CN115957076A - Full-automatic auxiliary rehabilitation moving device - Google Patents

Abstract

The invention provides a fully automatic auxiliary rehabilitation mobile device, which includes: a base frame, a mobile module, a riding support frame, a height adjustment module, a turning support frame, a sitting posture conversion module, a chair back support frame, a chair back adjustment module, a leg An internal support frame, a leg adjustment module, a drive module, and a controller; wherein, the fully automatic auxiliary rehabilitation mobile device has a sitting structure, a standing structure, and a lying structure. Through the coordinated operation of the above-mentioned multiple modules, multiple structures, and multiple components, users (such as patients, people with disabilities) can automatically adjust postures such as sitting, standing, or lying down on the fully automated auxiliary rehabilitation mobile device. In this way, the user's burden can be reduced, the convenience of the user's life can be improved, and the user can take care of himself without the assistance of others.

Description

Fully automated assisted rehabilitation mobile device

technical field

The invention relates to a mobility assisting device, in particular to a fully automatic auxiliary rehabilitation mobile device for people with disabilities.

Background technique

With the change of social patterns, the elderly population continues to increase. In an aging society, the biggest problem is the health of the elderly. As the elderly get older, their mobility becomes more and more serious. Or due to stroke, polyarthritis, cancer and chronic diseases and other diseases, it is easy to cause damage to the functions of various organs of the body once lying in bed for a long time; in recent years, the proportion of elderly people (over 65 years old) has increased year by year, 65 The 158.31 million people over the age of 17.3% continue to show an increasing trend year by year. In August 2013, the number of people with disabilities in China reached 82.96 million. The survey results of that year showed the largest number of people with physical disabilities (29.07%). Those over 65 years old reached 38.2%.

In addition, people with limited mobility or the elderly are mostly so-called disabilities. Disability refers to the limitation of the ability of individuals to operate some activities of daily life due to functional impairment, that is, more than 50% Waking hours activities are restricted to a bed or chair. Therefore, for the elderly, physically handicapped, or those with limited mobility due to illness, wheelchairs or electric scooters are often used as auxiliary means of transportation when going out to solve the restrictions on outdoor activities caused by limited mobility.

Therefore, the structural design of such wheelchairs or electric scooters is only to provide mobility functions for people with disabilities to go out, without any additional functions. It is difficult to get up in a short time, causing inconvenience in use, and users cannot perform standing actions through wheelchairs or electric scooters; in addition, the current structural design of wheelchairs or electric scooters cannot provide stable standing. Or it is impossible to provide the user to lie down and rest, and let the feet be straightened and lifted, and it is impossible to provide the user with a better resting posture of leaning backward; It is more inconvenient for people with disabilities or limited mobility due to illness. Disabled people lie on the bed for a long time. To move out, it is possible to complete these movements with the help of multiple people or with the help of some electric assistive devices; Rehabilitation exercises can cause muscle atrophy, joint adhesions, and bedsores.

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, so it is quite inconvenient; When it is inconvenient, a third person is needed to assist the user to go to the toilet, and the user cannot easily go to the toilet by himself.

However, most of the above-mentioned elderly people or people with disabilities use wheelchairs as their mobility aids. With today's wheelchairs or electric nursing devices, it is convenient to prop up the patient or user into a standing form. At the same time, they all have a structure to support the user's body, but most of the wheelchairs that can support the body into a standing posture are supported by the armrests to support the user's armpits to prop up the user. It is easy to produce many defects.

The above-mentioned deficiencies are as follows: First, increase the burden on the user's strength: after the wheelchair supports the user to stand, the user's feet step on the pedals, and there is no support on the feet, so the user needs to rely entirely on the strength The hands and underarms are supported, so the user needs a lot of strength to exert force. Second, the user's body is prone to slipping. If the feet and knees cannot support the bending of the hands, the body may slip. Its 3rd, easy to give birth to danger, if health produces slipping when standing, then may produce second time injury to user.

In view of the above-mentioned shortcoming, the inventor studies the way of improvement aiming at these shortcoming, finally has the present invention to produce.

Contents of the invention

The main purpose of the present invention is to provide a fully automatic assisted rehabilitation mobile device, which is used to solve the problem that the mobile device in the prior art is difficult to meet the needs of users such as defecation or standing, and can reduce the burden on users (for example, patients, people with disabilities), Improve the convenience of defecation for the user, without the assistance of others, and achieve the purpose of self-care for the user; properly use the various mechanisms of the nursing robot during the operation, so that the user can receive the most appropriate and careful care, so that the patient can be avoided. Second degree injury and mitigation of medical or caregiver strain.

Another object of the present invention is to provide a fully automatic auxiliary rehabilitation mobile device, which controls the tilt actuation unit and the rotation actuation unit through the controller to adjust the second angle between the back support frame and the seat support frame close to 180°, and the third included angle between the leg support frame and the ride support frame is also close to 180°, so that the ride support frame, the seat back support frame, and the leg support frame are in the The same plane forms a flat structure, and at the same time, the height can be adjusted through the lifting actuation unit. In this state, it is convenient for the nurses to transfer the patient from the other hospital bed to the examination table or operating table, and then send it back without any delay. It is necessary to use the common single frame and gurney in addition, which has the effect of saving manpower, reducing patient injury and reducing risk.

