Wheelchair robot

Abstract

The invention discloses a wheelchair robot which comprises a seat and a movable chassis, an interaction control module and a motion control module are arranged on the movable chassis, a mechanical arm is arranged on the seat, a first camera is arranged on the mechanical arm, and a second camera is arranged on the seat. A first radar and a second radar are arranged on the two sides of the movable chassis respectively, and the first radar, the second radar and the second camera are electrically connected with the motion control module. Through cooperation of the first camera, the second camera, the first radar and the second radar with the interaction control module and the motion control module, the detection visual field of the wheelchair robot can be widened, so that the surrounding environment of the wheelchair robot is comprehensively sensed, and the safety of the wheelchair robot during use is improved.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation equipment technology, and in particular to a wheelchair robot. Background Technology

[0002] Wheelchairs are indispensable mobility tools for special groups (such as the injured, the sick, and the disabled) in home rehabilitation, transportation, medical treatment, and participation in social activities. They not only effectively improve their autonomy and mobility but also significantly enhance their quality of life. Wheelchairs not only meet users' basic mobility needs but also help them perform appropriate functional exercises during rehabilitation, improving their physical fitness. Furthermore, wheelchairs greatly facilitate daily care and relocation for family members and caregivers, reducing their burden of care.

[0003] However, when using a wheelchair, users typically need to sit in the chair for extended periods. Due to the wheelchair's structural design, such as the frame, large rear wheels, and footrests, the user's field of vision is often limited, easily creating multiple blind spots. This makes it difficult for users to fully perceive their surroundings when independently maneuvering the wheelchair to turn, navigate narrow passages, or avoid obstacles. Relying solely on the user's own observation and judgment increases the safety risks of collisions, rollovers, or getting stuck. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, the present invention provides a wheelchair robot.

[0005] The technical solution of this invention is as follows: A wheelchair robot includes: a seat and a mobile chassis. The seat is disposed on and fixedly connected to the mobile chassis. An interactive control module and a motion control module are disposed on the mobile chassis. The interactive control module and the motion control module are electrically connected. A robotic arm is disposed on the seat. A first camera is disposed on the robotic arm. Both the first camera and the robotic arm are electrically connected to the interactive control module. A second camera is disposed on the seat. A first radar and a second radar are disposed on both sides of the mobile chassis. The first radar, the second radar, and the second camera are electrically connected to the motion control module. The motion control module controls the movement of the mobile chassis based on the information detected by the first radar, the second radar, and the second camera.

[0006] Preferably, the mobile chassis includes: a chassis, four omnidirectional wheels, a first servo driver, and a second servo driver. The seat is disposed on the chassis. The four omnidirectional wheels are rotatably disposed on both sides of the front and rear ends of the chassis. The first servo driver is connected to two of the omnidirectional wheels, and the second servo driver is driven connected to the remaining two omnidirectional wheels. A power supply module is disposed on the chassis. The power supply module is electrically connected to the first servo driver, the second servo driver, the motion control module, and the interactive control module. The first servo driver and the second servo driver are electrically connected to the motion control module.

[0007] Preferably, the first radar and the second radar are arranged diagonally.

[0008] Preferably, the chassis is provided with an adjustment assembly, which includes: a mounting frame, a lifting sleeve, a rotary driver, a gear, and a second rotary driver. The mounting frame is disposed on the chassis, and the second rotary driver is fixedly disposed on the mounting frame. The first end of the lifting sleeve is sleeved on the output end of the second rotary driver, and the second end of the lifting sleeve is connected to the first radar. A threaded groove is formed on the surface of the lifting sleeve. The gear is located on one side of the lifting sleeve and is rotatably disposed on the mounting frame. The gear teeth mesh with the threaded groove. The rotary driver is fixedly mounted on the mounting frame and is drivenly connected to the gear. The rotary driver and the second rotary driver are electrically connected to the interactive control module.

[0009] Preferably, a guide block is provided on the output end of the second rotary driver, a sliding groove is provided on the lifting sleeve, the guide block is slidably disposed in the sliding groove, and a stop block is provided on the guide block, the stop block being in movable contact with the surface of the first end of the lifting sleeve.

