Wheelchair type multifunctional intelligent nursing robot with body

Abstract

The invention discloses a wheelchair type multifunctional intelligent nursing robot with a body. The wheelchair type multifunctional intelligent nursing robot is characterized by comprising a freely-steering deformable movable chassis (100), and (200) a bidirectional crawler stair climbing device. (300) a displaceable seat cushion arrangement. And (400) a guardrail type lifting power assisting device. And (500) a foldable wheelchair backrest device. And (600) an intelligent manipulator device with two arms and a body. And (700) an intelligent AI electric control system. The mechanisms and the systems are reasonably combined. Through AI learning training and intelligent control, disabled and semi-disabled old people or patients can be effectively helped to move out of the bed or return to the bed, go to the toilet and take a bath. And changing clothes and eating. Old people and patients with independent consciousness can go out, play outside and carry out entertainment shopping with the help of the robot. The intelligent robot can autonomously replace manual work to handle some daily housework, communicate with old people, nurse patients and the like. And a multi-purpose artificial intelligence modern nursing new mode is realized. The method is suitable for the aging age and the modern development of the old-age care cause in our country. Particularly, a novel intelligent effective solution is provided for the core problem of difficulty in nursing of the old people.

Description

Technical Field

[0001] This invention relates to an AI intelligent nursing robot, and more particularly to a wheelchair-type multifunctional unibody intelligent nursing robot. Background Technology

[0002] With the arrival of an aging society in my country, elderly care has brought significant challenges to our elderly care services, especially the care of disabled and semi-disabled elderly and patients. The severe shortage of caregivers and the difficulty of providing care have caused great distress to many families.

[0003] Based on current technology and available equipment, there is still a significant gap in the care of disabled and semi-disabled elderly and patients. To achieve intelligent robotic care that can replace most of the work of caregivers, there are still many challenges to overcome, particularly in daily care and household chores such as lifting and carrying disabled and semi-disabled patients out of bed, feeding, mobility, toileting, bathing, hygiene, and dressing. Although many teams are currently developing humanoid robots, the progress of basic technology and application device development is limited. For example, addressing the contradiction between the load-bearing capacity of various joint modules in a simulated arm and the size of components requires substantial investment of human and material resources and a long research and application cycle. Humanoid intelligent care robots are currently still in the conceptual and exploratory stage, and the estimated research and production costs are not low; there is still a long way to go.

[0004] This invention aims to integrate and improve existing wheelchair technology by incorporating a novel intelligent dual-arm robotic hand technology. Through AI training, it enables the robot to perform multiple nursing functions. Adhering to the concept of innovation and practicality, it aims to solve the care problems of disabled and semi-disabled elderly people and patients at a lower cost, thereby meeting market demands. Summary of the Invention

[0005] Technical issues To address the shortcomings of existing nursing equipment and technologies in providing care for disabled or semi-disabled elderly people and patients, particularly in areas such as lifting them out of bed, feeding, mobility, toileting, bathing, hygiene, and dressing, this invention proposes an effective and practical technical solution: a wheelchair-mounted, multifunctional, intelligent nursing robot. Technical solution

[0006] A wheelchair-style, multi-functional, body-worn intelligent nursing robot. (See attached image) Figure 8 (As shown) Its features include: A wheelchair-type, multi-functional, embodied intelligent nursing robot. (As shown in the attached document) Figure 8(As shown) Its features include: (100) a freely steerable deformable mobile chassis. (200) a two-way tracked stair-climbing device. (300) a movable seat cushion device. (400) a guardrail-type lifting and assisting device. (500) a foldable wheelchair backrest device. (600) a dual-arm integrated intelligent robotic hand device. (700) an intelligent AI electronic control system. The reasonable combination of these mechanisms and systems. Through AI learning training and intelligent control, it can effectively help disabled and semi-disabled elderly people or patients move out of bed or back to bed, go to the toilet, bathe, change clothes, eat and other daily care. Elderly people and patients with self-awareness can also use the robot to travel, go out for fun and shopping. The integrated intelligent robot can autonomously replace human beings in handling some daily housework, communicate with the elderly, and care for patients. Realize a new model of artificial intelligence-based modern nursing with multiple uses.

[0007] 1. (100) Components of a freely steerable deformable mobile chassis (as shown in the attached document) Figure 1 (101) Mobile chassis mounting frame. (102) Electric wheel swing arm. (103) Electric wheel swing arm steering motor. (104) Electric drive wheel hub motor. (105) Electric drive wheel. Connection method: (101) Four (102) electric wheel swing arms are mounted at the four corners of the mobile chassis mounting frame. (103) The electric wheel swing arm steering motor is mounted on top of (102) electric wheel swing arms. The steering motor base is fixed to the mounting frame with screws and connected to the swing arm through the motor shaft connector. (104) The electric drive wheel hub motor is mounted on (105) electric drive wheel. The motor drive wheel is fixed to the swing arm wheel frame by fastener connection.