In order to achieve the above purpose and effect, the present invention provides a fully automatic auxiliary rehabilitation mobile device, which includes: a base frame with an open first accommodation space; a mobile module with two omnidirectional wheels and Two driving wheels, the at least two omni-directional wheels and the at least two driving wheels are pivotally connected to both sides of the base frame; a riding support frame is arranged above the base frame and pivotally connected to the base frame; a height adjustment module, which includes a first connection end, a second connection end, and a lifting structure, the first connection end is connected to the base frame, and the second connection end is connected to the riding support frame , the lifting structure makes the riding support frame be a lifting action relative to the base frame; a flipping support frame, which is pivotally connected to the riding support frame, and a seat assembly is arranged on the flipping support frame; a sitting position A conversion module, which includes a third connection end, a fourth connection end, and a push-up structure, the third connection end is connected to the riding support frame, and the fourth connection end is connected to the flip support frame, so The push-up structure pushes the flip support frame to move upward relative to the ride support frame, so that the seat assembly and the ride support frame form a first angle; a seat back support frame, the seat back supports The frame is pivotally connected to the flip support frame; a seat back adjustment module, which includes a fifth connection end, a sixth connection end, and an inclined structure, the fifth connection end is connected to the flip support frame, and the first The six connecting ends are connected to the seat back support frame, the tilting structure is used to control the inclination of the seat back support frame relative to the riding support frame, and there is formed between the seat back support frame and the riding support frame The second included angle; a leg support frame, the leg support frame is pivotally connected to the flip support frame; a leg adjustment module, which includes a seventh connection end, an eighth connection end, and a rotating structure , the seventh connection end is connected to the seat support frame, the eighth connection end is connected to the leg support frame, and the leg adjustment module is used to control the position of the leg support frame relative to the seat support frame Angle, and a third included angle is formed between the leg support frame and the ride support frame; a drive module, which includes: at least one wheel body actuation unit, which is arranged on the base frame, and Connect the at least two omni-directional wheels and the at least two driving wheels; at least one lifting actuation unit, which is arranged on the height adjustment module and coupled to the lifting structure, and the lifting actuation unit is used for Linking the ride support frame to perform the lifting action relative to the base frame; at least one push-up actuation unit, which is arranged on the push-up adjustment module and coupled to the push-up structure, the The push-up actuation unit is used to link the flip support frame to move upward relative to the ride support frame, so that the seat assembly and the ride support frame form the first angle; at least one tilting actuation A unit, which is arranged on the seat back adjustment module and coupled to the tilting structure, and the tilting actuation unit is used to link the tilting action of the seat back support frame relative to the seat support frame; at least one The rotation actuation unit is arranged on the leg adjustment module and is coupled to the rotation structure, the rotation actuation unit is used to link the change of the angle of the leg support frame relative to the seat support frame action; and a controller, which is arranged on the base frame and coupled to the drive module; wherein, the fully automated auxiliary rehabilitation mobile device has a sitting configuration, a standing configuration, and A flat structure, the sitting structure is that the controller controls the tilt actuation unit and the rotation actuation unit, so that the seat back support frame and the seat support frame The second included angle is close to 90°, and the third included angle between the leg support frame and the riding support frame is also close to 90°, and at the same time, the controller controls the lifting actuation The unit adjusts the height of the seat assembly, and the standing configuration is that the controller controls the push-up actuation unit so that the second seat assembly between the seat assembly and the seating support frame An included angle is close to 90°, and at the same time, the controller controls the tilt actuation unit and the rotation actuation unit to perform linkage, so that the flip support frame, the seat back support frame, and the The leg supports are on the same plane. In addition, the lying structure is such that the controller controls the tilt actuation unit and the rotation actuation unit to adjust the seat back support and the seat support The second included angle between them is close to 180°, and the third included angle between the leg support frame and the ride support frame is also close to 180°, so that the ride support frame, the ride support frame The chair back support frame is on the same plane as the leg support frame.

Preferably, according to the fully automated auxiliary rehabilitation mobile device of the present invention, the fully automated auxiliary rehabilitation mobile device further includes a back cushion assembly, which includes a backrest and a head fixing member, and the backrest assembly is configured On the seat back support frame, the head fixing part is assembled on the seat back support frame and located on the upper side of the backrest part.

Preferably, according to the fully automated auxiliary rehabilitation mobile device of the present invention, the fully automated auxiliary rehabilitation mobile device further includes a fixed structure, which is assembled on the backrest and has a fixed body; at least one sling, It is arranged on the top side of the fixed body, and is assembled with the backrest; at least two waist fixing belts are respectively arranged on both sides of the fixed body.

Preferably, according to the fully automated mobile device for assisted rehabilitation of the present invention, the seat assembly further includes: a hollow part, which is arranged on the seat assembly and connected to the first accommodating space and a switch module, which is arranged between the hollow part and the first accommodating space, and is coupled to the controller, and the switch module is used to open and close the hollow part and the first accommodating space A connection between accommodation spaces.

Preferably, according to the fully automated auxiliary rehabilitation mobile device of the present invention, the fully automated auxiliary rehabilitation mobile device further includes: a guide rail, which is pivotally connected to the base frame; a quick-release toilet, which is pivotally connected On the guide rail, the quick-release toilet has a housing and a replaceable container. The surface of the housing has a sliding part corresponding to the slide rail and a fixing component. The sliding part and the sliding The rails are mutually detachable assembly structures, the fixing assembly is arranged on the sliding part, and the quick-release toilet is pushed into the second part of the base frame along the sliding rail through the sliding part. In an accommodating space, and fixed in the first accommodating space through a fixing component; a motor, which is arranged at a suitable place of the quick-release toilet, the motor is electrically connected to the switch module, and The motor is used to control the opening and closing of the switch module; wherein, the shell of the quick-release toilet has an upper opening, an insertion opening, and a second accommodating space, the upper opening and the The insertion opening communicates with the second accommodating space, and the size of the upper opening corresponds to the hollow part and is arranged at a suitable place on the surface of the housing, and the size of the insertion opening corresponds to the size of the replaceable container. where appropriate on the surface of the housing.

Preferably, according to the fully automated mobile device for auxiliary rehabilitation of the present invention, the switch module is electrically connected to the quick-release toilet, and when the switch module is turned on, the quick-release toilet opens from the upper opening rises to lean against the user's buttocks, and then the quick-release toilet moves down from the upper opening, and the switch module is closed.

Preferably, according to the fully automated auxiliary rehabilitation mobile device of the present invention, the fully automated auxiliary rehabilitation mobile device further includes two armrests, and the at least two armrests are movably pivoted to the chair back support frame. sides.

Preferably, according to the fully automated mobile device for auxiliary rehabilitation of the present invention, the at least two armrests further include: an armrest body, which is composed of a plurality of moving parts and a plurality of rotating parts, and the plurality of moving parts are coupled to Connected to the plurality of rotating parts, the armrest body is used for the user to place hands, and the rotation of the plurality of rotating parts makes the plurality of moving parts move so as to be placed on the armrest body in conjunction The hands of the user generate corresponding movements; a plurality of sensing units are arranged on the armrest body, and the sensing units are used to sense the movements of the user’s hands and generate an action record; a communication unit is coupled to Among the multiple sensing units, they are used to upload the action records to a server, and the server is built in the cloud.

Preferably, according to the fully automated auxiliary rehabilitation mobile device of the present invention, the fully automated auxiliary rehabilitation mobile device further includes: a stopper assembly, the stopper assembly is pivotally connected to the base frame; wherein, the The leg support frame further includes a leg support frame main body and a lifting part, a third accommodating space is arranged inside the leg support frame main body, and the pulling part is movably arranged in the third accommodating space. In the installation space, the lifting part is electrically connected to the controller. In addition, when the fully automated auxiliary rehabilitation mobile device is in a sitting configuration and a standing configuration, the controller controls the lifting part , so that the lifting part is accommodated in the third accommodating space, and when the fully automatic auxiliary rehabilitation mobile device is in a flat structure, the controller controls the lifting part so that the pulling part The ascending portion moves out of the leg support frame main body.

