TWI724616B - 3D wheelchair robot - Google Patents

Abstract

The present invention is a 3D wheelchair robot, which is mainly composed of a base mechanism, a wheel mechanism, a rotating mechanism, a bearing part and a pair of mechanical arms. The wheel mechanism is pivotally connected to the base mechanism and has a set of front wheels A set of rear wheels, the rotation mechanism is relatively pivotally connected to the base mechanism, the bearing portion includes a seating portion and a back support portion, and the seating portion is relatively pivotally connected to the rotation mechanism; the present invention can be combined with the rotation mechanism The robotic arm cooperates with the carrying part to move the care recipients of the 3D wheelchair robot, so that they can autonomously move to different fields and move freely in different dimensions, so as to reduce the burden of long-term workers.

Description

3D wheelchair robot

The present invention relates to a robot, especially a wheelchair robot that enables the care recipient to have 3D dimensional mobility. It has a mechanical arm and a human-like foot mechanism that allows the care recipient to move autonomously between different fields.

For long-term care workers, one of the most difficult tasks is to move the care recipient between different areas, such as from bed to wheelchair, from chair to wheelchair, from car to wheelchair, and vice versa. Because the movement of the care recipient requires great muscle strength to complete, most long-term care workers with insufficient muscle strength will use improper postures when moving the care-giver, resulting in long-term care personnel's own waist sprain or back strain. To make matters worse, there may even be a risk of the care recipient falling due to improper posture.

In view of the above-mentioned shortcomings of the prior art, the main purpose of the present invention is to provide a wheelchair robot that enables the care recipient to move in 3D dimensions. The wheelchair robot has a mechanical arm and a human-like foot mechanism, wherein the motion of the mechanical arm is simulated The moving posture of the long-term photographer, the activity of the human foot mechanism is to simulate the movement of human feet, and then between specific fields (such as from bed to wheelchair, from chair to wheelchair, from car to wheelchair, etc., and vice versa ) Provide effective help for long-term care workers in the task of moving care recipients.

The main technical means adopted to achieve the above purpose is to make the aforementioned 3D wheelchair robot include: a base mechanism; a wheel group mechanism, pivotally connected to both sides of the base mechanism, each of its two front ends has a front wheel, and each of its two rear ends has at least one Rear wheel; a rotating mechanism, pivotally connected to the base mechanism, so that the rotating mechanism can pivot relative to the base mechanism; a bearing portion, including a seating portion and a back support portion, wherein The seating part is pivotally connected to the rotation mechanism so that the seating part can pivot relative to the rotation mechanism; and a pair of mechanical arms are respectively arranged on both sides of the back support part, wherein the mechanical arms have at least 3 movable Dimension.

According to the above structure, the 3D wheelchair robot can simulate the posture of a long-term person carrying a care recipient to move between different fields (for example, from a bed to a wheelchair, from a chair to a wheelchair, from a car to a wheelchair, etc.) and vice versa. Move care recipients to achieve the purpose of providing help for long-term care recipients.

