥瘡的被看護者,隨著歲月流逝而褥瘡變得嚴重之情事,即使在上述狀態產生變化的情況時,只要使用本發明改變其運作狀態,即可避免褥瘡之產生,同時,更可進行復健之用;因此,能夠節省護理所需之費用,以及,減省醫院及護理機構的勞動力。 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.

綜上所述,本發明在同類產品中實有其極佳之進步實用性,同時遍查國內外關於此類結構之技術資料,文獻中亦未發現有相同的構造存在在先,是以,本發明實已具備發明專利要件,爰依法提出申請。 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.

惟,以上所述者,僅係本發明之較佳可行實施例而已,故舉凡應用本發明說明書及申請專利範圍所為之等效結構變化,理應包含在本發明之專利範圍內。 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:看護機器人 100: care of the robot

10:車架組件 10: Frame components

11:基架 11: Base frame

12:乘坐支撐架 12: Ride the support frame

123:橫桿 123: Crossbar

13:靠墊支撐架 13: Cushion support frame

14:踏板件 14: pedal parts

15:扶手件 15: armrest

151:夾持組件 151: clamping assembly

1511:桿件 1511: Rod

1512:彈性夾持件 1512: Elastic clamping part

20:背墊組件 20: Back cushion assembly

21:靠背件 21: backrest piece

22:頭部固定件 22: head fixture

221:頭靠凸部 221: Headrest convex

222:頭部固定帶 222: head strap

223:頭部倚靠空間 223: Head leaning on space

30:水平橫移模組 30: Horizontal traverse module

313:滑移支撐件 313: Slip support

32:坐墊 32: seat cushion

40:固定結構 40: fixed structure

41:本體 41: Ontology

42:吊帶 42: Sling

43:腰部固定帶 43: waist strap

44:腿部纏繞帶 44: Leg wrap

50:擋件結構 50: Stopper structure

51:連接桿 51: connecting rod

52:倚靠擋件 52: Lean on the stop

60:移動模組 60: mobile module

61:全向輪 61: Omnidirectional wheel

62:驅動輪 62: Drive wheel

80:控制器 80: controller

90:防撞感測模組 90: Anti-collision sensing module

91:防撞感測器 91: Anti-collision sensor

300:攜帶型電子裝置 300: Portable electronic device

Claims (9)

