TWM582384U - Nursing robot - Google Patents

Nursing robot Download PDF

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Publication number
TWM582384U
TWM582384U TW108201848U TW108201848U TWM582384U TW M582384 U TWM582384 U TW M582384U TW 108201848 U TW108201848 U TW 108201848U TW 108201848 U TW108201848 U TW 108201848U TW M582384 U TWM582384 U TW M582384U
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Taiwan
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disposed
support frame
traverse
frame
user
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TW108201848U
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Chinese (zh)
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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 TW108201848U priority Critical patent/TWM582384U/en
Publication of TWM582384U publication Critical patent/TWM582384U/en

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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,本新型藉由上述該等模組、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 comprising: a frame assembly, a back pad assembly, a horizontal traverse module, a fixed structure, a stop structure, a moving module, a drive module and a controller; With the above-mentioned modules, the structures and the cooperative operation of the components, the present invention can reduce the burden on users (for example, patients and people with reduced mobility) and enhance the convenience of the user's defecation. Help others to achieve the user's own effectiveness.

Description

看護機器人 Nursing robot

本新型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 present invention relates to a mobility aid, and more particularly to a care robot for use by people 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 social patterns, the elderly population continues to increase. In the aging society, the biggest problem is the health of the elderly. The elderly are getting more and more inconvenient when they are getting older. Severe, or due to stroke, polyarthritis, cancer and chronic diseases, etc., if you stay in bed for a long time, it is easy to cause damage to the functions of various organs of the body; in recent years, the Ministry of the Interior Statistics Department announced that the elderly in China The ratio of (over 65 years old) has increased year by year. The number of people over 65 years old is 2.88 million, accounting for 11.99%, and the ageing index of the elderly population over 65 years old is 85.7%, which continues to increase year by year. In August, 103, the number of people with physical and mental disabilities in Taiwan reached 1,141,677. The results of the survey were the most common (30.1%). The ratio of the physically and mentally handicapped population of all ages to the total population of this age group increased with age. 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 living due to functional impairment, that is, more than 50%. The waking time is limited to the bed chair. So for the year For the elderly, physically handicapped or those with reduced mobility due to illness, wheelchairs or electric scooters are often used as auxiliary vehicles to solve the restrictions on mobility caused by inconvenience.

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 design of wheelchair-type or electric scooter is only for the purpose of providing mobility for people with reduced mobility. It does not have any additional functions. Therefore, when it is necessary to take high-altitude items, it is inconvenient to move. It is difficult to get up in a short period of time, causing inconvenience in use, and the user is less able to perform standing movements through a wheelchair or an electric scooter; in addition, the current wheelchair or electric scooter is structurally not stable enough to provide standing. Or, it is impossible to provide the user with a reclining break, and to allow the foot to straighten up, and to provide a resting posture in which the user prefers to lean back and feel; thus, the wheelchair or electric scooter is for the elderly and the limbs. Disability or inconvenience caused by illness is inconvenient.

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 the user wants to go to the toilet temporarily, he needs to find a nearby toilet, and the general electric wheelchair or wheelchair cannot be tried or combined with the toilet, which is quite inconvenient; that is, if the user has a physical defect or action Inconvenience, a third person is required to help the user to go to the toilet and cannot easily go to the toilet.

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, the above-mentioned elderly or people with reduced mobility mostly use wheelchairs as an aid to the operation, and in today's wheelchair or electric care devices, it is convenient to prop up the patient or the user. In the form of standing, each has a structure for supporting the body of the user. However, the wheelchair in which the body can support the standing posture is mostly supported by the armrest to support the user and the user is propped up. Therefore, the wheelchair and the electric body are Users of the type of care device are prone to many defects when they are used.

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 missing is as follows: First, the burden of increasing the strength of the user: after the wheelchair supports the user, the user's foot is stepped on the pedal and there is no support at the foot, thus Users need to rely on the strength of their hands to support them, so users need to exert greater force. Second, the user's body is prone to decline. If the knees of the feet are unable to support the force of bending the hands, the body may slip. Third, it is easy to be dangerous. If the body falls when standing, it may cause a second injury to the user.

是以,本案創作人在觀察到上述缺失後,而遂有本創作之產生。 Therefore, the creators of this case have observed the above-mentioned deficiencies, but have not produced this creation.

本新型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 on the user (for example, a patient, a person with reduced mobility), and improve the convenience of the user's defecation, and has the purpose of self-care without the assistance of others; In the process, the institutions that care for the robots are properly used for the user to get the best and careful care, so as to avoid the second injury of the patient and reduce the hard work of the medical or nursing staff.