1: 3D wheelchair robot

2: the care recipient

10: Base mechanism

20: wheel organization

21, 22: front wheel

21’, 22’, 23’, 24’: Telescopic shaft

211,221,231,241: Motivation

212, 222, 232, 242: support rod

23, 24: rear wheel

30: Rotating mechanism

40: Bearing part

41: Ride Department

42: Back support

43: bearing shaft mechanism

44: Lifting mechanism

45: Pedal

451: motive

452: Telescopic shaft

453: Rotating Mechanism

46: headrest

47: T-shaped parts

48: Carrier

50: Robotic arm

51: upper right arm

52: Right forearm

53: Right shoulder joint

54: Right upper arm joint

55: Right elbow joint

56: Rotation joint of upper right arm

57: Right forearm rotation joint

58: Right palm

60: Robotic arm

61: upper left arm

62: left forearm

63: Left shoulder joint

64: left upper arm joint

65: Left elbow joint

66: Left arm rotation joint

67: Left forearm rotation joint

68: left palm

70, 80: Imitation of human foot mechanism

71, 81: Thigh

72, 82: calf

73, 83: Joints

74, 84: soles of feet

V: Machine Vision Module

Figures 1A to 1I are schematic diagrams of the appearance of a preferred embodiment of the 3D wheelchair robot of the present invention; Figures 2A to 2D are schematic diagrams of the human foot mechanism of the 3D wheelchair robot of the present invention when operating; A schematic diagram of the exploded action of the preferred embodiment of moving the care recipient from the bed to the wheelchair, in which different perspectives may be used in order to cooperate with the description of the exploded action; Figure 4 is the 3D wheelchair robot of the present invention used to move the care recipient from the chair A schematic diagram of a preferred embodiment of moving up to a wheelchair; FIG. 5 is a schematic diagram of a preferred embodiment of the 3D wheelchair robot of the present invention for moving a cared person from a car to a wheelchair.

In order to fully understand the purpose, features and effects of the present invention, the following specific embodiments are used in conjunction with the accompanying drawings to give a detailed description of the present invention. The description is as follows.

Embodiments of the present invention provide a wheelchair robot that enables a care recipient to have 3D dimensional mobility, which can allow the care recipient to autonomously move or move his body between different fields. For example, when a care recipient who is inconvenient to move is lying on a bed to rest, if the care recipient wants to go to the toilet at this time, the 3D wheelchair robot of the present invention can lift the care recipient from the bed and adjust the care recipient to a sitting position. Of course Then the care recipient can be placed on the 3D wheelchair robot of the present invention, and then the 3D wheelchair robot of the present invention can take the care recipient to the toilet to go to the toilet; when the 3D wheelchair robot of the present invention takes the care recipient to the toilet , The 3D wheelchair robot of the present invention can also lift the care recipient from the 3D wheelchair robot and place the care recipient on the toilet; when the care recipient is finished using the toilet, the 3D wheelchair robot of the present invention can take care of The person picks up from the toilet and places the cared person on the 3D wheelchair robot of the invention. The 3D wheelchair robot of the invention can carry the cared person back to the bed; the 3D wheelchair robot of the invention can take the cared person back to the bed. The person picks up from the 3D wheelchair robot and adjusts the posture of the care recipient so that the care recipient becomes a suitable lying position, and puts the care recipient back on the bed. Furthermore, the 3D wheelchair robot of the present invention has machine vision and artificial intelligence modules, which can identify the distance, height, posture and other information of the care recipient, and can also identify the location of obstacles while traveling, and then go around .

The 3D wheelchair robot of the present invention can also be applied to other fields, such as assisting the care recipient to get on and off the table or get on and off the car. These scenarios are the situations in which the long-term care recipients most often need assistance after counting. In other words, The 3D wheelchair robot of the present invention can solve the problem of long-term care recipients being unable to carry care recipients due to insufficient muscle strength, allowing the care recipients to autonomously move or move their bodies between different fields, and greatly reduce the long-term care recipients’ muscles. The burden of power.

Furthermore, the 3D wheelchair robot of the present invention is designed in a modular manner, so its assembly and component replacement are more convenient. On the other hand, compared with traditional wheelchairs, 3D wheelchair robots can be voice-controlled to carry the body when changing fields, without the help of others, so it is better for people with limited mobility. Convenience of operation. Various possible implementations and details of the 3D wheelchair robot in this case will be further explained below.

Please refer to FIGS. 1A to 1G at the same time. The 3D wheelchair robot 1 of the present invention includes a base mechanism 10, a wheel mechanism 20, a rotating mechanism 30, a carrying part 40, a pair of mechanical arms 50, 60, and a set of human-like foot mechanisms 70,80.