一種看護機器人,其係包含有:一車架組件,其係包含有:一基架,其係具有一開放式之容置空間,且該基架後側具有一插入口,該插人口與該容置空間相連通;一乘坐支撐架,其係組樞接該基架之頂側;及一靠墊支撐架,其係樞接該乘坐支撐架;一背墊組件,其係包含有一靠背件及一頭部固定件,該靠背件係組設於該靠墊支撐架,該頭部固定件係組設於該靠墊支撐架,並位於該靠背件之上側,又,該頭部固定件係具有一本體,該本體係凸設有二頭靠凸部,該等頭靠凸部係呈間隔設置,而該等頭靠凸部與該本體之間係形成有一頭部倚靠空間,另,該頭部固定件更包括有一頭部固定帶,該頭部固定帶係連接該等頭靠凸部;一水平橫移模組,其係包含有:至少一橫移連動結構,其係組設於該乘坐支撐架;二坐墊,其係藉由該橫移連動結構呈可水平移動地組設於該乘坐支撐架;一固定結構,其係組設於該靠背件,並具有一本體;至少一吊帶,其係設於該本體頂側,並組設該靠背件;至少二腰部固定帶,其係分別設於該本體之兩側;至少二腿部纏繞帶,其係間隔設於該本體之底側;一擋件結構,其樞接於該基架;一移動模組,其係具有二全向輪及二驅動輪,該等全向輪及該等驅動輪係樞接該基架之兩側; 一驅動模組,其係包含有:複數輪體致動單元,其係設於該基架,並連接該等全向輪及該等驅動輪;複數升降致動單元,其係設於該容置空間,並用以連動該乘坐支撐架相對該基架呈一升降之動作,並使該乘坐支撐架與該基架形成有一第一夾角角度;複數橫移致動單元,其係設於該乘坐支撐架,並連接該橫移連動結構,並用以控制該等坐墊之水平橫移;複數傾斜致動單元,其係設於該靠墊支撐架之後側及該基架之容置空間,其中至少一傾斜致動單元用以控制該靠墊支撐架相對該乘坐支撐架之傾斜,且該靠墊支撐架與該乘坐支撐架之間係形成有一第二夾角角度,又,另外至少一傾斜致動單元係連接該擋件結構;一控制器,其係設於該車架組件,並電性連接該擋件結構及該驅動模組;其中,該看護機器人之插入口係對應一便器,並藉由該控制器控制該移動模組,使該便器位於該容置空間,且該基架之內周側與該便器相隔有一間距。 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. 依據申請專利範圍第1項所述之看護機器人,其中,該乘坐支撐架之前端係樞接於該基架,而後端兩側係具有分別一樞接部及一連接部,該樞接部係樞接該靠墊支撐架,而該靠墊支撐架後側設有二傾斜致動單元,該等傾斜致動單元之一伸縮桿係連接該連接部,且該第二夾角角度係為0度至180度之間。 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. 依據申請專利範圍第1項所述之看護機器人,其中,該橫移連動結構係具有至少二齒條及至少二齒輪,該等齒條係分別設於該 坐墊之底側,該等齒條件係呈同一線性設置,又,該等齒輪係組設於該等橫移致動單元,且該等齒輪係嚙合該等齒條。 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. 依據申請專利範圍第3項所述之看護機器人,其中,該橫移連動結構更具有複數滑移支撐件,而該乘坐支撐架之前端及後端分別具有一橫桿,又,該等滑移支撐件係設於該等坐墊之底側,且該等滑移支撐件係分別滑設於該等橫桿。 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. 依據申請專利範圍第1項所述之看護機器人,其中,該基架之前側更連接有一踏板件,且該基架內部之兩側分別有一升降致動單元及一傾斜致動單元,而該傾斜致動單元位於該升降致動單元之前側,並呈間隔設置,另,該等該升降致動單元之一伸縮桿係連接該乘坐支撐架之底側。 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. 依據申請專利範圍第5項所述之看護機器人,其中,該擋件結構,係呈ㄇ字狀,並樞設於該基架前端並鄰近該踏板件,而該擋件結構係具有至少二連接桿及一倚靠擋件,該等連接桿之間係組設有該倚靠擋件,且該等連接桿之另一端係樞接於該基架,又,該擋件結構於靠近該等連接桿樞接處透過一連接件係連接該等傾斜致動單元。 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. 依據申請專利範圍第1項所述之看護機器人,更包含有二扶手件,該等扶手件係樞接該靠墊支撐架之兩側。 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. 依據申請專利範圍第7項所述之看護機器人,其中,該控制器係設於其中一扶手,又,其中一扶手件上係設有一夾持組件,該夾持組件係具有複數桿件及一彈性夾持件,該等桿件係相互樞接,且該彈性夾持件係組設於其中一桿件,又,該彈性夾持件係用以夾設一攜帶型電子裝置。 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. 依據申請專利範圍第1項所述之看護機器人,更包含有一防撞感測模組,其係包含有一運算處理單元及複數防撞感測器,該等運算處理單元電性連接該等防撞感測器,而該等防撞感測器組設於該基架周側。 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.
TW108104605A 2019-02-12 2019-02-12 Care robot TWI693932B (en)

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CN201920715466.8U CN211244150U (en) 2019-02-12 2019-05-14 Nursing robot
CN201910415193.XA CN111616878A (en) 2019-02-12 2019-05-14 Nursing robot
JP2020000387U JP3225928U (en) 2019-02-12 2020-02-06 Nursing robot

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CN114668593A (en) * 2022-01-14 2022-06-28 南昌大学第一附属医院 Wheelchair with spinal cord injury patient information monitoring system
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CN116077284A (en) * 2023-02-03 2023-05-09 深圳作为科技有限公司 Safety belt lifting device and walking-assisting robot

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TWM438265U (en) * 2012-05-14 2012-10-01 dun-ji Li Mobility aids vehicle
TW201737850A (en) * 2016-04-29 2017-11-01 dun-ji Li Nursing robot with functions of flushing and collecting excrement including a main body, a bedpan, an excrement collecting box, a cleaning device, and an electronic control module

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Publication number Priority date Publication date Assignee Title
TWM438265U (en) * 2012-05-14 2012-10-01 dun-ji Li Mobility aids vehicle
TW201737850A (en) * 2016-04-29 2017-11-01 dun-ji Li Nursing robot with functions of flushing and collecting excrement including a main body, a bedpan, an excrement collecting box, a cleaning device, and an electronic control module

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