為達上述目的,本新型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人口,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。 In order to achieve the above object, the present invention provides a care robot comprising: a frame assembly comprising: a base frame having an open accommodating space, and the rear side of the base frame has a plug-in port, the insertion port is connected to the accommodating space; a ride support frame is pivotally connected to the top side of the pedestal frame; and a cushion support frame pivotally connected to the cradle support frame; a back pad The assembly includes a backrest member and a head fixing member, the backrest member is assembled to the cushion support frame, and the head fixing member is disposed on the cushion support frame and located on the upper side of the backrest member; The horizontal traverse module comprises: at least one traverse interlocking structure, which is set on the occupant support frame; and two seat cushions, which are horizontally movable by the traverse linkage structure. a support structure; a fixed structure, which is assembled on the backrest member and has a body; at least one sling is attached to the top side of the body, and the backrest member is assembled; at least two waist fixing straps are respectively Located on both sides of the body; to a second leg winding belt, which is spaced apart from the bottom side of the body; a blocking member pivotally connected to the base frame; and a moving module having two omnidirectional wheels and two driving wheels, The omnidirectional wheel and the driving wheel trains are pivotally connected to the two sides of the base frame; a driving module includes: a plurality of wheel body actuating units, which are coupled to the base frame and connected to the omnidirectional wheels And the driving wheel; the plurality of lifting and lowering actuating units are disposed in the accommodating space, and are configured to interlock the movement of the cradle with respect to the pedestal, and form a cradle and the pedestal a first angled angle; a plurality of traverse actuation units coupled to the occupant support frame and coupled to the traverse linkage structure for controlling horizontal traverse of the cushions; the plurality of slant actuation units are coupled to The rear side of the cushion support frame and the accommodating space of the pedestal, wherein at least one tilting actuating unit is used to control the tilt of the cushion support frame relative to the occupant support frame, and the cushion support frame and the occupant support frame are Forming a second angle of angle, and at least one tilt Actuating means connected to the blocking member based structure; a controller, which is provided on the frame assembly line, and electrically connected to the stopper structure and the driving 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 have a pivoting portion and a connecting portion respectively, the pivoting portion pivotally connects the cushion supporting frame, and the cushion is pivoted The rear side of the support frame is provided with two tilting actuating units, and one of the tilting actuating units is connected to the connecting portion, and the second angle of the angle is between 0 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, the traverse linkage structure has at least two racks and at least two gears, the racks are respectively disposed on the bottom side of the seat cushion, and the gear conditions are in the same linear arrangement, and the gears are The sets are disposed on the traverse actuation units and the gear trains engage 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 support members, and the front end and the rear end of the accommodating support frame respectively have a cross bar, and the sliding support members are disposed at the bottom of the seat cushions Sides, and the sliding supports are respectively slidably disposed on the rails.

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, the front side of the base frame is further connected with a pedal member, and the two sides of the base frame respectively have a lifting actuating unit and a tilting actuating unit, and the tilting actuating unit is located before the lifting and actuating unit The sides are disposed at intervals, and one of the lifting and lowering actuating units 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, the blocking member has a U-shape and is pivotally disposed at a front end of the base frame adjacent to the pedal member, and the blocking member structure has at least two connecting rods and a leaning member, the connecting The base member is disposed between the rods, and the other end of the connecting rods is pivotally connected to the base frame. Further, the blocking member structure is connected to the pivotal joint of the connecting rods through a connecting piece. Equal tilt actuation unit.

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, the head fixing member has a body, the system is convexly provided with two headrest protrusions, and the headrest protrusions are spaced apart, and the headrest protrusions are between the body and the body A head rest space is formed, and the head fixing member further includes a head fixing belt that connects the headrest protrusions.

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, the armrest member is further included, and the armrest members 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 disposed on one of the handrails, and one of the handrail members is provided with a clamping component having a plurality of bars and an elastic clamping member. The elastic clamping members are assembled to one of the rod members, and the elastic clamping member is for sandwiching 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, the method further includes an anti-collision sensing module, comprising: an arithmetic processing unit and a plurality of anti-collision sensors, wherein the arithmetic processing units are electrically connected to the anti-collision sensors, and the anti-collision sensors The collision sensor group is disposed on the circumference side of the base frame.

本新型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,本新型藉由該控制器、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新型於站立、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,本新型可以減低使用者(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。 The care robot provided by the present invention is adapted to a toilet when the toilet is in use, and the mobile module is controlled by the controller, so that the toilet is located in the accommodating space, and the base is located in the accommodating space. The inner peripheral side of the frame is spaced apart from the toilet. In addition, the present invention cooperates with the controller, the drive module, the frame assembly and the mobile module for the user to select according to individual needs. Determining the proper angle and achieving postures such as standing, lying down, and sitting; in addition, the fixed structure and the structure of the stop are provided for the inconvenience when standing, lying, and sitting in the posture of the present invention. The use of the center of gravity to maintain stability, as well as the safe use of standing anti-dumping, as well as providing a rest posture for the user to use the preferred back tilt pressure; thereby, the present invention can reduce the user (for example, patients, people with reduced mobility) The burden is to enhance the convenience of the user's defecation, and to achieve the user's self-care effect without the assistance of others; and, in the course of operation, the institutions of the care robot are properly used for the purpose of Those who get the most proper and attentive care, then patients can avoid adding insult to injury and alleviate toil medical or nursing staff.