Preferably, according to the fully automated auxiliary rehabilitation mobile device of the present invention, the fully automated auxiliary rehabilitation mobile device further includes an anti-collision sensing module, which includes an operation processing unit and a plurality of anti-collision sensors, and the operation The processing unit is electrically connected to the plurality of anti-collision sensors, and the plurality of anti-collision sensors are assembled on the peripheral side of the base frame.

Preferably, in the fully automated mobile device for assisted rehabilitation according to the present invention, there is one of a wired connection and a wireless connection between the controller and the drive assembly.

Preferably, according to the fully automated mobile device for auxiliary rehabilitation of the present invention, wherein the controller and the driving component are connected through a radio frequency circuit (RFID) or a near field communication technology (Near Field Communication, NFC) , Bluetooth (Bluetooth), third generation mobile communication (3G), fourth generation mobile communication (4G), wireless local area network (Wi-Fi), wireless local area network (WLAN), fifth generation mobile communication (5G) One of the communication protocols for wireless connection.

To sum up, the fully automatic auxiliary rehabilitation mobile device provided by the present invention can reduce the burden on users (such as patients and people with disabilities), improve the convenience of defecation for users, and achieve the purpose of self-care for users without the assistance of others. ; Properly use the various mechanisms of the nursing robot in the operation process, so that the user can get the most appropriate and careful care, so as to avoid the secondary injury of the patient and reduce the hard work of the medical staff or the nursing staff. In addition, the present invention further controls the tilt actuation unit and the rotation actuation unit through the controller to adjust the second included angle between the seat back support frame and the seat support frame to be close to 180°, and the leg support frame and the seat support frame The third included angle between the support frames is also close to 180°, so that the ride support frame, the seat back support frame, and the leg support frame are on the same plane to form a flat structure, and at the same time, the The height is adjusted by the lifting actuator unit. In this state, it is convenient for the nurses to transfer the patient from their hospital bed to the examination table or operating table, and then send it back again. It is unnecessary to use the common single frame and gurney, which saves money. Manpower, patient injury reduction and risk reduction efficacy.

In order to enable those skilled in the art to understand the purpose, features and effects of the present invention, the present invention will be described in detail below through the following specific examples and accompanying drawings.

Description of drawings

Fig. 1 is a schematic diagram of a fully automatic auxiliary rehabilitation mobile device according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of a fully automated assisted rehabilitation mobile device in a sitting position according to an embodiment of the present invention;

Fig. 3 is a schematic diagram of a fully automated assisted rehabilitation mobile device in a standing configuration according to an embodiment of the present invention;

Fig. 4 is a schematic diagram of a fully automatic assisted rehabilitation mobile device in a flat structure according to an embodiment of the present invention;

Fig. 5 is a front view of a fully automated auxiliary rehabilitation mobile device according to an embodiment of the present invention;

Fig. 6 is a rear view of a fully automated auxiliary rehabilitation mobile device according to an embodiment of the present invention;

Fig. 7 is a schematic diagram of a quick-release toilet according to an embodiment of the present invention;

Fig. 8 is a schematic diagram of a fully automated assisted rehabilitation mobile device in a sitting position according to another embodiment of the present invention;

Fig. 9 is a schematic diagram of a fully automated assisted rehabilitation mobile device in a standing configuration according to another embodiment of the present invention;

Fig. 10 is a schematic diagram of a fully automatic assisted rehabilitation mobile device in a flat structure according to another embodiment of the present invention;

Fig. 11 is a schematic diagram of an armrest according to yet another embodiment of the present invention.

Explanation of reference signs:

100- fully automated auxiliary rehabilitation mobile device; 10- base frame; 11- first accommodation space; 12- guide rail; 20- mobile module; 21- omnidirectional wheels; 22- driving wheels; Flip support frame; 33-chair back support frame; 34-leg support frame; 341-block assembly; 342-leg support frame main body; 3421-third storage space; 343-lifting part; 41-height adjustment Module; 411-first connection end; 412-second connection end; 413-lifting structure; 42-sitting posture conversion module; 421-third connection end; 422-fourth connection end; 423-push up structure; 43-chair Back adjustment module; 431-fifth connection end; 432-sixth connection end; 433-tilt structure; 44-leg adjustment module; 441-seventh connection end; 442-eighth connection end; 443-rotation structure; 50 -drive module; 51-wheel actuation unit; 52-lift actuation unit; 53-push up actuation unit; 54-tilt actuation unit; 55-rotation actuation unit; 62-head fixing piece; 70-fixing structure; 71-fixing body; 72-sling; 73-waist fixing belt; 80-seat component; 81-hollow part; 82-cushion; 83-switch module; -quick disassembly toilet; 91-housing; 911-sliding part; 912-fixing assembly; 913-upper opening; 914-insertion opening; 915-second accommodating space; 92-replaceable container; Controller; 300-armrest; 301-armrest body; 302-moving part; 303-rotating part; 304-sensing unit; 500-anti-collision sensing module; The first included angle; A2-the second included angle; A3-the third included angle; S1-sitting configuration; S2-standing configuration; S3-lying flat configuration.

Detailed ways

The inventive concept will now be explained more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the inventive concept are shown. Advantages and features of the inventive concept and methods for achieving them will be apparent below by way of exemplary embodiments explained in more detail with reference to the accompanying drawings. It should be noted, however, that the inventive concept is not limited to the following exemplary embodiments, but can be implemented in various forms. Therefore, the exemplary embodiments are provided only to disclose the inventive concept and to make one skilled in the art understand the category of the inventive concept. In the drawings, the exemplary embodiments of the inventive concepts are not limited to the specific examples provided herein and are exaggerated for clarity.

The terminology used herein is for describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the terms "a" and "the" in the singular are intended to include the plural forms as well, unless the context clearly dictates otherwise. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be understood that when a component is referred to as being "connected" or "coupled" to another component, it can be directly connected or coupled to the other component or intervening components may be present.

Similarly, it will be understood that when an element such as a layer, region or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may be present. In contrast, the term "directly" means that there are no intervening components. It should also be understood that when the terms "comprises" and "comprising" are used herein, it indicates the presence of stated features, integers, steps, operations, components, and/or components, but does not exclude one or more other features. , integers, steps, operations, components, components, and/or the presence or addition of groups thereof.

Furthermore, exemplary embodiments in the detailed description will be explained through cross-sectional views that are idealized exemplary views of the inventive concept. Accordingly, the shapes of the exemplary figures may be modified according to manufacturing techniques and/or allowable errors. Accordingly, exemplary embodiments of the inventive concepts are not limited to the specific shapes shown in the exemplary figures, but may include other shapes that may be produced according to manufacturing processes. Regions illustrated in the drawings have general characteristics and are used to illustrate specific shapes of components. Accordingly, this should not be seen as limiting the scope of the inventive concept.

