A care wheelchair robot and a care method

Abstract

The application provides a care wheelchair robot and a care method, the wheelchair robot comprising an AGV chassis and a seat body installed on the AGV chassis, the seat body comprising a chair frame and a seat capable of being lifted relative to the chair frame, and two mechanical arms arranged in front and behind on the AGV chassis; when the seat is lifted to a second position, the seat is away from the chair frame, and the two mechanical arms can hold the back and the leg hollow of a person to hold the person up. The application arranges two mechanical arms in front and behind the seat body, and the two mechanical arms are arranged along the direction of the person to hold the back and the leg hollow of the person by horizontal holding to hold the cared person up, and other people are not needed to help the person get on and off the wheelchair, and the labor intensity of the person is reduced; the seat is movably installed in the chair frame and connected with the chair frame to be lifted, and when the person gets on and off the wheelchair, the seat is lifted first to leave enough working space for the two mechanical arms, and the two mechanical arms are beneficial to hold and put down the cared person.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robots, and particularly relates to a care wheelchair robot and a care method. BACKGROUND

[0002] At present, the population of the elderly in China is increasing, and the demand for medical care and care for the disabled is increasing. In order to serve the elderly and the disabled and reduce the burden on the family, a service wheelchair robot for the elderly and the disabled has emerged as the times require.

[0003] The elderly and the disabled can solve the problem of daily travel by using a wheelchair robot, but for people who are unable to walk due to their legs and feet, they still need caregivers to help them get on or off the wheelchair, which is labor-intensive. For example, CN201910448717.5 discloses a full-automatic active patient transfer wheelchair robot, CN202410774971.5 discloses an intelligent safe wheelchair for home use, CN202120638776.1 discloses a rehabilitation and nursing integrated transformable wheelchair robot, or CN202010645384.8 discloses an intelligent wheelchair robot. Based on the foregoing technical problems existing in the prior art, it is necessary to provide a care wheelchair robot that can help people with difficulty walking or unable to walk get on and off the wheelchair. SUMMARY

[0004] The present application aims to solve the technical problems existing in the prior art. The first object of the present application is to provide a care wheelchair robot, and the second object of the present application is to provide a care method based on the foregoing care wheelchair robot.

[0005] To achieve the first object, the present application adopts the following technical solution: a care wheelchair robot, comprising an AGV chassis capable of traveling on the ground and a seat body mounted on the AGV chassis, the seat body comprising a chair frame fixedly connected with the AGV chassis and a seat movably mounted in the chair frame, the seat being connected with the AGV chassis through a first lifting mechanism, and two multi-degree-of-freedom mechanical arms being provided in pairs in front and back on the AGV chassis, the two mechanical arms being located on the same side of the seat body and outside; the enabling ends of the first lifting mechanism and the two mechanical arms are connected with a control system respectively; the control system controls the first lifting mechanism to act to lower the seat to a first position or raise the seat to a second position; when the seat is lowered to the first position, the seat forms a seat with the chair frame; when the seat is raised to the second position, the seat is away from the chair frame upward, and the control system controls the two mechanical arms to act, the two mechanical arms can respectively hold the back and the leg well of a person, and the person is held and placed on the seat or the person sitting on the seat is held and placed elsewhere.

[0006] The technical scheme above, two mechanical arms are arranged in front and back of the seat body, the two mechanical arms are arranged along the direction of the person, and the two mechanical arms are arranged to hold the back of the person and the leg hollow through the horizontal holding mode, the cared person is held and lifted by the caring wheelchair robot, the cared person does not need other people to help to get on and off the wheelchair, and the labor intensity of the person is reduced; the seat is movably arranged in the chair frame and is connected with the chair frame to be lifted, when the cared person gets on and off the wheelchair, the seat is lifted first, the chair frame does not interfere with the space position, and enough working space is left for the two mechanical arms, the two mechanical arms adopt the horizontal holding mode, and the cared person is stably held and lifted and lowered.

[0007] In a preferred embodiment of the present application, a front guardrail is arranged on the chair frame.

[0008] The technical scheme above, the front guardrail is arranged to protect the cared person on the seat body, the cared person can be prevented from sliding from the front side of the seat body due to an accident, and the safety is improved.

[0009] In a preferred embodiment of the present application, the front guardrail comprises a plurality of transversely arranged telescopic rods arranged on the left front side or the right front side of the chair frame, and the ends of the telescopic rods can be extended to the opposite side to surround the front side of the chair frame by transversely extending the telescopic rods.

[0010] The technical scheme above adopts the telescopic rod mode, and the structure is simple and easy to obtain.