100‧‧‧看護機器人 100‧‧‧ care robot

10‧‧‧車架組件 10‧‧‧ Frame components

11‧‧‧基架 11‧‧‧ pedestal

111‧‧‧容置空間 111‧‧‧ accommodating space

112‧‧‧插入口 112‧‧‧ insertion port

12‧‧‧乘坐支撐架 12‧‧‧ ride support frame

121‧‧‧樞接部 121‧‧‧ pivotal department

122‧‧‧連接部 122‧‧‧Connecting Department

123‧‧‧橫桿 123‧‧‧crossbar

13‧‧‧靠墊支撐架 13‧‧‧Cushion support

14‧‧‧踏板件 14‧‧‧ pedal parts

15‧‧‧扶手件 15‧‧‧Handrails

151‧‧‧夾持組件 151‧‧‧Clamping components

1511‧‧‧桿件 1511‧‧‧ rods

1512‧‧‧彈性夾持件 1512‧‧‧Flexible clamps

20‧‧‧背墊組件 20‧‧‧Back cushion assembly

21‧‧‧靠背件 21‧‧‧Backrest parts

22‧‧‧頭部固定件 22‧‧‧ head fixtures

221‧‧‧頭靠凸部 221‧‧‧ headrest

222‧‧‧頭部固定帶 222‧‧‧ head strap

223‧‧‧頭部倚靠空間 223‧‧‧ head resting 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‧‧‧racks

312‧‧‧齒輪 312‧‧‧ Gears

313‧‧‧滑移支撐件 313‧‧‧Slip support

32‧‧‧坐墊 32‧‧‧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‧‧‧Lumbar fixation strap

44‧‧‧腿部纏繞帶 44‧‧‧ leg winding belt

50‧‧‧擋件結構 50‧‧‧Fault structure

51‧‧‧連接桿 51‧‧‧ Connecting rod

52‧‧‧倚靠擋件 52‧‧‧Relying on the stop

53‧‧‧連接件 53‧‧‧Connecting parts

60‧‧‧移動模組 60‧‧‧Mobile Module

61‧‧‧全向輪 61‧‧‧All directions

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 Actuating Unit

72‧‧‧升降致動單元 72‧‧‧ Lifting actuation unit

73‧‧‧橫移致動單元 73‧‧‧ traverse actuation unit

74‧‧‧傾斜致動單元 74‧‧‧ tilt actuating 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‧‧‧first angle angle

B‧‧‧第二夾角角度 B‧‧‧second angle of 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‧‧‧Leg strap

401‧‧‧限位綁帶 401‧‧‧Limited straps

402‧‧‧魔鬼氈 402‧‧‧ Devil Felt

圖1係本新型一較佳實施例之立體圖。 1 is a perspective view of a preferred embodiment of the present invention.

圖2係本新型一較佳實施例之側面剖視圖。 Figure 2 is a side cross-sectional view of a preferred embodiment of the present invention.

圖3係本新型一較佳實施例之結構示意圖。 3 is a schematic structural view of a preferred embodiment of the present invention.

圖4係本新型一較佳實施例中顯示該水平橫移模組的仰視結構示意圖。 4 is a bottom plan view showing the horizontal traverse module in a preferred embodiment of the present invention.

圖5係本新型一較佳實施例中顯示如廁的使用狀態示意圖。 Figure 5 is a schematic view showing the state of use of the toilet in a preferred embodiment of the present invention.

圖6係本新型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 the state of use of the horizontal traverse module when the toilet is displayed in a preferred embodiment of the present invention.

圖7係本新型一較佳實施例中顯示如廁的使用狀態示意圖。 Figure 7 is a schematic view showing the state of use of the toilet in a preferred embodiment of the present invention.

圖8係本新型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 state of use of the horizontal traverse module in a preferred embodiment of the present invention.

圖9係本新型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 state of use of the horizontal traverse module in a preferred embodiment of the present invention.

圖10係本新型一較佳實施例中顯示站立狀態的使用狀態示意圖。 Figure 10 is a schematic view showing the state of use of the standing state in a preferred embodiment of the present invention.

圖11係本新型一較佳實施例中顯示如廁的使用狀態示意圖。 Figure 11 is a schematic view showing the state of use of the toilet in a preferred embodiment of the present invention.

圖12係本新型一較佳實施例中顯示移動的使用狀態示意圖。 Figure 12 is a schematic view showing the state of use of display movement in a preferred embodiment of the present invention.

圖13係本新型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。 FIG. 13 is a schematic view showing the state of use of the head fixing member and the clamping assembly in a preferred embodiment of the present invention.