It should also be understood that although the terms "first", "second", "third", etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are only used to distinguish individual components. Thus, a first component in some embodiments could be termed a second component in other embodiments without departing from the teachings of the present invention. Exemplary embodiments of aspects of the inventive concept illustrated and illustrated herein include their complementary counterparts. Throughout this specification, the same reference number or the same designator designates the same component.

Additionally, exemplary embodiments are described herein with reference to cross-sectional and/or plan views, which are idealized exemplary illustrations. Accordingly, deviations from the illustrated shapes as a result, for example, of manufacturing techniques and/or tolerances are to be expected. Thus, example embodiments should not be construed as limited to the shapes of regions illustrated herein but are to include deviations in shapes that result, for example, from manufacturing. Thus, the regions shown in the figures are schematic and their shapes are not intended to illustrate the actual shape of a region of a device and are not intended to limit the scope of example embodiments.

Please refer to Fig. 1 to Fig. 4, Fig. 1 is a schematic diagram of a fully automated assisted rehabilitation mobile device according to the present invention; Fig. 2 is a schematic diagram illustrating a sitting structure of a fully automated assisted rehabilitation mobile device according to the present invention; Fig. 3 To illustrate the schematic diagram of the fully automated auxiliary rehabilitation mobile device according to the present invention in a standing configuration; FIG. 4 is a schematic diagram illustrating the fully automated auxiliary rehabilitation mobile device according to the present invention in a lying configuration. As shown in Figure 1, the fully automated auxiliary rehabilitation mobile device 100 according to the present invention includes: a base frame 10, a mobile module 20, a ride support frame 31, a height adjustment module 41, a flip support frame 32, a sitting posture conversion module 42, a seat back support frame 33 , seat back adjustment module 43 , leg support frame 34 , leg adjustment module 44 , drive module 50 , and controller 200 .

Specifically, as shown in FIG. 1 , the base frame 10 according to the present invention has an open first accommodating space 11 . It should be further explained that since the base frame 10 is used to support all the weight of the fully automated auxiliary rehabilitation mobile device 100, the base frame 10 may have a double-layer structure to improve the stability of the fully automated auxiliary rehabilitation mobile device 100 according to the present invention. degree, but the present invention is not limited thereto.

It is worth mentioning that, in some embodiments, the first accommodating space 11 is used to accommodate a quick-release toilet, and the inner peripheral side of the base frame 10 is separated from the quick-release toilet by a distance, When the quick-release toilet is installed in the first accommodating space 11, it can be used for the user to go to the toilet, and after the user completes the toilet, the quick-release toilet can be easily connected to the first accommodating space 11. The accommodating spaces 11 are separated from each other to facilitate cleaning. In this way, when the user is physically disabled or inconvenient to move, the user can go to the toilet easily without the assistance of a third person. However, the present invention Not limited to this.

Specifically, as shown in FIG. 1 , according to the mobile module 20 of the present invention, it has omnidirectional wheels 21 and driving wheels 22, and the at least two omnidirectional wheels 21 and the at least two driving wheels 22 are pivotally connected to the base frame 10. sides. It should be further explained that, in some embodiments, the omni-directional wheels 21 are used to adjust the moving direction of the fully automated assisted rehabilitation mobile device 100, and the driving wheels 22 are used to control the moving speed of the fully automated assisted rehabilitation mobile device 100, but this The invention is not limited thereto.

Specifically, as shown in FIG. 1 , the riding support frame 31 according to the present invention is arranged above the base frame 10 and pivotally connected to the base frame 10 . In some embodiments, the riding support frame 31 is mainly used to support the user's weight, but the present invention is not limited thereto.

Specifically, as shown in FIG. 1, the height adjustment module 41 according to the present invention may include a first connection end 411, a second connection end 412, and a lifting structure 413, wherein the first connection end is connected to the base frame 10, The second connection end 42 is connected to the ride support frame 31 , so that, as shown in FIG. 2 , the lifting structure 413 makes the ride support frame 31 move up and down relative to the base frame 10 . It should be further explained that, in some embodiments, the lifting structure is a screw lifting device (not shown in the figure), and the screw lifting device is electrically connected to the drive module 50; The linear lifting mode of the screw screw is used to control the lifting of the riding support frame 31. It can be known that the structural characteristics of the screw screw lifting have better support strength, so the above-mentioned embodiments can withstand heavy use. However, the present invention is not limited thereto.

Specifically, as shown in FIG. 1, according to the reversible support frame 32 of the present invention, it is pivotally connected to the riding support frame 31, and the reversible support frame 32 is mainly in the form of reversing, so that the fully automated auxiliary rehabilitation mobile device 100 has different forms. , to change the posture of the user on the fully automated assisted rehabilitation mobile device 100 . In some embodiments, a seat assembly is disposed on the reversible support frame 32 , but the present invention is not limited thereto.

Specifically, as shown in FIG. 1 , according to the sitting posture conversion module 42 of the present invention, it includes a third connection end 421, a fourth connection end 422, and a push-up structure 423, and the third connection end 421 is connected to the seat support frame 31, The fourth connection end 422 is connected to the flip support frame 32, and the push-up structure 423 pushes the flip support frame 32 to move upward relative to the ride support frame 31, so that the seat assembly and the ride support frame 31 form a first included angle A1. The invention is not limited thereto.

Specifically, as shown in Figure 1, according to the chair back support frame 33 of the present invention, the chair back support frame 33 is pivotally connected to the flip support frame 32, and the chair back support frame 33 is mainly in the form of rotation, so that it can be used for fully automatic auxiliary rehabilitation movement. The device 100 has different forms to change the posture of the user on the fully automated assisted rehabilitation mobile device 100 . In some embodiments, a back cushion assembly is disposed on the seat back support frame 33 , but the present invention is not limited thereto.

Specifically, as shown in FIG. 1 , the seatback adjustment module 43 according to the present invention includes a fifth connection end 431 , a sixth connection end 432 , and an inclined structure 433 , the fifth connection end 431 is connected to the flip support frame 32 , The sixth connection end 432 is connected to the seat back support frame 33, and the tilting structure 433 is used to control the inclination of the seat back support frame 33 relative to the seat support frame 31, and a second included angle is formed between the seat back support frame 33 and the seat support frame 31. Angle A2, but the present invention is not limited thereto.

Specifically, as shown in FIG. 1, according to the leg support frame 34 of the present invention, the leg support frame 34 is pivotally connected to the flip support frame 32, and the leg support frame 34 is mainly in the form of rotation, so that it can be used for fully automatic auxiliary rehabilitation movement. The device 100 has different forms to change the posture of the user on the fully automated assisted rehabilitation mobile device 100 , but the present invention is not limited thereto.