[0010] Preferably, the robotic arm is provided with a gripping component, which is electrically connected to the robotic arm.

[0011] Preferably, a feedback component is provided between the robotic arm and the gripping component. The feedback component includes a first torque sensor and a second torque sensor. The first torque sensor is disposed at the end joint of the robotic arm, and the second torque sensor is disposed on the drive shaft of the gripping component. The feedback component is used to detect the gripping force when the gripping component grasps an object and to feed it back to the interactive control module.

[0012] Preferably, the chassis is provided with a double slide rail and a telescopic actuator. The bottom end of the seat is slidably connected to the double slide rail. The bottom end of the seat is provided with a center of gravity detection module. The interactive control module is electrically connected to the center of gravity detection module and the telescopic actuator. The interactive control module controls the telescopic actuator to drive the seat to slide on the double slide rail according to the data detected by the center of gravity detection module.

[0013] Preferably, the number of the center of gravity detection modules is four, and the four center of gravity detection modules are respectively arranged around the bottom end of the seat at intervals, and the four center of gravity interval modules are all electrically connected to the interactive control module.

[0014] Preferably, a shock-absorbing assembly is provided under the seat. The shock-absorbing assembly includes an upper connecting plate, a lower connecting plate, a control valve, and an airbag shock absorber. The upper connecting plate is fixedly connected to the seat, the lower connecting plate is fixedly connected to the chassis, and the airbag shock absorber is disposed between the upper connecting plate and the lower connecting plate. The input end of the control valve is electrically connected to the interactive control module, and the output end of the control valve is connected to the airbag shock absorber.

[0015] According to the above-described solution, the beneficial effect of this invention is that it provides a wheelchair robot comprising: a seat and a mobile chassis. An interactive control module and a motion control module are mounted on the mobile chassis. A robotic arm is mounted on the seat, and a first camera is mounted on the robotic arm. A second camera is mounted on the seat. A first radar and a second radar are respectively mounted on both sides of the mobile chassis. The first radar, the second radar, and the second camera are electrically connected to the motion control module. By utilizing the cooperation between the first camera, the second camera, the first radar, the second radar, and the interactive control module and the motion control module, the detection field of view of the wheelchair robot can be broadened, thereby comprehensively perceiving the surrounding environment of the wheelchair robot and improving the safety of using the wheelchair robot. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structural design of the present invention; Figure 3 This is a three-dimensional exploded view of the chassis and double slide rails of the present invention; Figure 4 for Figure 3 Internal structure diagram at point A; Figure 5 for Figure 3 A schematic diagram of the cross-sectional structure at point BB.

[0017] In the diagram, 10 is the seat; 11 is the center of gravity detection module; 20 is the interactive control module; 21 is the motion control module; 22 is the touchscreen; 23 is the joystick; 30 is the robotic arm; 31 is the first camera; 32 is the gripping component; 33 is the first torque sensor; 34 is the second torque sensor; 40 is the second camera; 41 is the first radar; 42 is the second radar; 50 is the chassis; 51 is the omnidirectional wheel; 52 is the first servo driver; 53 is the second servo driver; 54 is the power supply module; 60 is the adjustment component; 61 is the mounting bracket; 62 is the lifting sleeve; 620 is the threaded groove; 63 is the first rotary driver; 64 is the second rotary driver; 640 is the stop; 65 is the gear; 66 is the support plate; 70 is the double slide rail; 71 is the telescopic driver; 80 is the auxiliary wheel; 90 is the upper connecting plate; 91 is the lower connecting plate; and 93 is the airbag shock absorber. Detailed Implementation

