TWM582384U - Nursing robot - Google Patents

Abstract

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

Nursing robot

The present invention relates to a mobility aid, and more particularly to a care robot for use by people with reduced mobility.

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%.

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.

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.

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.

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.

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.

Therefore, the creators of this case have observed the above-mentioned deficiencies, but have not produced this creation.

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.

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.

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.

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.

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.

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.

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.

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.

Preferably, the armrest member is further included, and the armrest members are pivotally connected to both sides of the cushion support frame.

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.

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.

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‧‧‧ care robot

10‧‧‧ Frame components

11‧‧‧ pedestal

111‧‧‧ accommodating space

112‧‧‧ insertion port

12‧‧‧ ride support frame

121‧‧‧ pivotal department

122‧‧‧Connecting Department

123‧‧‧crossbar

13‧‧‧Cushion support

14‧‧‧ pedal parts

15‧‧‧Handrails

151‧‧‧Clamping components

1511‧‧‧ rods

1512‧‧‧Flexible clamps

20‧‧‧Back cushion assembly

21‧‧‧Backrest parts

22‧‧‧ head fixtures

221‧‧‧ headrest

222‧‧‧ head strap

223‧‧‧ head resting on space

30‧‧‧Horizontal traverse module

31‧‧‧ traverse linkage structure

311‧‧‧racks

312‧‧‧ Gears

313‧‧‧Slip support

32‧‧‧Cushion

40‧‧‧Fixed structure

41‧‧‧Ontology

42‧‧‧Sling

43‧‧‧Lumbar fixation strap

44‧‧‧ leg winding belt

50‧‧‧Fault structure

51‧‧‧ Connecting rod

52‧‧‧Relying on the stop

53‧‧‧Connecting parts

60‧‧‧Mobile Module

61‧‧‧All directions

62‧‧‧Drive wheel

70‧‧‧Drive Module

701‧‧‧ Telescopic rod

71‧‧‧ Wheel Actuating Unit

72‧‧‧ Lifting actuation unit

73‧‧‧ traverse actuation unit

74‧‧‧ tilt actuating unit

80‧‧‧ controller

90‧‧‧Anti-collision sensing module

91‧‧‧Anti-collision sensor

A‧‧‧first angle angle

B‧‧‧second angle of angle

200‧‧ ‧ toilet

300‧‧‧Portable electronic device

400‧‧‧Leg strap

401‧‧‧Limited straps

402‧‧‧ Devil Felt

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

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

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

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

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

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.

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

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

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

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

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

Figure 12 is a schematic view showing the state of use of display movement in a preferred embodiment of the present invention.

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.

Figure 14 is a perspective view of a combination of still another embodiment of the present invention.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

The novel system has the following implementation effects and technical effects:

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.

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.

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.

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

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.

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.

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.

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.

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.

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)

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. 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. 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. 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. 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. 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. 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. The care robot according to claim 1, further comprising two armrest members pivotally connected to both sides of the cushion support frame. 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. 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.