Specifically, as shown in FIG. 1 , the leg adjustment module 44 according to the present invention includes a seventh connection end 441, an eighth connection end 442, and a rotating structure 443. The seventh connection end 441 is connected to the seat support frame 33, The eighth connecting end 442 is connected to the leg support frame 34, and the leg adjustment module 44 is used to control the angle of the leg support frame 34 relative to the ride support frame 31, and a third third link is formed between the leg support frame 34 and the ride support frame 31. The included angle is A3, but the present invention is not limited thereto.

It should be further explained that the fully automated assisted rehabilitation mobile device 100 according to the present invention can assist in the fully automated assisted rehabilitation movement by adjusting the first included angle A1, the second included angle A2, and the third included angle A3. The user on the device 100 changes the standing or sitting posture, and straightens the feet to promote blood circulation, so that the user can get the most proper and careful care, so as to avoid secondary injury of the patient and reduce the hard work of the medical staff or nursing staff , but the present invention is not limited thereto.

Specifically, as shown in FIG. 1 , according to the driving module 50 of the present invention, it includes: a wheel body actuating unit 51, which is arranged on the base frame 10, and is connected to the omnidirectional wheel 21 and the driving wheel 22 of the mobile module 20. The lift actuation unit 52 is arranged on the height adjustment module 41 and is coupled to the base frame 10 and the support frame 31, the lift actuation unit 52 is used to link the movement of the ride support frame 31 relative to the base frame 10; The push-up actuation unit 53 is arranged on the sitting posture conversion module 42 and is coupled to the push-up structure 423. The push-up actuation unit 53 is used to move the flip support frame 32 upward relative to the ride support frame 31 so that the flip support The frame 32 and the seat support frame 31 form a first angle A1; the tilt actuation unit 54 is arranged on the seat back adjustment module 43 and is coupled to the tilt structure 433, the tilt actuation unit 54 is used to link the chair The tilting action of the back support frame 33 relative to the seat support frame 31; the rotation actuation unit 55, which is arranged on the leg adjustment module 44 and coupled to the rotation structure 443, the rotation actuation unit 55 is used to link the leg support frame 34 relative to the action of changing the angle of the riding support frame 31, but the present invention is not limited thereto.

Specifically, the controller 200 (not shown) according to the present invention is disposed on the base frame 10 and coupled to the driving module 50 . It needs to be further explained that, in some embodiments, the controller and the drive assembly may be wired, and in other embodiments, the controller 200 and the drive assembly 50 may be wirelessly connected, wherein , between the controller 200 and the drive component 50 through a radio frequency circuit (RFID), or near field communication technology (Near Field Communication, NFC), Bluetooth (Bluetooth), third generation mobile communication (3G), fourth One of the wireless communication protocols of generation mobile communication (4G), wireless local area network (Wi-Fi), wireless local area network (WLAN), and fifth generation mobile communication (5G) is used for wireless connection, but the present invention is not limited thereto.

In order to further understand the structural features of the present invention, the use of technical means and the expected effects, the present invention will be described in terms of the actual implementation of the present invention. It is believed that the present invention can be understood more deeply and specifically, as follows:

Please refer to FIG. 2 , when the fully automated assisted rehabilitation mobile device 100 is in the sitting posture configuration state S1, the controller 200 controls the tilt actuation unit 54 and the rotation actuation unit 55, so that the seat back support frame 33 and the seat support frame 31 The second included angle A2 between them is close to 90°, and the third included angle A3 between the leg support frame 34 and the ride support frame 41 is also close to 90°, so that the user can sit stably on the fully automatic The auxiliary rehabilitation mobile device 100 can control the omnidirectional wheels 21 and the driving wheels 22 of the mobile module 20 to move through the controller 200 , and at the same time control the lifting actuation unit 52 through the controller 200 to adjust the height of the seat assembly.

Please refer to FIG. 3 , when the fully automated assisted rehabilitation mobile device 100 is in the standing configuration state S2, the controller 200 controls the push-up actuation unit 53 so that the first angle between the seat assembly and the seating support frame 31 The angle A1 is close to 90°, and at the same time, the controller 200 performs linkage by controlling the tilt actuator unit 54 and the rotation actuator unit 55, so that the flip support frame 32, the seat back support frame 33, and the leg support frame 34 are on the same plane, At the same time, it is perpendicular to the support frame 31 for riding.

Please refer to FIG. 4 , when the fully automated assisted rehabilitation mobile device 100 is in the lying structure state S3, the controller 200 controls the tilt actuation unit 54 and the rotation actuation unit 55 to adjust the seat back support frame 33 and the seat support frame The second included angle A2 between 31 is close to 180°, and the third included angle A3 between the leg support frame 34 and the ride support frame 31 is also close to 180°, so that the ride support frame 31 , the seat back support frame 33 and the leg support frame 34 are in the same plane.

In this way, the fully automatic auxiliary rehabilitation mobile device 100 provided by the present invention can reduce the burden on users (for example, patients, people with disabilities), improve the convenience of defecation for users, and have the ability to take care of themselves without the assistance of others. Purpose: To properly use the various mechanisms of the nursing robot during the operation so that the user can receive the most appropriate and careful care, so as to avoid secondary injury to the patient and reduce the hard work of the medical staff or nursing staff.

Hereinafter, with reference to the drawings, the embodiment of the first embodiment of the fully automated assisted rehabilitation moving device 100 of the present invention will be described, so that those skilled in the art of the present invention can understand possible changes more clearly. Components indicated by the same component symbols as above are substantially the same as those described above with reference to FIGS. 1 to 4 . The same components, features, and advantages as those of the fully automated assisted rehabilitation mobile device 100 will not be repeated.

Please refer to Fig. 5 and Fig. 6, Fig. 5 is a front view of the fully automated assisted rehabilitation mobile device according to the first embodiment of the present invention; Fig. 6 is a diagram illustrating the fully automated assisted rehabilitation mobile device according to the first embodiment of the present invention Rear view. As shown in Figure 5, in this embodiment, the fully automated assisted rehabilitation mobile device 100 further includes a back cushion assembly 60 and a fixing structure 70, wherein the back cushion assembly 60 includes a backrest 61 and a head fixing 62, and the backrest The member 61 is assembled on the seat back support frame 33, and the head fixing member 62 is assembled on the seat back support 33 frame, and is located on the upper side of the backrest member 61 for the user to lean on the head. In addition, the fixing structure 70 is assembled on the backrest 61 and has a fixed body 71, a suspender 72 and a waist fixing belt 73. The suspender 72 is arranged on the top side of the fixing body 71 and is assembled on the backrest 61. 73 are respectively arranged on both sides of the fixed body 71 to actively fix the user and prevent the user from slipping when the fully automated auxiliary rehabilitation mobile device 100 changes shape, so that the fully automated auxiliary rehabilitation mobile device 100 according to the present invention has High stability and safety, however the present invention is not limited thereto.