[0008] 2. (200) Components of the bidirectional tracked stair-climbing device (as shown in the attached document) Figure 2(201) Track hub mounting plate. (202) Track hub mounting plate fixing bracket. (203) Head hub shaft. (204) Head hub. (205) Bottom hub shaft. (206) Bottom hub. (207) Drive motor mounting plate. (208) Drive motor. (209) Synchronous belt. (210) Synchronous pulley. (211) Track. (212) Power failure brake. Connection method: (201) Track hub mounting plates are respectively fixed and installed on both sides of (202) track hub mounting plate fixing bracket with fasteners. (203) Head hub shafts are respectively installed at the heads of both ends of (201) track hub mounting plate. Four (204) head hubs are respectively installed on (203) head hub shafts. They are connected by shaft connection. (205) Bottom hub shafts are respectively installed on the inner sides of the lower part of (201) track hub mounting plate. Four (206) bottom hubs are respectively mounted on the (205) bottom hub shafts. They are connected by shaft connection. The (207) drive motor mounting plate is fixed to the (201) track hub mounting plate. The (208) drive motor is fixed to the (207) drive motor mounting plate. The four hub shafts and motor shafts are connected by six sets of (209) synchronous belts and (210) synchronous pulleys for synchronous track movement. The (211) tracks are mounted on the hubs on both sides. A (212) power failure brake is added to the motor main shaft to prevent slippage when climbing stairs due to power failure.

[0009] 3. (300) Components of the movable seat cushion device (as shown in the attached document) Figure 3(As shown): (301) Movable seat cushion mounting base plate. (302) X-type lifting module. (303) X-type lifting module electric push rod. (304) Tiltable mounting plate module with rotating shaft. (305) Tiltable mounting plate electric push rod with rotating shaft. (306) Double-layer telescopic slide rail. (307) Double-layer telescopic slide rail multi-section electric push rod. (308) Telescopic seat cushion module. (309) Auxiliary guardrail. (310) Handheld control lever. Connection method: (301) The movable seat cushion mounting base plate is installed above the (100) free-steering deformable movable chassis. (302) The X-type lifting module is installed on the (301) movable seat cushion mounting plate. (303) The X-type lifting module electric push rod is installed on the (302) X-type lifting module bottom and top X-frame connecting rod. (304) The tiltable mounting plate module with a rotating shaft is installed on the (302) x-type lifting module. (305) The electric push rod with a rotating shaft tiltable mounting plate is located between the (304) tiltable mounting plate module with a rotating shaft and the mounting base plate. (306) The double-layer telescopic slide rail is installed above the (304) tiltable mounting plate module with a rotating shaft. (307) The multi-section electric push rod of the double-layer telescopic slide rail is installed between the two sets of (306) double-layer telescopic slide rails. (308) The telescopic seat cushion module is installed on the two sets of motion devices (306) and (307). (309) The auxiliary guardrail (301) movable seat cushion is installed on the mounting base plate. (310) The hand-held control lever is installed on the (309) auxiliary guardrail. All components are locked together with fasteners such as screws and nuts.

[0010] 4. (400) Components of the guardrail-type lifting assist device (as shown in the attached document) Figure 4 (401) Guardrail-type lifting assist device reinforcing sleeve. (402) Guardrail-type lifting module. (403) Guardrail-type lifting module electric push rod. (404) Multi-section telescopic sleeve telescopic arm module 360-degree rotating connector. (405) Multi-section telescopic sleeve module. (406) Multi-section telescopic sleeve module built-in electric push rod. (407) Multi-section telescopic pipe module outer tube soft package. Connection method: (401) Guardrail-type lifting assist device reinforcing sleeve is installed on (100) free-steering deformable mobile chassis. (402) Guardrail-type lifting module is installed inside (401) Guardrail-type lifting assist device reinforcing sleeve. (403) Guardrail-type lifting module electric push rod is installed in (402) Guardrail-type lifting module. (404) Multi-section telescopic sleeve telescopic arm module 360-degree rotating connector is installed on the head of (402) Guardrail-type lifting module crossbeam. (405) The multi-section telescopic sleeve module and (404) the multi-section telescopic sleeve telescopic arm module are connected by welding. (406) The multi-section telescopic sleeve module has a built-in electric push rod installed inside the (405) multi-section telescopic sleeve module. (407) The outer tube of the multi-section telescopic tube module is softly wrapped around the outer tube of the (405) multi-section telescopic sleeve module. All other structural connections are completed by fastener locking.