The wheel mechanism 20 is pivotally connected to the base mechanism 10, as shown in FIGS. 1C and 1E. In this embodiment, the two front ends of the wheel mechanism 20 each have a set of front wheels 21, 22, and each of the two rear ends has at least one Set rear wheels 23, 24, the wheel set mechanism 20 is pivotally connected to both sides of the base mechanism 10, wherein the front wheels 21, 22 and the rear wheels 23, 24 respectively include a telescopic shaft 21', 22', 23' And 24', used to control the lifting of these wheel mechanisms. For example, one end of the telescopic shaft 21' is fixed to the bearing of the front wheel 21, and the other end is connected to the actuator 211, and the actuator 211 is fixed to the base mechanism 10. When the actuator 211 is actuated, the telescopic shaft 21' can be extended or shortened. The wheel mechanism of the front wheels 21, 22 and the rear wheels 23, 24 also includes a support rod 212, 222, 232, 242. As shown in FIG. 1D, one end of the support rod 212 is fixed and pivotally connected to the base mechanism 10, and the other end of the support rod 212 is A bearing fixed to the front wheel 21, so that when the telescopic shaft 21' is extended, the front wheel 21 will be pushed to make the support rod 212 rotate downward, and vice versa, the support rod 212 can be pulled to rotate upward. The front wheels 21, 22 and the rear wheels 23, 24 are respectively connected to the actuators 211, 221, 231, 241. In other words, the front wheels 21, 22 and the rear wheels 23, 24 can be independently controlled to rise and fall. Those skilled in the art can After reading the above description of the front wheel 21, the coordination diagram clearly understands the actions and principles of the lifting and lowering of the front wheel 22 and the rear wheels 23, 24. For the sake of brevity, the relevant content will not be repeated here.

In this way, the 3D wheelchair robot 1 can adjust the height by simultaneously controlling the elevation of the front wheels 21, 22 and the rear wheels 23, 24 (please refer to FIGS. 1D and 1G at the same time). In addition, due to the field used in the present invention The domain includes uneven ground conditions (such as slopes, stairs, roads with large drops, vehicles of different heights up and down, etc.), through independent control of the front wheels 21, 22 and rear wheels 23, 24 (for example: when going uphill , The front wheels 21, 22 can be lower than the rear wheels 23, 24) can keep the carrying part 40 of the 3D wheelchair robot 1 of the present invention at a level during use, greatly improving the safety of transporting the care recipient, or in the 3D wheelchair robot 1 When riding in a car, the telescopic shafts 21', 22', 23' and 24' of the front wheels 21, 22 and the rear wheels 23, 24 can be retracted to the shortest length, so that the front wheels 21, 22 and the rear wheels 23, 24 can be stored in Below the 3D wheelchair robot 1, the front wheels 21, 22 and the rear wheels 23, 24 are prevented from occupying too much space.

The rotating mechanism 30 is pivotally connected between the base mechanism 10 and the supporting portion 40 so that the supporting portion 40 can pivot relative to the base mechanism 10 as a whole.

The supporting portion 40 includes a seating portion 41 and a back support portion 42, a supporting portion shaft mechanism 43, a lifting mechanism 44, a footrest portion 45, a headrest portion 46, and a T-shaped member 47, wherein the seating portion 41 It is pivotally connected to the rotating mechanism 30 so that the seating portion 41 can pivot independently relative to the carrying portion 40. Please note that the rotating mechanism 30 can allow the supporting portion 40 to pivot as a whole relative to the base mechanism 10, or the seating portion 41 can independently pivot relative to the supporting portion 40, as shown in FIG. 1H and FIG. 1I. As shown in FIG. 1A, the carrying portion 40 can be rotated to the left or right side of FIG. 1A to facilitate the care recipient to get up or take a seat according to different fields, and the present invention is not limited thereto.

The bearing portion shaft mechanism 43 is pivotally connected to the seating portion 41 and the back support portion 42 respectively, so that the back support portion 42 can rotate relative to the seating portion 41 using the bearing portion shaft mechanism 43 as an axis. The lifting mechanism 44 cooperates with the rotating mechanism 30 to be disposed below the seating portion 41 so that the seating portion 41 can move up and down relative to the rotation mechanism 30 so as to adjust the height of the seating portion 41 relative to the occupant. Please note that in this embodiment, the rotating mechanism 30 and the lifting mechanism 44 are separate and independent mechanisms, and are only arranged in close positions. However, in other embodiments, the lifting mechanism 44 can be combined with the rotating mechanism 30. (Or the wheel mechanism 20) is integrated into a single mechanism so that it has both pivoting and lifting functions. The present invention is not limited to this. For example, the lifting mechanism 44 may be integrated in the wheel mechanism 20, The lifting and lowering of the front wheels 21 and 22 and the rear wheels 23 and 24 are controlled to control the lifting and lowering of the supporting portion 40 relative to the ground. In addition, in FIGS. 1D to 1F, the lifting mechanism 44 is in a state of being lowered to the bottom (that is, not yet raised).