[0018] The present invention will now be further described with reference to the accompanying drawings and embodiments: like Figures 1 to 3As shown, a wheelchair robot includes: a seat 10 and a mobile chassis. The seat 10 is disposed on and fixedly connected to the mobile chassis. An interactive control module 20 and a motion control module 21 are disposed on the mobile chassis. The interactive control module 20 and the motion control module 21 are electrically connected. A robotic arm 30 is disposed on the seat 10. A first camera 31 is disposed on the robotic arm 30. The first camera 31 and the robotic arm 30 are both electrically connected to the interactive control module 20. A second camera 40 is disposed on the wheelchair body. A first radar 41 and a second radar 42 are disposed on the seat 10. The first radar 41, the second radar 42, and the second camera 40 are electrically connected to the motion control module 21. The motion control module 21 controls the movement of the mobile chassis based on the information detected by the first radar 41, the second radar 42, and the second camera 40. During use, the user sits in seat 10. As the wheelchair moves, the first radar 41 collects a two-dimensional distance point cloud in front of the wheelchair robot to complete obstacle detection and local map construction. The first radar 41 also collects environmental information behind and to the sides of the wheelchair robot to compensate for blind spots and achieve omnidirectional obstacle detection. Data detected by the first radar 41 and the second radar 42 are sent to the motion control module 21 in real time. The motion control module 21 integrates the above detection information to achieve path planning and outputs speed and obstacle avoidance. The motion control module 21 drives the mobile chassis to move. At the same time, the first camera 31 collects a depth point cloud in front to identify complex terrain, such as steps and narrow passages, for fall warning. The second camera 40 faces the robotic arm 30 to identify objects and generate a three-dimensional grasping posture, sending the processed object information to the interactive control module 20. Through the above settings, the detection field of view of the wheelchair robot can be broadened, thereby comprehensively perceiving the surrounding environment of the wheelchair robot and improving the safety of using the wheelchair robot.

[0019] In this embodiment, as Figures 1 to 3As shown, the mobile chassis includes: a chassis 50, four omnidirectional wheels 51, a first servo driver 52, and a second servo driver 53. The seat 10 is mounted on the chassis 50. The four omnidirectional wheels 51 are divided into two front wheels and two rear wheels. The two front wheels and the two rear wheels are rotatably connected to the front and rear sides of the chassis 50, respectively. The first servo driver 53 is driven by the two front wheels, and the second servo driver 53 is driven by the two rear wheels. A power supply module 54 is provided on the chassis 50. The power supply module 54 is electrically connected to the first servo driver 52, the second servo driver 53, the motion control module 21, and the interaction control module 20. Specifically, the first servo driver 52 and the second servo driver 53 are electrically connected to the motion control module 21. The motion control module 21 controls the first servo driver 52 and the second servo driver 53 to drive the two front wheels and the two rear wheels on the chassis 50 to rotate based on data transmitted from the first radar 41, the second radar 42, and the first camera 31, thereby controlling the movement state of the wheelchair robot. It should be noted that both the first servo driver 52 and the second servo driver 53 are servo motors. Using a servo motor to drive the omnidirectional wheel 51 to rotate is a common practice for those skilled in the art. Therefore, the connection structure and working principle of the servo motor and the omnidirectional wheel 51 will not be described in detail.

[0020] In this embodiment, as Figures 1 to 3 As shown, the robotic arm 30 is positioned at the front end of the chassis 50. A gripping component 32 is located at the end of the robotic arm 30. The robotic arm 30 internally houses a signal harness, an EtherCAT (Ethernet Automation Technology) control bus, and a drive power supply harness. These are used to transmit real-time control data from each joint of the robotic arm 30 to the interactive control module 20, and to feed back the sensor signals from the gripping component 32 to the interactive control module 20. The gripping component 32 employs two-finger grippers, internally equipped with a micro-drive motor and first and second drive gear sets 65. The tips of the two grippers are covered with a non-slip, flexible material, allowing for adaptive fitting according to the shape of the object. The gripping component 32 controls the opening and closing of the grippers by driving the first and second drive gear sets 65 through its internal drive motor, thereby gripping the object. A flange fixing seat is located at the end of the robotic arm 30, and the flange fixing seat is rigidly connected to the gripping component 32.