[0011] In a preferred embodiment of the present application, a limiting part is arranged on the chair frame at the opposite side of the telescopic rod, and the end of the telescopic rod can be connected with the limiting part to be fixed by transversely extending the telescopic rod.

[0012] The technical scheme above limits the end of the telescopic rod by arranging the limiting part, and the stability is provided.

[0013] In a preferred embodiment of the present application, a foot pedal for placing feet is arranged on the chair frame or the AGV chassis.

[0014] The technical scheme above arranges the foot pedal to facilitate the cared person to place feet, and the comfort is improved.

[0015] In another preferred embodiment of the present application, the mechanical arm is connected with the AGV chassis through a second lifting mechanism arranged outside the seat body, and the two mechanical arms can be independently lifted to raise or lower the position.

[0016] The technical scheme above can lift the two mechanical arms to improve the working range of the two mechanical arms, and the two mechanical arms can be lifted to better hold the cared person in the process of lowering from the second position to the first position and in the process of raising from the first position to the second position, and the safety is improved.

[0017] In another preferred embodiment of the present application, the care wheelchair robot further has a plurality of visual sensors which detect images of four directions of the wheelchair robot and transmit to the control system.

[0018] The above technical solution, by setting a plurality of visual sensors to detect images of four directions of the wheelchair robot, as the eyes of the wheelchair robot, realizes automatic getting on and off the wheelchair of the cared person, and provides automation of the wheelchair robot.

[0019] To achieve the above-mentioned second object, the present application adopts the following technical solution: a care method of a care wheelchair robot, comprising a wheelchair getting-on step and a wheelchair getting-off step, the wheelchair getting-on step being: S11, detecting the body position of the cared person at another place by a visual sensor, the control system controlling the AGV chassis to run and making the mechanical arms perpendicular to the cared person; S12, the control system controlling the first lifting mechanism to act to lift the seat to the second position; S13, based on the image detected by the visual sensor, the control system controls the two mechanical arms to act, the two mechanical arms cross the seat body along the width direction to hold the back and the leg well of the cared person, and the two mechanical arms put the person at another place on the seat; S14, the control system controls the first lifting mechanism to act to lower the seat to the first position.

[0020] The wheelchair getting-off step is: S21, the control system controls the AGV chassis to run to another place; S22, the control system controls the first lifting mechanism to act to lift the seat to the second position; S23, the body position of the cared person on the seat is detected by a visual sensor, based on the image detected by the visual sensor, the control system controls the two mechanical arms to act, the two mechanical arms hold the back and the leg well of the cared person respectively, the two mechanical arms hold the cared person on the seat, and the two mechanical arms put the cared person on another place by crossing the seat body along the width direction; S24, the control system controls the first lifting mechanism to act to lower the seat to the first position.

[0021] In another preferred embodiment of the present application, in the process of lowering from the second position to the first position, the control system controls the mechanical arms to maintain the lifting of the cared person, when the lower edge of the back mechanical arm reaches the upper edge of the chair back, the back mechanical arm releases the force to move away laterally backward or withdraws along the direction perpendicular to the cared person, and the leg mechanical arm continues to move downward until the seat is lowered to the first position, then the leg mechanical arm releases the force to move away laterally forward or withdraws along the direction perpendicular to the cared person; in the process of lifting from the first position to the second position, the control system controls the back mechanical arm to move to the upper edge of the chair back to hold the back of the cared person and lift together, the leg mechanical arm inserts into the leg well along the direction perpendicular to the cared person and lifts together, when the seat is lifted to the second position, the back mechanical arm adjusts the position to hold the middle of the back of the cared person, and the leg mechanical arm holds the leg well of the cared person.

[0022] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood by considering the following detailed description, from which embodiments of the application emerge.

[0024] Figure 1 is a structural schematic of a care wheelchair robot of an embodiment Figure One , the seat is in the first position.

[0025] Figure 2 is a structural schematic of a care wheelchair robot of an embodiment Figure Two , the seat is in the second position.

[0026] The reference signs in the drawings of the specification comprise: AGV chassis 10, seat body 20, chair frame 21, seat 22, backrest 23, armrest 24, front guardrail 25, telescopic rod 251, support rod 252, footboard 26, mechanical arm 30, first lifting mechanism 40, second lifting mechanism 50. DETAILED DESCRIPTION

[0027] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which examples of embodiments are shown, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0028] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "vertical", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0029] In the description of the present application, unless otherwise specified and limited, it should be noted that the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be mechanical connection or electrical connection, it can be the communication between the two elements, it can be direct connection or indirect connection through intermediate medium, and the specific meaning of the above terms can be understood by the person skilled in the art according to the specific circumstances.