The pedal portion 45 is pivotally connected to one side of the seating portion 41 by a supporting frame 48. When the seating portion 41 is relative to the rotating mechanism 30, the pedal portion 45 will be driven to turn to the 3D wheelchair robot 1 Side. In addition, the pedal portion 45 is connected to a telescopic shaft 452, and the telescopic shaft 452 is connected to the actuator 451 and is extended or shortened under the control of the actuator 451, so that the pedal portion 45 can be extended to touch the ground. And put it on the ground or away from the ground. The pedal portion 45 is further connected to the carrier through a rotating mechanism 453 48 is connected, so that the pedal portion 45 can pivot relative to the supporting frame 48 by the rotation mechanism 453. In this way, the footrest 45 can not only carry the care recipient's feet when the care recipient rides on the 3D wheelchair robot, but also can be used as an auxiliary tool when the care recipient changes fields or vehicles. For example, when the care recipient wants to switch from the 3D wheelchair robot to another vehicle (such as a car), the care recipient can first stand on the footrest 45 facing the car ride, and use the footrest 45 rotation, the care recipient will switch from facing the car ride to facing the 3D wheelchair robot. At this time, the care recipient can sit in the seat of the car in a seating position by himself (or at the same time with the assistance of the 3D wheelchair robot). Without the assistance of others.

The headrest portion 46 is fixed above the back support portion 42, and a machine vision module V is provided therein, which can be used with artificial intelligence technology to recognize the distance, height, posture and other information of the care recipient, so that the 3D wheelchair robot 1 The position of the care recipient can be correctly judged to carry out the action of lifting the care recipient, and the 3D wheelchair robot 1 can also recognize the location of obstacles when traveling, and then go around. The T-shaped member 47 is pivotally arranged on one side of the seating portion 41, and can be pivoted in a direction substantially perpendicular to the horizon, and used as an armrest for the care recipient and/or for hanging objects.

The robotic arms 50 and 60 are respectively disposed on both sides of the back support portion 42. The robotic arms 50 and 60 respectively have at least 3 movable dimensions. One of the robotic arms 50 is a right robotic arm. The other robotic arm 60 is a left robotic arm. The robotic arm 50 includes a right upper arm 51 and a right forearm 52, a right shoulder joint 53, a right upper arm joint 54, a right elbow joint 55, a right upper arm rotation joint 56, a right forearm rotation joint 57, and a right palm Section 58, wherein the mechanical arm 50 is pivotally connected to the back support portion 42 through the right shoulder joint 53, and the right upper arm 51 is pivotally connected to the right shoulder joint 53 through the right upper arm joint 54 so that the right upper arm 51 can oppose each other The back support portion 42 is movable in at least two dimensions. The right upper arm rotation joint 56 is arranged inside the right upper arm 51 of the robotic arm 50, and is pivotally connected to the right upper arm joint 54 so that the right upper arm 51 can move in its length direction. As the axis rotates relative to the right upper arm joint 54, the right forearm rotation joint 57 is arranged inside the right forearm 52 and is pivotally connected to the right elbow joint 55, so that the right upper arm 51 can be relative to the right upper arm 51 with its longitudinal axis as the axis. The elbow joint 55 pivots, and the right palm 58 is pivotally connected to The right forearm 52 and the right palm 58 include a thumb, an index finger, a middle finger, a ring finger, a little finger, and a palm. Each finger is in a straightened state when it is not moving. When a finger is actuated, it bends along the joint of the finger to the center of the palm.

The robotic arm 60 includes a left upper arm 61 and a left forearm 62, a left shoulder joint 63, a left upper arm joint 64, a left elbow joint 65, a left arm rotation joint 66, a left forearm rotation joint 67, and a left palm. 68. The mechanical arm 60 is pivotally connected to the back support portion 42 through the left shoulder joint 63, and the left upper arm 61 is pivotally connected to the left shoulder joint 63 through the left upper arm joint 64, so that the left upper arm 61 can support the back The part 42 is movable in at least two dimensions. The left upper arm rotation joint 66 is arranged inside the left upper arm 61 of the robotic arm 60, and is pivotally connected to the left upper arm joint 64 so that the left upper arm 61 can be opposite to each other with its length direction as an axis. The left upper arm joint 64 pivots, the left forearm rotation joint 67 is arranged inside the left forearm 62, and is pivotally connected to the left elbow joint 66, so that the left upper arm 61 can be relative to the left elbow joint 66 with its longitudinal axis as the axis turn. The left palm portion 68 includes a thumb portion, an index finger portion, a middle finger portion, a ring finger portion, a little finger portion, and a palm portion, and its operation mode is the same as that of the right palm portion 58, so it will not be repeated here.