Specifically, as shown in FIG. 6 and FIG. 7 , FIG. 7 is a schematic diagram of a quick-release toilet according to a first embodiment of the present invention. In this embodiment, the fully automated auxiliary rehabilitation mobile device 100 further includes a seat assembly 80 and a quick-release toilet 90 , wherein the seat assembly 80 includes a hollow portion 81 , a seat cushion 82 , and a switch module 83 . Wherein, the hollow portion 81 is arranged on the seat assembly 80 and communicates with the first accommodating space 11; the seat cushion 82 is arranged around the hollow portion 81; the switch module 83 is arranged between the hollow portion 81 and the first accommodating space. Between the spaces 11 and coupled to the controller 200 , the switch module 83 is used to open and close the communication between the hollow portion 81 and the first accommodating space 11 . The quick-release toilet 90 is pivotally arranged on the guide rail 12 of the base frame 10. The quick-release toilet 90 has a housing 91 and a replaceable container 92. The surface of the housing 91 has a sliding part 911 corresponding to the slide rail 12 and a fixing assembly 912. , the sliding part 911 and the guide rail 12 are mutually detachable assembly structures, the fixing assembly 912 is arranged on the sliding part 911, and the quick-release toilet 90 is pushed into the first accommodation of the base frame 10 along the guide rail 12 through the sliding part 911 The space 11 is fixed in the first accommodating space 11 through the fixing component 912 , but the present invention is not limited thereto.

Specifically, as shown in FIG. 7 , in this embodiment, the casing 91 of the quick-release toilet 90 further has an upper opening 913, an insertion opening 914, and a second accommodating space 915. The opening 913, the insertion opening 914 and the second The accommodating spaces 915 communicate with each other, and the size of the opening 913 corresponds to the size of the hollow portion 81 and is arranged at an appropriate place on the surface of the casing 91 , and the size of the insertion opening 914 corresponds to the size of the replaceable container 92 and is arranged at an appropriate location on the surface of the casing. . It should be further explained that the motor 912 is arranged at an appropriate place of the quick-release toilet, the motor 912 is electrically connected to the switch module 83, and the motor 912 is used to control the opening and closing of the switch module 83, and the motor 912 may be A cam (not shown) is provided, and the opening and closing of the switch module 83 is controlled by the rotation of the cam. In this way, when the quick-detachable toilet 90 is installed in the first accommodating space 11, it can be used for the user to go to the toilet. The replaceable container 92 can be taken out to facilitate cleaning. In this way, when the user is physically disabled or inconvenient, the user can go to the toilet easily without the assistance of a third person. However, the present invention is not limited to this.

It is worth mentioning that, in this embodiment, the quick-release toilet 90 may be electrically connected to the switch module 83. When the switch module 83 is turned on, the quick-release toilet 90 rises out of the opening 913 to accurately lean against The buttocks of the user are used for the user to go to the toilet, and then when the action is over, the quick-release toilet 90 moves down from the opening 913, and the switch module 83 performs a closing action, thereby greatly improving the speed of the quick-release toilet. The accuracy of 90% prevents risks such as dirty leakage, and at the same time enhances the user's sense of security when going to the toilet, but the present invention is not limited thereto.

Specifically, as shown in FIG. 6 , in this embodiment, the fully automated assisted rehabilitation mobile device 100 further includes armrests 300, and the at least two armrests 300 are movably pivoted to both sides of the seat back support frame 33, However, the present invention is not limited thereto.

Specifically, as shown in FIG. 6, in this embodiment, the fully automated assisted rehabilitation mobile device 100 further includes an anti-collision sensing module 500, which includes an arithmetic processing unit 501 (not shown) and an anti-collision sensor 502, The arithmetic processing unit 501 is electrically connected to the anti-collision sensor 502, and the anti-collision sensor 502 is set on the side of the base frame 10; in addition, the anti-collision sensor 502 is used to capture more than one obstacle information, more than one image information or Millimeter wave signals, and analyze obstacle information, millimeter wave signals or image information through the operation processing unit 501, and will continue to receive obstacle information during driving, and perform a filter that can filter out noise The analysis mechanism and a door-to-door comparison and analysis mechanism enable the arithmetic processing unit 501 to eliminate non-obstacles to correctly obtain the forward target information, but the present invention is not limited thereto.

Specifically, as shown in FIG. 6 , in this embodiment, the fully automated assisted rehabilitation mobile device 100 further includes a stopper assembly 341 , a leg support frame main body 342 , and a lifting part 343 , wherein the stopper assembly 341 pivotally Connected to the base frame 10; the leg support frame 34 further includes a leg support frame main body 342 and a lifting part 343, and a third accommodating space 3421 is provided inside the leg support frame main body 342, and the pulling part 343 can It is movably arranged in the third accommodating space 3421, and the lifting part 343 is electrically connected to the controller 200. In addition, when the fully automated assisted rehabilitation mobile device 100 is in the sitting configuration state S1 and the standing configuration state S2, the controller 200 Control the lifting part 343 so that the lifting part 343 is accommodated in the third accommodating space 3421. When the fully automated auxiliary rehabilitation mobile device 100 is in the lying structure state S3, the controller 200 controls the lifting part 343 so that the The lifting part 343 protrudes out of the leg support frame main body 342 movably, but the present invention is not limited thereto.

Please refer to Fig. 8 to Fig. 10, Fig. 8 is a schematic diagram illustrating a fully automated auxiliary rehabilitation mobile device in a sitting position according to a first embodiment of the present invention; Fig. 9 is a schematic diagram illustrating a fully automated mobile device according to a first embodiment of the present invention A schematic diagram of the auxiliary rehabilitation mobile device in a standing configuration; FIG. 10 is a schematic diagram illustrating a fully automated auxiliary rehabilitation mobile device in a flat configuration according to the first embodiment of the present invention. As shown in FIG. 8 and FIG. 9 , when the fully automated assisted rehabilitation mobile device 100 is in the sitting configuration state S1 and the standing configuration state S2, the controller 200 controls the lifting part 343 so that the lifting part 343 is stored in the third container. placed in the space 3421, when the fully automated assisted rehabilitation mobile device 100 is in the flat-lying structure state S3, the controller 200 controls the lifting part 343 so that the lifting part 343 moves out of the main body 342 of the leg support frame to Therefore, the fully automatic auxiliary rehabilitation mobile device 100 of the present invention can automatically control the position of the lifting part 343. When it is in the sitting configuration S1 and the standing configuration S2, the lifting part 343 is stored in the third accommodating space 3421 In order to reduce the space occupied by the fully automated auxiliary rehabilitation mobile device 100, in addition, when it is in the flat lying structure state S3, the lifting part 343 extends out of the main body 342 of the leg support frame for the user to lean on, so as to meet different The body shape of the user greatly enhances the applicability of the present invention, but the present invention is not limited thereto.