[0021] Furthermore, such as Figure 1 and Figure 2As shown, a force feedback component is provided between the gripping assembly 32 and the robotic arm 30. The force feedback component includes a first torque sensor 33 and a second torque sensor 34. The first torque sensor 33 is located at the end joint of the robotic arm 30, and the second torque sensor 34 is located on the drive shaft of the gripping assembly 32. It is used to detect the real-time gripping force when the grippers close. The force feedback component interacts with the robotic arm 30 and the interactive control module 20 via a digital bus. When the robotic arm 30 performs a gripping task, the second torque sensor 34 can measure the gripping force in real time and feed the data back to the interactive control module 20. The robotic arm 30 controls the gripping assembly 32 to adjust the opening and closing force of the grippers, ensuring stable gripping of the target without damaging the object or causing leakage of liquid containers due to excessive gripping force. The first torque sensor 33 can monitor the contact status between the end of the robotic arm 30 and the external environment in real time. When an abnormal torque is detected, such as contact with the user's body, desktop, wall, etc., the interaction module can immediately trigger the anti-collision control strategy of the robotic arm 30, causing the joints of the robotic arm 30 to automatically stop moving, effectively protecting the user's safety.

[0022] In this embodiment, as Figure 1 and Figure 3 As shown, the first radar 41 and the second radar 42 are arranged diagonally. By adopting a diagonal installation method, the first radar 41 and the second radar 42 are positioned in a staggered manner, which can effectively expand their detection angle and field of view, thereby improving the environmental recognition effect of the wheelchair robot during use.

[0023] Furthermore, such as Figures 3 to 5As shown, an adjustment assembly 60 is provided on the chassis 50. The adjustment assembly 60 includes: a mounting frame 61, a lifting sleeve 62, a first rotary driver 63, a gear 65, and a second rotary driver 64. The mounting frame 61 is disposed on the chassis 50. The second rotary driver 64 is fixedly disposed on the mounting frame 61. The first end of the lifting sleeve 62 is sleeved on the output end of the second rotary driver 64. The second end of the lifting sleeve 62 is connected to the first radar 41. A threaded groove 620 is formed on the surface of the lifting sleeve 62. The gear 65 is located on one side of the lifting sleeve 62 and is rotatably disposed on the mounting frame 61. The teeth of the gear 65 mesh with the threaded groove 620. The rotary driver is fixedly mounted on the mounting frame 61 and is drivenly connected to the gear 65. The first rotary driver 63 and the second rotary driver 64 are electrically connected to the interactive control module 20. After the first rotary actuator drives the gear 65 to rotate, the teeth of the gear 65 push the threaded groove 620, thereby driving the lifting sleeve 62 to rise and fall. When the first rotary actuator 63 stops rotating, the teeth of the gear 65 can still abut against the side wall of the threaded groove 620, allowing for both adjustment and fixation of the lifting height of the first radar 41. The second rotary actuator 64 can drive the lifting sleeve 62 to rotate. Specifically, because the width of the threaded groove 620 is greater than the thickness of the gear teeth of the gear 65, the gear 65 will not interfere with the rotation of the lifting sleeve 62. When the second rotary actuator 64 drives the lifting sleeve 62 to rotate, the first radar 41 also rotates accordingly, thereby adjusting the detection angle of the first radar 41.

[0024] Furthermore, such as Figures 3 to 5 As shown, a guide block is provided on the output end of the second rotary driver 64, and a sliding groove is provided on the lifting sleeve 62. The guide block is slidably disposed in the sliding groove. A stop block 640 is provided on the guide block, the width of which is greater than the diameter of the lifting sleeve 62. In the initial state, the outer surface of the first end of the lifting sleeve 62 abuts against the stop block 640. The guide block and the sliding groove cooperate to form a detachable unit between the output end of the second rotary driver 64 and the lifting sleeve 62. This allows the second rotary driver 64 to rotate synchronously with the lifting threaded rod, enabling the angle of the first radar 41 to be adjusted first, and then the height of the first radar 41 to be adjusted using the first rotary driver 63 in conjunction with the gear 65. This improves the flexibility of adjusting the height and angle of the first radar 41, avoiding the situation described above where the height of the first radar 41 can only be adjusted first before its angle can be adjusted.