2A to 2D, the set of human-like foot mechanisms 70, 80 are arranged under the base mechanism 10. The human-like foot mechanism 70 includes a thigh 71, a calf 72, a pivoted thigh 71, and a small The joint 73 of the leg 72 and the sole 74 connected to the calf 72. The human-like foot mechanism 80 includes a thigh 81, a calf 82, and a joint 73 pivotally connected to the thigh 81 and the calf 82, And the sole 84 connected to the lower leg 82, wherein the lower leg 72 pivots with respect to the thigh 71 by the joint 73, and the sole 74 is used to step on the ground. The operation mode of the human-like foot mechanism 80 is the same as that of the human-like foot The organization 70 is the same, so I won't repeat it here.

The set of human foot mechanisms 70, 80 are usually stored on the base. When the height of the 3D wheelchair robot 1 is insufficient, the set of human foot mechanisms 70, 80 can be lowered, and the set of human foot mechanisms 70, 80 stands to increase the height of the 3D wheelchair robot 1, as shown in FIG. 2A. In addition, when the 3D wheelchair robot 1 encounters a staircase, the set of human-like foot mechanisms 70, 80 can be lowered from the base and pass through the stepped feet 74, 84 And the pivoting of the thighs 71, 81 and the calf 72, 82 simulates the way of climbing a ladder with a human foot to perform a ladder climbing operation, and the pair of robotic arms 50, 60 are matched with the ladder climbing operation to extend and hold the handrails of the stairs. , The wheel mechanism 20 pivots to the seating portion 41 relative to the bottom mechanism 10 in conjunction with the ladder operation to prevent the pair of front wheels 21, 22 from colliding with the steps of the stairs (as shown in FIG. 2C) during travel, causing the The imbalance of the 3D wheelchair robot 1 can further reduce the danger that may occur in the ladder climbing operation. In another embodiment, such as going down stairs, the pair of rear wheels 23, 24 can pivot toward the back support portion 42 relative to the bottom mechanism 10 (as shown in FIG. 2D) to avoid the pair of rear wheels 23, 24 It hits the steps of the stairs while traveling.

For a detailed description of the 3D wheelchair robot 1 of the preferred embodiment, please refer to Figures 3A to 3H, where Figure 3A is a schematic diagram showing the 3D wheelchair robot 1 of the present invention leaning forward and extending its hands. In Figure 3A (please also refer to 1A to 1E), the back support portion 42 is tilted and rotated forward relative to the seating portion 41 with the bearing portion rotating shaft mechanism 43 as an axis, so that the 3D wheelchair robot 1 can achieve forward tilting motion, and the pair of mechanical arms 50, 60 of the right upper arm joint 54 and the left upper arm joint 64 are pivoted in conjunction with the forward tilting action to drive the right upper arm 51 and the left upper arm 61 to rotate forward, because the right elbow joint 55 and the left elbow joint 65 are at the same time Slightly bends so that the rotation of the right upper arm 51 and the left upper arm 61 cooperates with the forward tilting motion of the 3D wheelchair robot 1 to further drive the right forearm 52 and the left forearm 62 to extend forward, so that the 3D wheelchair robot 1 can achieve The action of the pair of mechanical arms 50 and 60 extending forward along the lower edge of the body of the care recipient 2. After the 3D wheelchair robot 1 undergoes the operation shown in FIG. 3A, the pair of robotic arms 50, 60 can be extended below the body of the care recipient 2. Please note that in FIG. 3A, the seating portion 41 of the 3D wheelchair robot 1 is pivoted to the left side of the 3D wheelchair robot 1 in advance to avoid the pedal portion 45 being interposed between the bed and the 3D wheelchair robot 1. Increasing the distance between the 3D wheelchair robot 1 and the bed will greatly increase the difficulty of successfully moving the body of the care recipient 2.