Specifically, as shown in FIG. 11 , in another embodiment, the handle 300 of the fully automated assisted rehabilitation mobile device 100 further includes an armrest body 301, a sensing unit 304, and a communication unit 305 (not shown), wherein, The armrest body 301 is composed of a moving part 302 and a rotating part 303, the plurality of moving parts 302 are coupled to the plurality of rotating parts 303, the armrest body 301 is used for the user to place hands, and the plurality of rotating parts 303 rotates to make the plurality of moving parts 302 move, so as to link the hands placed on the armrest body 301 to produce corresponding movements; the sensing unit 304 is arranged on the armrest body 301, and the sensing unit 304 uses In sensing the movement of the user's hand, and generating a movement record (not shown); the communication unit 305 is coupled to the plurality of sensing units 304, which is used to upload the movement record to the server (not shown) ), the server is built in the cloud. In this way, the handle 300 of the fully automated assisted rehabilitation mobile device 100 can further provide the user with active and passive rehabilitation according to the needs of the user. Among them, the active rehabilitation mentioned in this article refers to the user’s active movement, and the user is assisted and protected by the handle 300 to perform the action. In addition, the passive rehabilitation mentioned in this article refers to the handle 300 The rotating part 303 of the armrest body 301 rotates to make the plurality of moving parts 302 move, so as to link the hand placed on the armrest body 301 to move correspondingly, but the present invention is not limited thereto.

In addition, the above-mentioned action records can be stored in the cloud and used by those with common knowledge in the field, such as physicians, nutritionists, coaches, personal managers, and instructors, to provide users with basis and evaluation data for rehabilitation. Thus, the present invention provides a potentially low-cost implementation of extending the application of disease risk assessment models to home healthcare and mobile medical products.

It can be understood that those skilled in the art to which the present invention pertains can make various changes and adjustments based on the above examples, which will not be listed here.

With this, the present invention has following implementation effect and technical effect:

First, the fully automatic auxiliary rehabilitation mobile device 100 provided by the present invention can reduce the burden on users (for example, patients, people with disabilities), improve the convenience of defecation for users, and have the ability to take care of themselves without the assistance of others. Purpose: To properly use the various mechanisms of the nursing robot during the operation so that the user can receive the most appropriate and careful care, so as to avoid secondary injury to the patient and reduce the hard work of the medical staff or nursing staff.

Second, the fully automated auxiliary rehabilitation mobile device 100 provided by the present invention actively fixes the user through the fixing structure 70, preventing the user from slipping when the fully automated auxiliary rehabilitation mobile device 100 changes its shape, so that according to the present invention The fully automatic auxiliary rehabilitation mobile device 100 has high stability and safety.

Third, the fully automatic auxiliary rehabilitation mobile device 100 provided by the present invention, when the quick-release toilet 90 is installed in the first accommodating space 11, can be used for the user to go to the toilet, and when the user After completing the action of going to the toilet, the replaceable container 92 can be simply taken out from the insertion opening 914 for easy cleaning. In this way, when the user has a disability or is inconvenient to move, there is no need for a third person to assist the user to go to the toilet. It is easy to go to the toilet by yourself.

Fourthly, the fully automated auxiliary rehabilitation mobile device 100 provided by the present invention controls the lifting part 343 through the controller 200, so that the fully automated auxiliary rehabilitation mobile device 100 of the present invention is in the sitting structure state S1 and the standing structure state S2 , the lifting part 343 is accommodated in the third accommodating space 3421 to reduce the space occupied by the fully automated auxiliary rehabilitation mobile device 100. In addition, when the fully automated auxiliary rehabilitation mobile device 100 is in the flat structure state S3, the lifting The part 343 protrudes out of the main body 342 of the leg support frame movably for the user to lean on, so as to conform to the body shape of different users and greatly enhance the applicability of the present invention.

Fifthly, the fully automatic auxiliary rehabilitation mobile device 100 provided by the present invention can further provide the user with active and passive rehabilitation according to the needs of the user through the handle 300, and generate action records according to the rehabilitation process. In addition, The above-mentioned action records can be used by persons with common knowledge in the field, such as physicians, nutritionists, coaches, personal managers, and instructors, to provide the basis and evaluation data for users to perform rehabilitation. Thus, the present invention provides a potentially low-cost implementation of extending the application of disease risk assessment models to home healthcare and mobile medical products.

The implementation manners of the present invention are described above through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all other equivalent changes or modifications that do not deviate from the spirit disclosed in the present invention should be included in the following patent scope Inside.

Claims (10)