[0025] It should be noted that there are two adjustment components 60. The second radar 42 is mounted on another adjustment component 60, which also adjusts the height of the second radar 42 according to the steps described above. Both the first rotary actuator 63 and the second rotary actuator 64 are rotary motors. By controlling the lifting height and rotation angle of the first radar 41 and the second radar 42 respectively through the two adjustment components 60, the two sets of radars can be positioned at different heights and angles, thereby forming a richer detection sample and further improving the wheelchair robot's environmental perception ability and overall safety during operation. It should be noted that both the first rotary actuator 63 and the second rotary actuator 64 are rotary motors.

[0026] In this embodiment, as Figure 2 As shown, the chassis 50 is provided with a double slide rail 70 and a telescopic driver 71. The double slide rail 70 is composed of two slide rails, each of which is provided with a slider. A support plate 66 is fixedly connected to the two sliders. The seat 10 is connected to the support plate 66. A center of gravity detection module 11 is provided at the bottom of the seat 10. The telescopic driver 71 is connected to the slider. Both the telescopic driver 71 and the center of gravity detection module 11 are electrically connected to the interactive control module 20.

[0027] Specifically, when the wheelchair robot is in motion, such as... Figure 2 As shown, the center of gravity detection module 11 detects the angle with the ground and the patient's posture on the seat 10 in real time, and sends this information to the interactive control module 20 in real time. When encountering a slope or climbing a hill, the gravity sensor detects that the threshold is exceeded, and the interactive control module 20 drives the telescopic actuator 71 to push the slider so that the seat 10 slides. When going uphill, the interactive control module 20 drives the telescopic actuator 71 to push the seat 10 forward, so that the center of gravity of the wheelchair robot is forward as a whole, preventing the wheelchair robot from tilting backward. When going downhill, the interactive control module 20 drives the telescopic actuator 71 to push the seat 10 backward, so that the center of gravity of the wheelchair robot is backward, preventing the wheelchair robot from tilting forward.

[0028] Furthermore, there are four center-of-gravity detection modules 11, which are arranged at intervals around the bottom of the seat 10. All four modules are electrically connected to the interactive control module 20. Each center-of-gravity detection module 11 consists of a position sensor, an accelerometer, and a gyroscope. The position sensor detects the position of the seat 10 on the slide rail, while the accelerometer and gyroscope detect the vibration tilt angle. Based on the information detected by the position sensor, accelerometer, and gyroscope, the interactive control module 20 controls the telescopic actuator 71 to adjust the center of gravity of the seat 10. It should be noted that the telescopic actuator 71 is a telescopic cylinder, and the center-of-gravity detection module 11 is a common structure used by those skilled in the art. Therefore, the specific interaction principle between the center-of-gravity detection module 11 and the interactive control module 20, as well as the detection principle of the center-of-gravity module, will not be described in detail.

[0029] Furthermore, such as Figure 3 As shown, a shock-absorbing assembly is provided below the seat 10. The shock-absorbing assembly includes an upper connecting plate 90, a lower connecting plate 91, a control valve, and multiple airbag shock absorbers 93 connected in parallel. The upper connecting plate 90 is fixedly connected to the seat 10, and the lower connecting plate 91 is fixedly connected to the chassis 50. The airbag shock absorbers 93 are connected to the control valve, which is electrically connected to the interactive module 20. Specifically, the airbag shock absorbers 93 are electrically connected to the interactive control module 20. Rubber pads are provided at both the upper and lower ends of the airbag shock absorbers 93, which are connected to the seat 10 and the support plate 66 respectively via the rubber pads. The control valve is electrically connected to the interactive control module 20, and a manifold is also provided on the control valve. The airbag shock absorbers 93 are connected to the control valve via the manifold. The control valve includes an air inlet, an air outlet, and a constant pressure maintaining unit, capable of regulating the air pressure of the entire airbag shock absorber 93 or a single area thereof. The control valve is connected to the interactive control module 20 via electronic control. The interactive computer outputs on / off and pressure adjustment commands to the control valve via CAN or serial port instructions to inflate and deflate the airbag shock absorber 93, thereby achieving real-time management of the support force when supporting the seat 10. When the wheelchair is traveling at high speed on flat ground, the system maintains the air pressure of the airbag shock absorber 93 at a moderate level through the control valve, making the seat 10 soft and conforming to the user's body. When the first radar 41 and the second radar 42, along with the first camera 31 and the second camera 40, detect terrain changes (such as slopes or speed bumps), the motion control module 21 sends terrain level information to the interactive control module 20. The interactive control module 20 then sends a rapid pressurization command to the control valve to inflate the airbag of the airbag shock absorber 93. This increases the stiffness of the airbag shock absorber 93, improves the overall support force of the shock absorption components, and prevents excessive downward pressure on the seat 10 from causing the user to tilt backward.