FIG. 3B is a schematic diagram showing the preparatory action of the 3D wheelchair robot 1 of the present invention extending the pair of mechanical arms 50 and 60 under the body of the care recipient 2 and preparing to lift the care recipient 2. In Figure 3B (please refer to Figures 1A to 1E at the same time), the right elbow joint 55 and the left elbow joint 65 are slowly bent so that the upper right The arm 51 pivots to the right forearm 52, the left upper arm 61 pivots to the left forearm 62, thereby slowly adjusting the body 2 of the care recipient to the right upper arm 51 and the right forearm 52 and the left upper arm 61 and The recess formed between the left forearm 62, when the body 2 of the care recipient is in the recess, the 3D wheelchair robot 1 can start to pick up the body 2 of the care recipient stably.

FIG. 3C is a schematic diagram showing the 3D wheelchair robot 1 of the present invention lifting the body of the care recipient 2. In FIG. 3C (please refer to FIGS. 1A to 1E at the same time), the back support portion 42 pivots backward relative to the seating portion 41 with the bearing portion rotating shaft mechanism 43 as an axis, so that the 3D wheelchair robot 1 can be pulled back Action, at this time, since the body 2 of the care recipient is in the recess, the pull-back motion can pick up the body 2 of the care recipient.

Fig. 3D illustrates the 3D wheelchair robot 1 of the present invention raising the seating portion 41 to the height of the bed. In Fig. 3D (please refer to Figs. 1A to 1E at the same time), the lifting mechanism 44 is to raise the seat 41 to the same height as the body of the care recipient 2 so that the body 2 of the care recipient can be placed in translation. The 3D wheelchair robot 1 is on.

FIG. 3E shows that the 3D wheelchair robot of the present invention translates the body 2 of the care recipient onto the 3D wheelchair robot 1 of the present invention. In FIG. 3E (please refer to FIGS. 1A to 1E at the same time), the back support portion 42 further pivots backward relative to the seating portion 41 with the bearing portion rotating shaft mechanism 43 as an axis, so as to further form a pull-back action. The pulling back action drives the body 2 of the care recipient to be translated onto the seat 41.

Fig. 3F shows that the 3D wheelchair robot 1 of the present invention adjusts the body 2 of the care recipient to an appropriate sitting posture. In FIG. 3F (please refer to FIGS. 1A to 1E at the same time), the right upper arm joint 54 of the manipulator 50 is pivoted upwards, driving the right upper arm 51 and the right forearm 52 to move upwards, thereby allowing the care recipient The upper body of the patient’s body 2 is held up into a sitting position; at the same time, the left upper arm joint 64 of the manipulator 60 pivots downward, driving the left upper arm 61 and the left forearm 62 to move downwards, thereby moving the care recipient Feet of body 2 Place the footrest 45 (as shown in FIG. 3A, the footrest 45 is pivoted to the left side of the 3D wheelchair robot 1 in advance), so that the body 2 of the care recipient can successfully sit on the 3D wheelchair robot 1 on.

3G-3H show the restoration process of the 3D wheelchair robot 1 of the present invention. In FIG. 3G (please refer to FIGS. 1A to 1E at the same time), the back support portion 42 pivots forward relative to the seating portion 41 with the bearing portion rotating shaft mechanism 43 as an axis, so that the back support portion 42 returns to approximately The seat 41 is in a vertical position; at the same time, the right upper arm joint 54 and the left upper arm joint 64 pivot so that the right upper arm 51 and the left upper arm 61 hang down on both sides of the body 2 of the care recipient, for the care recipient 2 Provide a supporting function; at the same time, the right elbow joint 55 and the left elbow joint 65 are bent so that the right upper arm 51 and the right forearm 52, the left upper arm 61 and the left forearm 62 are substantially perpendicular, so that the right forearm 52 and the left forearm 62 can form an armrest state for the care recipient 2 to support. In FIG. 3H (please refer to FIGS. 1A to 1E at the same time), the rotation mechanism 30 turns the seat 41 back to the forward direction of the 3D wheelchair robot 1 to drive the body 2 of the care recipient to also turn to the 3D wheelchair robot 1 On the positive side, this completes the task of moving the care recipient from the bed to the wheelchair.