圖14係本新型又一實施例之組合立體圖。 Figure 14 is a perspective view of a combination of still another embodiment of the present invention.

請參閱圖1及圖2,並搭配圖3及圖4所示,係為本新型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,本新型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 are schematic views of a perspective view, a side cross-sectional view, a structural diagram and a horizontal traverse module 30 of a preferred embodiment of the present invention. There is disclosed a care robot 100 comprising: a frame assembly 10 comprising: a base frame 11 having an open accommodating space 111, the accommodating space 111 a trapezoidal space body, and the rear side of the base frame 11 has an insertion opening 112, the insertion opening 112 is in communication with the accommodating space 111; a riding support frame 12, the system is pivotally connected to the top side of the pedestal 11; And a cushion support frame 13 pivotally connected to the support frame 12; in this embodiment, the front end of the support frame 12 is pivotally connected to the base frame 11, and the rear end sides have a pivotal portion respectively 121 and a connecting portion 122, the pivoting portion 121 is pivotally connected to the cushion supporting frame 13. Further, the front end and the rear end of the bottom side of the riding support frame 12 respectively have a cross bar 123; and the front side of the base frame 11 Further connected with a pedal member 14; two armrest members 15, the armrest members 15 pivotally connect the cushion members The two racks 13 The clamping member 151 has a plurality of rod members 1511 and an elastic clamping member 1512. The rod members 1511 are pivotally connected to each other, and the elastic clamping members 1512 are assembled to one of the two. The lever member 1511 is further configured 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 backing pad assembly 20 includes a backrest member 21 and a head fixing member 22, and the backrest member 21 is assembled to the cushion supporting frame 13. The head fixing member 22 is assembled to the cushion supporting frame 13 And in the embodiment, the head fixing member 22 has a body 41, and the body 41 is convexly provided with two headrest protrusions 221, and the headrest protrusions 221 are A head rest space 223 is formed between the headrest protrusions 221 and the body 41. The head fixing member 22 further includes a head fixing belt 222. The head fixing belt 222 is further provided. The headrest protrusions 221 are 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, comprising: a traverse linkage structure 31, which is assembled on the occupant support frame 12; and a second seat cushion 32, which is horizontally traversable by the traverse linkage structure 31 The traverse linkage structure 31 has at least two racks 311 and at least two gears 312, and the racks 311 are respectively disposed at the bottom of the seat cushion 32. On the side, the racks 311 are in the same linear arrangement, and the traverse link structure 31 further has a plurality of slip support members 313, and the slide support members 313 are disposed on the bottom side of the seat cushions 32, and The sliding supports 313 are respectively slidably disposed 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 is disposed on the backrest member 21 and has a body 41; at least one sling 42 is disposed on the top side of the body 41, and the backrest member 21 is assembled; at least two waist fixing straps 43 They are respectively disposed on two sides of the body 41; at least two leg windings 44 are spaced apart from the bottom side of the body 41; in the embodiment, the waist fixing belts 43 are used to bypass Waist of a user And one of the ends of the leg windings 44 is configured to bypass the two thighs of the user and to secure the two thighs of the user.

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 member structure 50 pivotally connected to the base frame 11 and having a U-shape, and is pivotally disposed at a front end of the base frame 11 adjacent to the pedal member 14, and the block structure 50 is The two connecting rods 51 and the supporting member 52 are disposed 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 moving 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 pedestal 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, comprising: a plurality of wheel body actuating units 71, a plurality of lifting and lowering actuating units 72, a plurality of traverse actuating units 73 and a plurality of tilting actuating units 74, and further, the wheel actuating units 71. The lift actuation unit 72, the traverse actuation unit 73, and the tilt actuation units 74 are selected from one or a combination of a mechanical brake, an electromagnetically actuated brake, and a fluid actuator. The wheel-actuating unit 71 is disposed on the base frame 11 and connects 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 lowering unit 72 is disposed in the accommodating space 111 and is configured to interlock the movement of the cradle 12 relative to the pedestal 11 and form the cradle 12 and the pedestal 11 There is a first angle 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 unit 73 is coupled to the pedestal support frame 12 and coupled to the traverse linkage structure 31 for controlling the horizontal traverse of the cushions 32. In this embodiment, the gears 312 The sets are disposed on the traverse actuation unit 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 tilting actuating unit 74 is disposed on the rear side of the cushion supporting frame 13 and the receiving space 111 of the base frame 11 , wherein the two tilting actuating units 74 are used to control the cushion supporting frame 13 relative to the riding support frame 12 is inclined, and a second angle angle B is formed between the cushion support frame 13 and the seat support frame 12, and another two tilt actuation units 74 are connected to the stop structure 50, specifically, the block The structure 50 of the member 50 is connected to the tilting actuation unit 74 via a connecting member 53 adjacent to the pivotal connection of the connecting rods 51. In this embodiment, as shown in FIG. 3, the rear side of the cushion support frame 13 is provided with two tilting actuating units 74, and one of the tilting actuating units 74 is connected to the connecting portion 122, and the first The angle of the two angles B is between 0 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 the present embodiment, as shown in FIG. 2, the two sides of the base frame 11 respectively have a lifting and lowering actuating unit 72 and a tilting actuating unit 74, and the tilting actuating unit 74 is located at the lifting and actuating unit. The front side of the 72 is spaced apart, and one of the lifting and lowering actuating units 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 electrically connected to the stop structure 50 and the drive 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 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. The anti-collision sensor 91 is disposed on the circumference of the base frame 11; in this embodiment, the operation processing unit can be disposed in a circuit component inside the controller 80; The collision sensor 91 is configured to capture more than one obstacle information, one or more image information or a millimeter wave signal, and analyze the obstacle information, the millimeter wave signal or the image information through the operation processing unit. During the driving process, the obstacle information will be continuously received, and by performing a filtering analysis mechanism that can filter noise. And a comparative analysis mechanism of the body, so that the arithmetic processing unit can eliminate non-obstacle, in order to correctly obtain the forward target information.