[0030] The present application provides a care wheelchair robot, such as Figure 1And Figure 2 As shown in the preferred embodiment, it comprises an AGV chassis 10 capable of traveling on the ground and a seat body 20 mounted on the AGV chassis 10, the AGV chassis 10 can adopt the prior art, which is not the innovation point of the present application and is not described here. The seat body 20 comprises a chair frame 21 fixedly connected with the AGV chassis 10, and a seat 22 movably mounted in the chair frame 21, the chair frame 21 is also provided with a backrest 23 located at the rear side, and two armrests 24 located at the left and right sides, and a footrest 26 for resting the feet is also mounted on the chair frame 21 or the AGV chassis 10, such as the footrest 26 is fixedly connected with the chair frame 21 through a support rod 252. The seat 22 is connected with the AGV chassis 10 through a first lifting mechanism 40, the first lifting mechanism 40 can adopt a multi-stage electric cylinder in the prior art, the cylinder body of the multi-stage electric cylinder is fixedly connected with the top of the AGV chassis 10, and the end of the telescopic shaft of the multi-stage electric cylinder is fixedly connected with the lower end of the seat 22. The AGV chassis 10 is also provided with a pair of two multi-degree-of-freedom mechanical arms 30 arranged in front and back, and the two mechanical arms 30 are located on the same side of the seat body 20, such as on the left side of the seat body 20.

[0031] The enabling ends of the first lifting mechanism 40 and the two mechanical arms 30 are respectively connected with the control system, the control system controls the action of the first lifting mechanism 40 to lower the seat 22 to the first position or raise it to the second position. As shown in Figure 1 When the seat 22 is lowered to the first position, the seat 22 forms a seat with the chair frame 21; as shown in Figure 2 When the seat 22 is raised to the second position, the seat 22 is away from the backrest 23 of the chair frame 21, the control system controls the action of the two mechanical arms 30, the two mechanical arms 30 can respectively hold the back and the leg hollow of the person (such as the rear mechanical arm 30 holds the back, and the front mechanical arm 30 holds the leg hollow), and the person on the bed, sofa, toilet, etc. is held and placed on the seat 22, or the person sitting on the seat 22 is held and placed on the bed, sofa, toilet, etc.

[0032] In the present application, the mechanical arm 30 has multiple joints, and its length is long enough to ensure that the mechanical arm 30 can cross the seat body 20 from the left side of the seat body 20 to the right side, and hold the person being cared for from the other place or place the person being cared for on the seat 22 to the other place. Preferably, the mechanical arm 30 adopts a foldable multi-joint mechanical arm, such as the mechanical arms disclosed in CN201911390262.2, CN201410076030.0, CN201410334171.8, CN202110143580.X, CN202210317324.2, the multi-joint mechanical arm 30 has a large working space and has a folding function, and when not in use, it can be folded and stored in the chair frame 21 below the seat 22, reducing the occupied space and not affecting the daily life of the person being cared for on the seat body 10.

[0033] In another preferred embodiment, the chair frame 21 is further provided with a front guard rail 25 which is retractable and located at the front side. When the seat body 20 is empty, the front guard rail 25 is retracted to the side of the chair frame 21, without affecting the person being cared for sitting on the seat body 20; when the person being cared for sits on the seat body 20, the front guard rail 25 extends to surround the front side of the chair frame 21, so as to avoid the person being cared for from slipping out from the front side of the seat body 20 due to an accident. It should be noted that before the person being cared for gets on or off the wheelchair, the front guard rail 25 needs to be retracted.

[0034] Specifically, the front guard rail 25 includes a set of transversely arranged telescopic rods 251 located at the front left side of the chair frame 21 (of course, it can also be provided at the front right side of the chair frame 21). For example, a support rod 252 is fixedly connected to the top of the armrest 24 at the left side of the chair frame 21, and the telescopic rod 251 is installed on the support rod 252 at the left side. By transversely extending the telescopic rod 251 to the right, the end of the telescopic rod 251 can extend to the right side of the chair frame 21, so as to surround the front side of the chair frame 21. The telescopic rod 251 can be a multi-section telescopic cylinder for automatic telescoping or manual telescoping. Preferably, the right side of the chair frame 21 is also provided with a support rod 252 fixedly connected to the top of the armrest 24, and the support rod 252 at the right side is provided with a limiting portion corresponding to the support rod 252. By transversely extending the telescopic rod 251 to the right, the end of the telescopic rod 251 can be connected (such as clamped) with the limiting portion for fixation.