[0030] When driving slowly on uneven ground, the control valve reduces the air pressure inside the airbag shock absorber 93, compressing it fully to absorb vertical vibrations from the chassis 50. In this mode, the airbag shock absorber 93 provides stabilizing damping, suppressing secondary vibrations caused by its rebound. The use of the airbag shock absorber 93 keeps the seat 10 stable on complex terrain, improving the user's riding experience.

[0031] In this embodiment, as Figures 1 to 3 As shown, the bottom of the chassis 50 is provided with auxiliary wheels 80. Specifically, when the wheelchair robot is moving, the auxiliary wheels 80 are in contact with the ground and rotate on the ground, which can improve the wheelchair robot's grip and make the wheelchair robot's movement more stable.

[0032] In this embodiment, as Figure 1 As shown, a touchscreen 22, a voice control system, and an operating joystick 23 are integrated on the top of the chassis 50. The touchscreen 22, voice control system, and operating joystick 23 are all electrically connected to the interactive control module 20. By touching the touchscreen 22 or issuing voice commands to the voice control system, the interactive control module 20 controls the robotic arm 30 to perform corresponding actions, such as opening a door or retrieving an item. Alternatively, the robotic arm 30 can be directly controlled by moving the joystick 23 and generating an electrical signal. This configuration provides multiple methods for controlling the robotic arm 30, greatly enhancing the user experience when using the wheelchair robot. It should be noted that the interaction between the interactive control module 20 and the touchscreen 22, voice control system, and operating joystick 23 is a common technique used by those skilled in the art. The above only describes the functions of the touchscreen 22, voice control system, and operating joystick 23; therefore, the implementation principle of the interaction between the interactive control module 20 and the touchscreen 22, voice control system, and operating joystick 23 will not be described in detail.

[0033] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

[0034] The present invention has been described above with reference to the accompanying drawings. Obviously, the implementation of the present invention is not limited to the above-described manner. Any improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A wheelchair robot, characterized in that, The application relates to a seat (10) and a moving chassis, wherein the seat (10) is arranged on the moving chassis and fixedly connected with the moving chassis, the moving chassis is provided with an interactive control module (20) and a motion control module (21), the interactive control module (20) is electrically connected with the motion control module (21), a mechanical arm (30) is arranged on the seat (10), a first camera (31) is arranged on the mechanical arm (30), the first camera (31) and the mechanical arm (30) are electrically connected with the interactive control module (20), a second camera (40) is arranged on the seat (10), a first radar (41) and a second radar (42) are respectively arranged on the two sides of the moving chassis, the first radar (41), the second radar (42) and the second camera (40) are electrically connected with the motion control module (21), and the motion control module (21) controls the movement of the moving chassis according to the information detected by the first radar (41), the second radar (42) and the second camera (40). The moving chassis comprises a chassis (50), four omnidirectional wheels (51), a first servo driver (52) and a second servo driver (53), the seat (10) is arranged on the chassis (50), the four omnidirectional wheels (51) are respectively arranged on the two sides of the front end and the rear end of the chassis (50), the first servo driver (52) is connected with two of the omnidirectional wheels (51), and the second servo driver (53) is drivingly connected with the remaining two omnidirectional wheels (51); a power supply module (54) is arranged on the chassis (50), the power supply module (54) is electrically connected with the first servo driver (52), the second servo driver (53), the motion control module (21) and the interactive control module (20), and the first servo driver (52) and the second servo driver (53) are electrically connected with the motion control module (21).