為供進一步瞭解本創作構造特徵、運用技術手段及所預期達成之功效,茲將本創作使用方式加以敘述,相信當可由此而對本創作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,係為本新型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 characteristics of this creation, the use of technical means and the expected results, we will use the way of using this creation. I believe that we can have a deeper and more specific understanding of this creation, as follows: Please continue to refer to FIG. 5 and FIG. 6 are a schematic view showing the use state of the toilet according to a preferred embodiment of the present invention; in the state of use, the user can control the controller 80 so that the controller The drive module 70 drives the drive wheels 62 and the omnidirectional wheels 61, and the insertion port 112 of the care robot 100 corresponds to a toilet 200, and the mobile module 60 is controlled by the controller 80. The toilet 200 is located in the accommodating space 111, and the inner peripheral side of the pedestal 11 is spaced apart from the toilet 200 by a distance; and then the traverse actuation unit 73 is controlled by the controller 80. The traversing linkage structure 31 is moved such that the gears 312 interlock with the racks 311 to control the horizontal traverse of the cushions 32 toward the outside; at this time, when the cushions 32 are traversed outward, the same a gap is formed between the cushions 32, and Department of the gap should the toilet 200, then the user can take the system to the notch 200 on the toilet, and toilet 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 noted that, during the process of going to the toilet, as shown in FIG. 7 , the user can hold the hand or the head against the relying member 52 of the blocking member 50, thereby being able to be used. The hand rests in the toilet when the hand is defecation, or the head is abutted, thereby providing the user 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 is in the toilet, the user controls the controller 80, and the lifting and lowering actuating unit 72 is actuated to cause the riding support frame 12 to rise relative to the base frame 11, and then And controlling the traverse actuation unit 73 by the controller 80 to actuate the traverse linkage The structure 31 is such that the gears 312 interlock with the racks 311 to control the horizontal traverse of the cushions 32 toward the inner side; finally, the lifting and lowering actuating units 72 are controlled to make the ride support frame 12 The pedestal 11 is in a falling motion and returns 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 on the user (for example, the patient and the inconvenient person) can be reduced, the convenience of the user's defecation can be improved, and the user can be self-care without the assistance of others; the nursing robot 100 can be properly used during the operation. The synergy of the various agencies and components for the user to get the best and care, can avoid the patient's second injury and reduce the hard work of the medical or nursing staff.

請參閱圖4及圖6,並配合圖8及圖9所示,係為本新型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 , together with FIG. 8 and FIG. 9 , which are schematic diagrams of a bottom view of a preferred embodiment of the present invention, and a schematic diagram of a state of use; in the state of use, when the user has to leave the seat cushion 32, And when moving to another chair or bed, the user can first raise the armrest member 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. The gears 312 are coupled to the racks 311 to control the lateral traverse of one of the cushions 32 toward the outside.

請參閱圖10所示,係為本新型一較佳實施例中顯示站立狀態的使用狀態示意圖;由於本新型之固定結構40之設置,因此,於使用狀態時,於本新型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新型上,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。 Referring to FIG. 10, it is a schematic view showing a state of use in a standing state according to a preferred embodiment of the present invention. Because of the arrangement of the fixed structure 40 of the present invention, in the state of use, the present invention is utilized by the present invention. The leg winding belt 44 has a connecting action, wherein one end of the leg winding belts 44 is bent and forms a two fastening space, and the waist fixing belts 43 are used to bypass one use. The waist of the person, and one end of the leg winding belt 44 is used to bypass the two thighs of the user; more specifically, when the nursing device is in a standing state, the user can fix the upper body of the body In the novel state of the standing state, and effectively preventing the user (for example, the patient, the elderly, and the inconvenient person) from being physically unable to stand and support the danger occurring on the nursing device It should be further explained that when the user is in the toilet state, as shown in FIG. 11, the ride support frame 12 is raised relative to the base frame 11, and then controlled by the controller 80. The traverse actuation unit 73 is configured to actuate the traverse linkage structure 31 such that the gears 312 interlock with the racks 311 to control the horizontal traverse of the inner and outer sides of the cushions 32. After the seat cushion 32 is traversed outward, a gap is formed between the seat cushions 32. Finally, the controller 80 controls the ride support frame 12 to be lowered relative to the base frame 11 and allows the user to The sitting posture is presented; and the gap is corresponding to the toilet 200, and then the user can ride on the toilet 200 at the notch and perform the action of going to the toilet.