[0035] In another preferred embodiment, the mechanical arm 30 is connected with the AGV chassis 10 through a second lifting mechanism 50 located at the outer side of the seat body 20, and the two mechanical arms 30 can be independently lifted to raise or lower their positions. The second lifting mechanism 50 can adopt a multi-section cylinder in the prior art, and two multi-section cylinders are further arranged on the top of the AGV chassis 10. The ends of the telescopic shafts of the two multi-section cylinders are respectively connected with the two mechanical arms 30 for driving the two mechanical arms 30 to lift, so as to improve the working range of the two mechanical arms 30.

[0036] In another preferred embodiment, the wheelchair care robot further has a plurality of visual sensors (not shown in the figure). The plurality of visual sensors can be installed at a plurality of positions of the chair frame 21. The visual sensors detect images in four directions of the wheelchair robot and transmit the images to the control system, so as to facilitate the mechanical arm 30 to hold or put down the person being cared for.

[0037] Embodiment Two

[0038] The embodiment provides a care method of the care wheelchair robot based on the embodiment one. The care method includes a wheelchair getting-on step and a wheelchair getting-off step.

[0039] The wheelchair getting-on step is as follows.

[0040] S11, detecting the position of the other person to be cared for by the vision sensor, the control system controls the AGV chassis 10 to run, and the mechanical arm 30 is perpendicular to the person to be cared for, that is, the seat body 20 is beside the person to be cared for outside, the front side of the seat body 20 faces the foot end of the person to be cared for, and the rear side of the seat body 20 faces the head end of the person to be cared for;

[0041] S12, the control system controls the first lifting mechanism 40 to act to lift the seat 22 to the second position, preferably slightly higher than the upper end of the back 23;

[0042] S13, based on the image detected by the vision sensor, the control system controls the two mechanical arms 30 to act, and the two mechanical arms 30 cross the seat body 20 in the width direction to hold the back and the leg hollow of the person to be cared for respectively, and the other person to be cared for is lifted and placed on the seat 22;

[0043] S14, the control system controls the first lifting mechanism 40 to act to lower the seat 22 to the first position, and the seat 22 forms a seat with the frame 21, and the person to be cared for sits on the seat body 20.

[0044] The next wheelchair step is:

[0045] S21, the control system controls the AGV chassis 10 to run to the other place, and the front-rear direction of the seat body 20 is consistent with the length direction of the person to be cared for when the person to be cared for is in the other place;

[0046] S22, the control system controls the first lifting mechanism 40 to act to lift the seat 22 to the second position to lift the person to be cared for on the seat 22;

[0047] S23, detecting the position of the person to be cared for on the seat 22 by the vision sensor, based on the image detected by the vision sensor, the control system controls the two mechanical arms 30 to act, and the two mechanical arms 30 hold the back and the leg hollow of the person to be cared for respectively, the two mechanical arms 30 lift the person to be cared for on the seat 22, and the two mechanical arms 30 cross the seat body 20 in the width direction to place the person to be cared for in the other place;

[0048] S24, the control system controls the first lifting mechanism 40 to act to lower the seat 22 to the first position for resetting.

[0049] Preferably, during the process of lowering from the second position to the first position, and during the process of lifting from the first position to the second position, the two mechanical arms 30 can also be lifted to better support the person to be cared for.

[0050] Specifically, in the process of descending from the second position to the first position, the control system controls the mechanical arms 30 to maintain the lifting of the person being cared for, the mechanical arms 30 descending together with the descending of the seat 22, when the lower edge of the back mechanical arm 30 reaches the upper edge of the chair back 23, the back mechanical arm 30 releases the force to move laterally backward or to withdraw along a direction perpendicular to the person being cared for, the leg mechanical arm 30 continues to descend until the seat 22 descends to the first position, then the leg mechanical arm 30 releases the force to move laterally forward or to withdraw along a direction perpendicular to the person being cared for.

[0051] In the process of ascending from the first position to the second position, the control system controls the back mechanical arm 30 to ascend to the upper edge of the chair back 23 to support the back of the person being cared for and to ascend together, the leg mechanical arm 30 to insert into the leg well along a direction perpendicular to the person being cared for and to ascend together, in the process of continuing to ascend, the two mechanical arms 30 to adjust their own height and posture, when the seat 22 ascends to the second position, the back mechanical arm 30 to support the middle of the back of the person being cared for, the leg mechanical arm 30 to support the leg well of the person being cared for, to lift the person being cared for.