In another embodiment, the 3D wheelchair robot 1 of the present invention can move the care recipient 2 from the chair to the wheelchair. The main difficulty in moving the care recipient 2 from the chair to the wheelchair is that the 3D wheelchair robot 1 is close to the chair. At this time, because the chair has armrests that can easily block the operation of the robotic arm, it is difficult to move it at a suitable angle. However, the 3D wheelchair robot 1 of the present invention is equipped with the rotating mechanism 30 that can make the entire carrying portion 40 pivot relative to the base mechanism 10 to change the angle at which the pair of mechanical arms 50 and 60 can be operated. Please continue to refer to FIG. 4 (please refer to FIGS. 1A to 1E at the same time), which is a schematic diagram of a preferred embodiment of the 3D wheelchair robot 1 of the present invention for moving the care recipient 2 from the chair to the wheelchair. As shown in FIG. 4, the 3D wheelchair robot 1 of the present invention can first lean against the chair where the care recipient 2 is located at a 45-degree direction, and then the rotating mechanism 30 can face the entire carrying portion 40 toward the care recipient 2 The direction is pivoted by 45 degrees, so that the carrying portion 40 can face the care recipient 2. Through the above-mentioned operation, the 3D wheelchair robot 1 of the present invention can carry the care recipient 2 at the position closest to the chair without being too much affected. Interference from the armrests. Please note that in order to prevent the footrest 45 from hitting the chair where the care recipient 2 is located, it can be implemented as before before pivoting. For example, the footrest 45 is turned to the left side of the 3D wheelchair robot 1 in advance. In this way, the 3D wheelchair robot 1 can move the care recipient 2. The detailed moving operation can refer to the aforementioned decomposition action. Those skilled in the art can understand that it is used in this implementation after reading the paragraph of the aforementioned decomposition action. For the sake of brevity, the adjustments that need to be made are not repeated here.

In another embodiment, the 3D wheelchair robot 1 of the present invention can move the care recipient from the passenger car to the wheelchair. The main difficulty in moving the care recipient from the passenger car to the wheelchair is when the 3D wheelchair robot 1 approaches the passenger car. , Since the opening range of the door of the passenger car is limited, it is difficult for the 3D wheelchair robot 1 to approach the care recipient 2. However, the 3D wheelchair robot 1 of the present invention is equipped with the rotating mechanism 30 that can make the entire carrying portion 40 pivot relative to the base mechanism 10 to change the angle at which the pair of mechanical arms 50 and 60 can be operated. Please continue to refer to FIG. 5 (please refer to FIGS. 1A to 1E at the same time), which is a schematic diagram of a preferred embodiment of the 3D wheelchair robot 1 of the present invention for moving the care recipient 2 from the passenger car to the wheelchair. As shown in FIG. 5, the 3D wheelchair robot 1 of the present invention can first approach the care recipient 2 in a direction parallel to the vehicle body, and then the rotation mechanism 30 can pivot the entire carriage 40 toward the care recipient by 45 degrees. The loading part 40 can face the care recipient 2, and the 3D wheelchair robot 1 of the present invention can carry the care recipient 2 at the position closest to the chair through the above-mentioned operation. Please note that in this embodiment, the footrest 45 can be turned to the right side of the 3D wheelchair robot 1 before pivoting, so as to match the position of the cared person 2 in moving the rear foot. In this way, the 3D wheelchair robot 1 can move the care recipient 2. The detailed moving operation can refer to the aforementioned decomposition action. Those skilled in the art can understand that it is used in this implementation after reading the paragraph of the aforementioned decomposition action. For the sake of brevity, the adjustments that need to be made are not repeated here.

All the above embodiments only describe the operation of moving the care recipient 2 to the 3D wheelchair robot 1 of the present invention. If you want to reverse the operation to move the care recipient 2 from the 3D wheelchair robot 1 of the present invention to a different field, you only need to perform the above operations in the reverse order. For simplicity, the detailed decomposition actions will not be described here. Go into details.