更詳而言之,本新型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 provide users with reduced mobility or partial defects, and can reduce the burden on the user. If the setting of the fixing structure 40 is increased, the user can support and support the The care robot 100 is in a standing state to disperse the force of the arms and legs, and can provide functions such as rest in the toilet, rest in the middle of rehabilitation, or prevent the user from falling. It is important to prevent the user from sliding down. The phenomenon of increasing the safety of use.

請參閱圖12所示,係為本新型一較佳實施例中移動狀態的使用狀態示意圖;由於本新型之移動模組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,本新型於移動的過程中,藉助該等全向輪61於橫向移動和原地迴旋的特性,並讓本新型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。 Referring to FIG. 12, it is a schematic diagram of a state of use in a moving state according to 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 bottoms of the front ends of the base frame 11 And the driving wheels 62 are pivotally connected to the bottom sides of the rear end of the base frame 11. Therefore, the present invention moves in the lateral direction by means of the omnidirectional wheels 61 in the process of moving, and allows the present The new type can be easily shuttled into a narrow and crowded space to flexibly perform displacement in various orientations.

請參閱圖13所示,係為本新型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,本新型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,更能於當本新型傾倒時,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 according to a preferred embodiment of the present invention; a clamping assembly 151 having a plurality of rods The member 1511 and an elastic clamping member 1512 are pivotally connected to each other, and the elastic clamping member 1512 is assembled to one of the rod members 1511. Further, the elastic clamping member 1512 is used for clamping. A portable electronic device 300; more specifically, the present invention provides a user with the portable electronic device 300 (for example, a smart phone or a tablet), and therefore, in addition to providing user entertainment, contacting others... For other purposes, in addition, when the new type is dumped, the user can quickly contact other people and let the rescuer rush to the accident site as soon as possible.

請繼續參閱圖14所示,係為本新型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 refer to FIG. 14 , which is a combined perspective view of another embodiment of the present invention; the example further includes a calf fixing strap 400 , the two ends of the calf fixing strap 400 are respectively connected to the front side of the riding support frame 12 , The central leg of the lower leg fixing strap 400 is provided with two limiting straps 401, and one side of the limiting straps 401 is provided with a devil felt 402. More specifically, in the state of use, the limit strap 401 covers the lower leg of the user, and the devil felts 402 of the limit straps 401 are bonded to each other to fix the user's calf. In this way, the user can provide a user with limited mobility or a part of the squat, because the leg is weak during use, so that the user can securely fix the upper body to the standing state when standing, and can alleviate The burden on the user, as well as the care or family members, can also reduce the burden.

值得一提的是,如圖12所示,由於本新型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, since the anti-collision sensing module 90 is provided in the present invention, it is possible to predict the front or rear side of the movement, and to early warning and stabilize the system, and because it can accurately advance Judging non-obstructions, environmental reflections, ground objects and other noises, and eliminating them, and adjusting the movement route to achieve the purpose of 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,從而讓本新型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, the horizontal traverse module 30 has a traverse support structure that meshes with the gears 312 by the racks 311, and the sliding support members. The 313 series are respectively slidably disposed on the cross bars 123. The sliding members are used to support more than 90% of the weight of the user, so that the present invention has better support strength and long service life.

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 protrusions 221 of the head fixing member 22 can provide a user's head abutment for providing better use comfort; in addition, the head fixing belt 222 can The head of the user is elastically tied, 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,本新型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 noted that the riding support frame 12 and the base frame 11 can be in a horizontal state, and the first angle angle A is 180 degrees for the user to lie flat, and the user The step of the foot rests on the blocking structure 50; more specifically, the present invention can determine an appropriate angle according to individual needs, and can achieve a posture such as lying down and sitting.

需再進一步說明的是,當於本新型於直立狀態時,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 noted that, when the present invention is in an upright state, the tilting actuating units 74 are linked to the connecting rods 51 such that the leaning members 52 are adjacent to the cushions 32, and the leaning members 52 are attached. The user's foot can be fastened to assist the user to stand firmly. Moreover, when the frame assembly 10 is placed in a reclining position, the tilting actuating unit 74 interlocks the connecting rod 51 to move the reclining member 52. The specific location for the user's feet to lean on.