[0052] In the description of the present specification, the description of the terms "preferred embodiment", "one embodiment", "some embodiments", "example", "specific example" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0053] Although the embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made thereto without departing from the principles and the spirit of the present application, the scope of which is defined by the claims and their equivalents.

Claims

1. A wheelchair care robot, characterized in that: The AGV comprises an AGV chassis capable of traveling on the ground and a seat body mounted on the AGV chassis, wherein the seat body comprises a chair frame fixedly connected to the AGV chassis and a seat movably mounted in the chair frame, wherein the seat is lifted and lowered by a first lifting mechanism and connected to the AGV chassis. The AGV chassis is further mounted with two multi-degree-of-freedom robotic arms arranged in a tandem arrangement, and the two robotic arms are located on the outside of the same side of the seat body. The first lifting mechanism and the enabling ends of the two robotic arms are respectively connected to a control system; The control system controls the first lifting mechanism to lower the seat to the first position or raise it to the second position; When the seat is lowered to the first position, the seat and the chair frame form a seat; When the seat rises to the second position, the seat moves upward away from the chair frame, and the control system controls the movement of the two robotic arms. The two robotic arms can respectively support the back and leg pits of the person, pick up the person elsewhere and place him on the seat, or pick up the person sitting on the seat and place him somewhere else.

2. The wheelchair care robot according to claim 1, characterized in that: The chair frame is also provided with a retractable front guardrail located at the front side.

3. The wheelchair care robot according to claim 2, characterized in that: The front guardrail includes a group of transversely arranged telescopic rods located on the front left or right side of the chair frame. By laterally extending the telescopic rods, the ends of the telescopic rods can extend to the opposite side to surround the front side of the chair frame.

4. The wheelchair care robot according to claim 3, characterized in that: A limiting portion is provided on the chair frame at the opposite side of the telescopic rod. By extending the telescopic rod laterally, the end of the telescopic rod can be connected to the limiting portion to be fixed.

5. The wheelchair care robot according to claim 1, characterized in that: A foot pedal for resting feet is also installed on the chair frame or the AGV chassis.

6. A care wheelchair robot according to any one of claims 1 to 5, characterized in that: The robotic arms are connected to the AGV chassis by a second lifting mechanism located outside the seat body. The two robotic arms can be lifted and lowered independently to raise or lower their positions.

7. The wheelchair care robot according to claim 6, characterized in that: The robot is also provided with a plurality of visual sensors, which detect images in four directions of the wheelchair robot and transmit the images to the control system.

8. A method for caring for a wheelchair robot according to claim 7, characterized in that: Including steps for getting on and off the wheelchair, The steps for getting on a wheelchair are: S11, using the visual sensor to detect the body position of the care recipient elsewhere, and the control system controls the AGV chassis to operate and make the robotic arm perpendicular to the care recipient; S12, the control system controls the first lifting mechanism to lift the seat to the second position; S13, based on the image detected by the visual sensor, the control system controls the movement of the two robotic arms. The two robotic arms cross the width of the chair body to support the back and leg pits of the person being cared for, and then lift the person and place them on the chair seat. S14, the control system controls the first lifting mechanism to lower the seat to the first position; The steps for getting out of the wheelchair are: S21, the control system controls the AGV chassis to move to another location; S22, the control system controls the first lifting mechanism to move the seat up to the second position; S23, using the visual sensor to detect the body position of the care recipient on the chair seat. Based on the image detected by the visual sensor, the control system controls the movement of the two robotic arms. The two robotic arms respectively support the care recipient's back and leg creases. The two robotic arms lift the care recipient from the chair seat. The two robotic arms then span the width of the chair body and place the care recipient elsewhere. S24: The control system controls the first lifting mechanism to lower the seat to the first position.

9. The care method according to claim 8, characterized in that: During the process of descending from the second position to the first position, the control system controls the robotic arms to maintain the support of the person being cared for. When the lower edge of the back robotic arms reaches the upper edge of the chair back, the back robotic arms release force and move laterally backward or are pulled out in a direction perpendicular to the person being cared for. The leg robotic arms continue to move downward until the chair seat descends to the first position, at which point the leg robotic arms release force and move laterally forward or are pulled out in a direction perpendicular to the person being cared for. During the process of rising from the first position to the second position, the control system controls the back robotic arm to move to the upper edge of the chair back to support the back of the person being cared for and rise together, and the leg robotic arm is inserted into the leg socket in a direction perpendicular to the person being cared for and rises together. When the chair seat rises to the second position, the back robotic arm supports the middle of the back of the person being cared for, and the leg robotic arm supports the leg socket of the person being cared for.

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