1: 3D wheelchair robot

10: Base mechanism

20: wheel organization

21, 22: front wheel

22’: Telescopic shaft

221: Motivation

222: support rod

24: rear wheel

24’: Telescopic shaft

241: Motivation

242: support rod

40: Bearing part

41: Ride Department

42: Back support

43: bearing shaft mechanism

44: Lifting mechanism

45: Pedal

451: motive

452: Telescopic shaft

46: headrest

47: T-shaped parts

48: Carrier

50: Robotic arm

51: upper right arm

52: Right forearm

53: Right shoulder joint

54: Right upper arm joint

55: Right elbow joint

56: Rotation joint of upper right arm

60: Robotic arm

61: upper left arm

62: left forearm

64: left upper arm joint

65: Left elbow joint

66: Left arm rotation joint

70, 80: Imitation human foot mechanism

Claims (13)

A 3D wheelchair robot, comprising: a base mechanism; a wheel set mechanism pivotally connected to the base mechanism, the wheel set mechanism having a set of front wheels and a set of rear wheels; a rotating mechanism pivoted to the base mechanism so that the The rotating mechanism can pivot relative to the base mechanism; a bearing portion including a seating portion and a back support portion, wherein the seating portion is pivotally connected to the rotation mechanism so that the seating portion can pivot relative to the rotation mechanism; and a pair The mechanical arms are respectively arranged on both sides of the back support part, wherein the mechanical arms have at least 3 movable dimensions. The 3D wheelchair robot according to claim 1, wherein the bearing portion further comprises: a bearing portion rotating shaft mechanism pivotally connected to the seating portion and the back supporting portion, so that the back supporting portion can be pivoted by the bearing portion rotating shaft mechanism Rotate relative to the seating part. The 3D wheelchair robot according to claim 1, wherein the carrying part further comprises: an elevating mechanism arranged under the seating part in cooperation with the rotating mechanism, so that the seating part can move up and down relative to the rotating mechanism. The 3D wheelchair robot according to claim 1, wherein the carrying part further comprises: a footrest part, which is extended and pivotally arranged on one side of the seating part. The 3D wheelchair robot according to claim 4, wherein the footrest is connected to the carrier of the loading part by a rotation mechanism, so that the footrest can pivot relative to the carrier by the rotation mechanism. The 3D wheelchair robot according to claim 4, wherein the footrest is connected to a telescopic shaft, and is extended or shortened by an actuator connected to the telescopic shaft. The 3D wheelchair robot described in claim 1, further including: A set of human-like foot mechanisms are arranged under one of the base mechanisms. When the 3D wheelchair robot encounters a staircase, the human-like foot mechanisms perform a ladder climbing operation in a manner similar to that of human feet. The mechanical arm is matched with the ladder operation, and stretches out to hold a handrail of the stairs. The 3D wheelchair robot according to claim 7, wherein when the 3D wheelchair robot performs the ladder climbing operation, the wheel set mechanism pivots toward the back support portion relative to the bottom mechanism. The 3D wheelchair robot according to claim 1, wherein the carrying part further comprises: a headrest part fixed above the back support part, and a machine vision module is provided therein. The 3D wheelchair robot according to claim 1, wherein the carrying part further comprises: a T-shaped component pivotally arranged on one side of the seating part. The 3D wheelchair robot according to claim 1, wherein the pair of mechanical arms includes a right mechanical arm and a left mechanical arm, and the right mechanical arm includes a right upper arm and a right forearm, a right shoulder joint, and a right upper arm Joints and a right elbow joint. The left mechanical arm includes a left upper arm and a left forearm, a left shoulder joint, a left upper arm joint and a left elbow joint. The 3D wheelchair robot according to claim 11, wherein the right mechanical arm is pivotally connected to the back support part through the right shoulder joint, and the right upper arm is pivotally connected to the right shoulder joint through the right upper arm joint, so that the right upper arm It can move in at least two dimensions relative to the back support part; the left robotic arm is pivotally connected to the back support part through the left shoulder joint, and the left upper arm is pivotally connected to the left shoulder joint through the left upper arm joint, so that the upper left The arm can move in at least two dimensions relative to the back support part. The 3D wheelchair robot according to claim 11, wherein the right forearm is pivotally connected to the right upper arm through the right elbow joint, so that the right forearm can pivot relative to the right upper arm; the left forearm is pivotally connected with the left elbow joint On the left upper arm, the left forearm can pivot relative to the left upper arm.

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