1. A fully automated auxiliary rehabilitation mobile device, characterized in that it comprises: a pedestal, which has an open first accommodating space; A mobile module, which has two omnidirectional wheels and two driving wheels, and the at least two omnidirectional wheels and the at least two driving wheels are pivotally connected to both sides of the base frame; A riding support frame, which is arranged above the base frame and pivotally connected to the base frame; A height adjustment module, which includes a first connection end, a second connection end, and a lifting structure, the first connection end is connected to the base frame, and the second connection end is connected to the riding support frame. The lifting structure makes the riding support frame perform a lifting action relative to the base frame; An overturning support frame, which is pivotally connected to the riding support frame, and a seat assembly is arranged on the overturning support frame; A sitting posture conversion module, which includes a third connection end, a fourth connection end, and a push-up structure, the third connection end is connected to the riding support frame, and the fourth connection end is connected to the flip support frame , the push-up structure pushes the flip support frame to move upward relative to the ride support frame, so that the seat assembly forms a first included angle with the ride support frame; A chair back support frame, the chair back support frame is pivotally connected to the flip support frame; A seat back adjustment module, which includes a fifth connection end, a sixth connection end, and an inclined structure, the fifth connection end is connected to the flip support frame, and the sixth connection end is connected to the seat back support frame, the tilting structure is used to control the inclination of the seat back support frame relative to the riding support frame, and a second included angle is formed between the seat back support frame and the riding support frame; A leg support frame, the leg support frame is pivotally connected to the flip support frame; A leg adjustment module, which includes a seventh connection end, an eighth connection end, and a rotating structure, the seventh connection end is connected to the seat support frame, and the eighth connection end is connected to the leg support frame, the leg adjustment module is used to control the angle of the leg support frame relative to the riding support frame, and a third included angle is formed between the leg support frame and the riding support frame; A driving module, which includes: at least one wheel body actuating unit, which is arranged on the base frame, and connected to the at least two omnidirectional wheels and the at least two driving wheels; at least one lifting actuating unit, which is set On the height adjustment module and coupled to the lifting structure, the lifting actuation unit is used to link the riding support frame to perform the lifting action relative to the base frame; at least one push-up actuation unit, which is arranged on the sitting posture conversion module and coupled to the push-up structure, and the push-up actuating unit is used to link the flip support frame to move upward relative to the ride support frame, so that the The seat component and the seat support frame form the first included angle; at least one tilt actuation unit is arranged on the seat back adjustment module and coupled to the tilt structure, and the tilt actuation unit The moving unit is used to link the tilting action of the seat back support frame relative to the seat support frame; at least one rotation actuation unit is arranged on the leg adjustment module and coupled to the rotation structure, so The rotation actuation unit is used to link the action of changing the angle of the leg support frame relative to the seat support frame; and a controller, which is arranged on the base frame and coupled to the drive module; Wherein, the fully automated auxiliary rehabilitation mobile device has a sitting structure, a standing structure, and a lying structure, and the sitting structure is that the controller controls the tilt actuation unit and the Turn the actuating unit so that the second included angle between the seatback support frame and the seat support frame is close to 90°, and all the angles between the leg support frame and the seat support frame The third included angle is also close to 90°, and at the same time, the controller adjusts the height of the seat assembly by controlling the lifting actuation unit, and the standing structure is controlled by the controller pushing up the actuating unit, so that the first included angle between the seat assembly and the seat support frame is close to 90°, and at the same time, the controller controls the tilting actuating unit and the rotation The actuating unit is linked so that the flipping support frame, the seat back support frame and the leg support frame are on the same plane, and the flat lying structure is controlled by the controller to tilt The actuating unit and the rotating actuating unit adjust the second included angle between the seat back support frame and the seat support frame to be close to 180°, and the leg support frame and the seat support frame The third included angle between the frames is also close to 180°, so that the seat support frame, the seat back support frame and the leg support frame are in the same plane. 2. The fully automated auxiliary rehabilitation mobile device according to claim 1, wherein the fully automated auxiliary rehabilitation mobile device further comprises a back cushion assembly, which includes a backrest and a head fixture, the backrest The head fixing part is assembled on the seat back support frame, and the head fixing part is assembled on the seat back support frame and is located on the upper side of the backrest part. 3. The fully automated auxiliary rehabilitation mobile device according to claim 2, wherein the fully automated auxiliary rehabilitation mobile device further comprises a fixed structure, which is assembled on the backrest and has a fixed body; at least A sling, which is arranged on the top side of the fixed body, and is assembled with the backrest; at least two waist fixing belts, which are respectively arranged on both sides of the fixed body. 4. The fully automated auxiliary rehabilitation mobile device according to claim 1, wherein the seat assembly further comprises: a hollow part, which is arranged on the seat assembly and communicates with the first accommodating space; a cushion disposed around the hollow; and A switch module, which is arranged between the hollow portion and the first accommodation space, and is coupled to the controller, the switch module is used to open and close the hollow portion and the first accommodation space connectivity between spaces. 5. The fully automated auxiliary rehabilitation mobile device according to claim 4, wherein the fully automated auxiliary rehabilitation mobile device further comprises: a guide rail, which is pivotally connected to the base frame; A quick-release toilet, which is pivotally connected to the guide rail. The quick-release toilet has a shell and a replaceable container. The surface of the shell has a sliding part corresponding to the slide rail and a fixing component , the sliding part and the sliding rail are mutually detachable assembly structures, the fixing assembly is arranged on the sliding part, and the quick-release toilet is pushed along the sliding rail through the sliding part into the first accommodating space of the base frame, and fixed in the first accommodating space through a fixing component; A motor, which is arranged at an appropriate position of the quick-release toilet, the motor is electrically connected to the switch module, and the motor is used to control the opening and closing of the switch module; Wherein, the shell of the quick-release toilet has an upper opening, an insertion opening, and a second accommodating space, the upper opening and the insertion opening communicate with the second accommodating space, and The size of the upper opening corresponds to the hollow part and is arranged at a suitable place on the surface of the housing, and the size of the insertion opening corresponds to the size of the replaceable container and is arranged at a suitable place on the surface of the housing. 6. The fully automated auxiliary rehabilitation mobile device according to claim 5, wherein the switch module is electrically connected to the quick-release toilet, and when the switch module is turned on, the quick-release toilet The upper opening is lifted to lean against the user's buttocks, and then the quick-release toilet moves down from the upper opening, and the switch module is closed. 7. The fully automated auxiliary rehabilitation mobile device according to claim 1, characterized in that, the fully automated auxiliary rehabilitation mobile device further comprises two armrests, and the at least two armrests are movably pivoted to the chair back Both sides of the support frame. 8. The fully automated assisted rehabilitation mobile device according to claim 7, wherein the at least two handrails further comprise: An armrest body is composed of a plurality of moving parts and a plurality of rotating parts, the plurality of moving parts are coupled to the plurality of rotating parts, the armrest body is used for the user to place hands, the plurality The rotating part rotates to make the plurality of moving parts move, so as to link the hands placed on the armrest body to move correspondingly; A plurality of sensing units, which are arranged on the armrest body, and the sensing units are used to sense the movement of the user's hand and generate an action record; A communication unit, which is coupled to the plurality of sensing units, is used for uploading the action record to a server, and the server is built in the cloud. 9. The fully automated auxiliary rehabilitation mobile device according to claim 1, wherein the fully automated auxiliary rehabilitation mobile device further comprises: A blocking component, the blocking component is pivotally connected to the base frame; Wherein, the leg support frame further includes a leg support frame main body and a lifting part, a third accommodating space is arranged inside the leg support frame main body, and the lifting part is movably arranged on the In the third accommodating space, the lifting part is electrically connected to the controller. In addition, when the fully automatic auxiliary rehabilitation mobile device is in a sitting configuration and a standing configuration, the controller controls the the lifting part, so that the lifting part is accommodated in the third accommodating space, and when the fully automatic auxiliary rehabilitation mobile device is in a lying structure state, the controller controls the lifting part, The lifting part is made to move out of the main body of the leg support frame. 10. The fully automated auxiliary rehabilitation mobile device according to claim 1, wherein the fully automated auxiliary rehabilitation mobile device further comprises an anti-collision sensing module, which includes an arithmetic processing unit and a plurality of anti-collision sensors, The arithmetic processing unit is electrically connected to the plurality of anti-collision sensors, and the plurality of anti-collision sensors are assembled on the peripheral side of the base frame.

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