茲,再將本新型之特徵及其可達成之預期功效陳述如下:本新型之看護機器人100,本新型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,本新型藉由該控制器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係供本新型於站立、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。 The features of the present invention and the achievable expected effects are as follows: the care robot 100 of the present invention, the care robot 100 provided by the present invention, in the state of use of the toilet, the insertion port 112 of the care robot 100 is Corresponding to the toilet 200, and the controller 80 controls the mobile module 60, the toilet 200 is located in the accommodating space 111, and the inner peripheral side of the pedestal 11 is spaced apart from the toilet 200; The new type 80 is operated by the controller 80, the driving module 70, the frame assembly 10 and the mobile module 60, so that the user can determine the appropriate angle according to individual needs, and can stand and lie flat. And the sitting posture and the like; further, the fixing structure 40 and the blocking member structure 50 are provided for the present invention when standing, lying, and sitting. For those with reduced mobility, the center of gravity of the user is kept stable, and the safe use of the standing anti-tip is provided, as well as the rest posture for providing the user with a better back tilt and pressure.

本新型係具有以下實施功效及技術功效: The novel system has the following implementation effects and technical effects:

其一,本新型可以減低使用者(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 on users (for example, patients and people with reduced mobility), improve the convenience of the user's defecation, and have the effect of self-care without the assistance of others, and properly use the care during the operation. The various mechanisms of the robot 100 are provided for the user to obtain the best and careful care, so as to avoid the second injury of the patient and reduce the hard work of the medical or nursing staff.

其二,本新型係能倒退至便器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,當本新型倒退至便器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。 Secondly, the present invention can be retracted 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 toilets 200 of various sizes, and when the present invention is reversed to When the toilet 200 is above, the gap is located directly above the toilet 200, so that the user can perform large and small defecation.

其三,本新型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,本新型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 novel system can be used for the user to take high or low items by standing posture, and it is also convenient to be close to the table top, and can also descend to the height of the bed surface to facilitate translation; According to the needs of the individual, the appropriate angle can be determined, and the postures such as lying down and sitting can be achieved; most importantly, the present invention not only has the function of being laid back to the bed for easy displacement, but also by lying posture or It is a function of posture change from sitting posture to standing posture, so that the person who stays in bed for a long time promotes blood and circulation, slows muscle atrophy, rehabilitates, and prevents hemorrhoids.

其四,本新型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 novel system enables the caregiver to easily translate the patient to the bed or to the frame assembly 10 from the bed.

其五,本新型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。 Fifthly, the novel system can limit the upper body of the human body to the standing state, and effectively prevent the patient, the elderly and the inconvenienced person from being able to stand and support the danger occurring on the care robot 100 due to physical factors.

其六,本新型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 novel system enables the care robot 100 to be free from environmental constraints during the movement process, and can immediately and accurately determine non-obstructions, environmental reflections, ground objects and the like, and exclude them. The accuracy and stability of the obstacle determination by the care robot 100 are enhanced to improve the movement safety of the care robot 100.

其七,本新型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 novel system can reduce the burden on the user. If the setting of the fixing structure 40 is increased, the user can support and hold the nursing robot 100 in a standing state, thereby dispersing the arms and legs. Force, and can provide the function of rest in the middle of rehabilitation or prevent users from falling. It is important to prevent the user from falling down, so as to increase the safety of use.

其八,本新型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,只要使用本新型改變其運作狀態,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 new model can reduce equipment costs for hospitals and nursing institutions. Even in the case of home care, the caregiver's status changes every month or year. There will be caregivers who are not suffering from hemorrhoids. As the years go by, the hemorrhoids become serious. Even if the above state changes, the use of this new type can change the working state to avoid the occurrence of hemorrhoids. At the same time, it can be used for rehabilitation; therefore, it can save the cost of care and reduce the labor of hospitals and nursing institutions.

綜上所述,本創作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,本創作實已具備新型專利要件,爰依法提出申請。 In summary, this creation has its excellent progress and practicality in similar products. At the same time, it has investigated the technical information about such structures at home and abroad. The same structure has not been found in the literature. This creation has already possessed new types of patent requirements, and applied for it according to law.

惟,以上所述者,僅係本創作之較佳可行實施例而已,故舉凡應用本創作說明書及申請專利範圍所為之等效結構變化,理應包含在本創作之專利範圍內。 However, the above-mentioned embodiments are merely preferred embodiments of the present invention, and the equivalent structural changes that are applied to the present specification and the scope of the patent application are intended to be included in the scope of the present patent.