2. The wheelchair robot according to claim 1, characterized by The first radar (41) and the second radar (42) are diagonally arranged.

3. The wheelchair robot according to claim 2, characterized by ​ 4. The wheelchair robot according to claim 3, characterized by The bottom disc (50) is provided with an adjusting assembly (60), the adjusting assembly (60) comprises: a mounting frame (61), a lifting sleeve (62), a first rotary driver (63), a gear (65) and a second rotary driver (64), the mounting frame (61) is arranged on the bottom disc (50), the second rotary driver (64) is fixedly arranged on the mounting frame (61), the first end of the lifting sleeve (62) is sleeved with the output end of the second rotary driver (64), the second end of the lifting sleeve (62) is connected with the first radar (41), the surface of the lifting sleeve (62) is provided with a threaded groove (620), the gear (65) is located on one side of the lifting sleeve (62) and is rotatably arranged on the mounting frame (61), the gear teeth of the gear (65) are engaged with the threaded groove (620), the first rotary driver (63) is fixedly installed on the mounting frame (61), the first rotary driver (63) is drivingly connected with the gear (65), and the first rotary driver (63) and the second rotary driver (64) are electrically connected with the interactive control module (20).

5. The wheelchair robot according to claim 4, characterized by The output end of the second rotary driver (64) is provided with a guide block, the lifting sleeve (62) is provided with a sliding groove, the guide block is slidably arranged in the sliding groove, and the guide block is provided with a stop block (640). The stop block (640) is in movable abutment with the surface of the first end of the lifting sleeve (62).

6. The wheelchair robot according to claim 1, characterized by The mechanical arm (30) is provided with a grabbing assembly (32), and the grabbing assembly (32) is electrically connected with the mechanical arm (30).

7. The wheelchair robot according to claim 6, characterized by A feedback assembly is arranged between the mechanical arm (30) and the grabbing assembly (32), the feedback assembly comprises: a first torque sensor (33) and a second torque sensor (34), the first torque sensor (33) is arranged at the end joint of the mechanical arm (30), and the second torque sensor (34) is arranged on the driving shaft of the grabbing assembly (32); the feedback assembly is used for detecting the clamping force when the grabbing assembly (32) grabs an object and feeding back to the interactive control module (20).

8. The wheelchair robot according to claim 2, characterized by The bottom disc (50) is provided with double slide rails (70), the bottom disc (50) is provided with a telescopic driver (71), the bottom end of the seat (10) is slidably connected with the double slide rails (70), the bottom end of the seat (10) is provided with a gravity center detection module (11), the interactive control module (20) is electrically connected with the gravity center detection module (11) and the telescopic driver (71), and the interactive control module (20) controls the telescopic driver (71) to drive the seat (10) to slide on the double slide rails (70) according to the data detected by the gravity center detection module (11).

9. The wheelchair robot according to claim 8, characterized by The number of the gravity center detection modules (11) is four, the four gravity center detection modules (11) are respectively arranged at intervals around the bottom end of the seat (10), and the four gravity center detection modules (11) are electrically connected with the interactive control module (20).

10. The wheelchair robot according to claim 2, characterized by The seat (10) is provided with a damping assembly below, the damping assembly comprises an upper connecting plate (90), a lower connecting plate (91), a control valve and a gas bag shock absorber (93), the upper connecting plate (90) is fixedly connected with the seat (10), the lower connecting plate (91) is fixedly connected with the chassis (50), the gas bag shock absorber (93) is arranged between the upper connecting plate (90) and the lower connecting plate (91), an input end of the control valve is electrically connected with the interactive control module (20), and an output end of the control valve is in communication with the gas bag shock absorber (93).

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