Claims (10)

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;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 comprising: a base frame having an open receiving space, and the rear side of the base frame has an insertion opening, the insertion opening and the The accommodating space is connected to each other; a support frame is pivotally connected to the top side of the pedestal; and a cushion support frame pivotally connected to the cradle support frame; a back pad assembly including a backrest member and a head fixing member, the backrest member is assembled on the cushion supporting frame, and the head fixing member is disposed on the cushion supporting frame and located on the upper side of the backrest member; a horizontal traverse module includes There is: at least one traverse interlocking structure, which is set on the occupant support frame; and two seat cushions, which are horizontally movable by the traverse interlocking structure, are arranged on the occupant support frame; The utility model is disposed on the backrest member and has a body; at least one sling is disposed on the top side of the body, and the backrest member is assembled; at least two waist fixing straps are respectively disposed on two sides of the body; at least a two-legged winding belt, which is spaced apart from the bottom side of the body a traversing member, which is pivotally connected to the pedestal; a moving module, which has two omnidirectional wheels and two driving wheels, and the omnidirectional wheels and the driving wheels are pivotally connected to both sides of the pedestal; a driving module, comprising: a plurality of wheel actuating units, which are coupled to the base frame and connected to the omnidirectional wheels and the driving wheels; a plurality of lifting and actuating units are disposed in the capacity Space, and used to link the ride support relative to The pedestal is in a lifting motion, and the pedestal support frame and the pedestal are formed at a first angle; a plurality of traverse actuation units are coupled to the cradle and connected to the traverse linkage structure. And controlling the horizontal traverse of the cushions; the plurality of tilting actuating units are disposed on the rear side of the cushion support frame and the accommodating space of the pedestal, wherein at least one tilt actuating unit is used to control the cushion support frame a second angled angle is formed between the cushion support frame and the seat support frame, and at least one tilting actuating unit is coupled to the block structure; a controller, Provided in the frame assembly, and electrically connected to the blocking member structure and the driving module; wherein the insertion port of the nursing robot corresponds to a toilet, and the mobile module is controlled by the controller, so that the toilet is located The accommodating space has an inner circumferential side of the pedestal 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 of claim 1, wherein the front end of the ride support frame is pivotally connected to the base frame, and the rear end sides have a pivoting portion and a connecting portion respectively, the pivoting portion is The tilting actuating unit is pivotally connected to the rear side of the cushion supporting frame, and one of the tilting actuating units is connected to the connecting portion, and the second angle is 0 degrees to 180 degrees. Between 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 claim 1, wherein the traverse linkage structure has at least two racks and at least two gears, and the racks are respectively disposed on a bottom side of the seat cushion, and the tooth conditions are In the same linear arrangement, the gear trains are assembled to the traverse actuation units and the gear trains engage 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 claim 3, wherein the traverse interlocking structure further has a plurality of sliding support members, and the front end and the rear end of the riding support frame respectively have a cross bar, and the sliding The support members are disposed on the bottom sides of the seat cushions, and the slide support members are respectively slidably disposed 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 of claim 1, wherein the front side of the base frame is further connected with a pedal member, and the two sides of the base frame respectively have a lifting actuating unit and a tilting actuating unit, and the tilting The actuating unit is located on the front side of the lifting and actuating unit and is disposed at intervals. Further, one of the lifting and lowering actuating units 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 claim 5, wherein the retaining member has a U-shape and is pivotally disposed at a front end of the base frame adjacent to the pedal member, and the retaining member structure has at least two connections. a lever and a supporting member, the supporting member is disposed between the connecting rods, and the other end of the connecting rod is pivotally connected to the base frame, and the blocking member is disposed adjacent to the connecting rod The pivoting unit connects the tilting actuation units through a connector. 依據申請專利範圍第1項所述之看護機器人,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。 The care robot according to claim 1, wherein the head fixing member has a body, and the system has two headrest protrusions, and the headrest protrusions are spaced apart. A head rest space is formed between the headrest protrusion and the body, and the head fixing member further includes a head fixing belt connected to the headrest protrusions. 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 care robot according to claim 1, further comprising two armrest members pivotally connected to both sides of the cushion support frame. 依據申請專利範圍第8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 care robot according to claim 8, wherein the controller is disposed on one of the handrails, and one of the handrail members is provided with a clamping component, the clamping component having a plurality of bars and a The elastic clamping member is pivotally connected to each other, and the elastic clamping member is assembled to one of the rod members, and the elastic clamping member is for clamping 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 claim 1, further comprising an anti-collision sensing module, comprising an arithmetic processing unit and a plurality of anti-collision sensors, wherein the arithmetic processing units are electrically connected to the anti-collision Sensors, and the anti-collision sensor groups are disposed on the circumference side of the base frame.
TW108201848U 2019-02-12 2019-02-12 Nursing robot TWM582384U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111329672A (en) * 2020-03-06 2020-06-26 深圳市大鹏新区南澳人民医院 Liftable wheelchair

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111329672A (en) * 2020-03-06 2020-06-26 深圳市大鹏新区南澳人民医院 Liftable wheelchair
CN111329672B (en) * 2020-03-06 2022-05-17 深圳市大鹏新区南澳人民医院 Liftable wheelchair

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MM4K Annulment or lapse of a utility model due to non-payment of fees