[0011] 5. (500) Components of the foldable wheelchair backrest device (as shown in the attached document) Figure 5 (501) Foldable wheelchair backrest mounting base. (502) Foldable wheelchair backrest mounting base pivot. (503) Wheelchair backrest frame. (504) Wheelchair backrest frame built-in electrical box. (505) Wheelchair backrest upholstery. (506) Wheelchair backrest electric push rod. (507) Wheelchair backrest electric push rod folding angle hinge. Connection method: (501) Foldable wheelchair backrest mounting base is mounted on (100) free-steering deformable movable chassis. (502) Foldable wheelchair backrest mounting base pivot is mounted between (501) Foldable wheelchair backrest mounting base and (503) wheelchair backrest frame. (504) Wheelchair backrest frame built-in electrical box is mounted in (503) wheelchair backrest frame. (505) Wheelchair backrest upholstery is fixed on (503) wheelchair backrest frame. (506) Wheelchair backrest electric push rod is mounted between (502) Foldable wheelchair backrest mounting base and (503) wheelchair backrest frame. (507) The folding angle hinge of the wheelchair backrest electric push rod is installed between (506) the wheelchair backrest electric push rod and (503) the wheelchair backrest frame. The structure is fixedly connected with fasteners such as screws and nuts.

[0012] 6. (600) Components of the dual-arm integrated intelligent robotic hand device (as shown in the attached document) Figure 6(601) Dual-arm integrated intelligent robotic arm mounting box. (602) Multi-section telescopic sleeve. (603) Multi-section telescopic sleeve with built-in electric push rod. (604) Dual-arm mounting module. (605) Waist joint module. (606) Shoulder joint module. (607) Forearm module. (608) Elbow joint module. (609) Upper arm module. (610) Wrist joint module. (611) Wrist module. (612) Hand claw joint module. (613) Hand claw module. (614) Head device. (615) Facial display device. Connection method: (601) Dual-arm integrated intelligent robotic arm mounting box is installed on (503) wheelchair backrest frame. (602) Multi-section telescopic sleeve is installed in (601) Dual-arm integrated intelligent robotic arm mounting box. (603) A multi-section telescopic sleeve with a built-in electric push rod (602) is installed inside the multi-section telescopic sleeve. (604) A dual-arm mounting module is installed above the (602) multi-section telescopic sleeve. Two sets of (605) lumbar joint modules are installed on the upper sides of the (604) dual-arm mounting modules respectively. Two sets of (606) shoulder joint modules are installed on the two sets of (605) lumbar joint modules respectively. Two sets of (607) forearm modules are installed on the two sets of (606) shoulder joint modules respectively. Two sets of (608) elbow joint modules are installed on the two sets of (607) forearm modules respectively. Two sets of (609) upper arm modules are installed on the two sets of (608) elbow joint modules respectively. Two sets of (610) wrist joint modules are installed on the two sets of (609) upper arm modules respectively. Two sets of (611) wrist modules are installed on the two sets of (610) wrist joint modules respectively. Two sets (612) of hand joint modules are respectively installed on two sets (611) wrist modules. Two sets (613) of hand modules are respectively installed on two sets (612) of hand joint modules. (614) The head device is installed in the middle of the (604) dual arm installation module. (615) The facial recognition screen device is installed in the (614) head device. The various modules of the embodied intelligent robot are fixedly connected by their respective output flanges, support bearing output shafts, special interfaces, linkage mechanisms, sensors and pipeline interfaces, etc., through their respective keyways, pins, retaining rings, special connectors and screws and nuts.

[0013] 7. (700) Components of the intelligent AI electronic control system (as shown in the appendix) Figure 7(701) Wheelchair Control System. (701-1) AI Part of Wheelchair Control System (Unmanned). (701-2) Manual Part of Wheelchair Control System (Handheld Control Unit, Display Screen, Voice Control). (702) Human Lifting Assist Device Control System. (702-1) AI Part of Human Lifting Assist Device Control System (Unmanned Operation). (702-2) Manual Part of Human Lifting Assist Device Control System (Display Screen, Voice Control). (703) Dual-Arm Intelligent Robotic Hand Control System. (703-1) AI Part of Dual-Arm Intelligent Robotic Hand Control System (Unmanned Operation). (703-2) Manual Part of Dual-Arm Intelligent Robotic Hand Control System (Display Screen, Voice Control). (704) Power Supply System. (704-1) Battery. (704-2) Self-Charging System. (705) Vision and LiDAR Detection System. (705-1) Vision Detection and Recognition System. (705-2) LiDAR Ranging and Obstacle Avoidance System. Connection method: (700) acts as the main control module and interfaces with all branch modules of the present invention; (704) interfaces with all devices and modules of the present invention to provide power. Each control system and sensing system interfaces with its respective equipment and devices, and is connected by wires, cables, and hoses. The entire set of equipment can be uniformly controlled and managed, or each functional device can be independently controlled and managed. It can be AI intelligent control and management, or manual control and management.

[0014] Working principle The intelligently controlled, freely steerable, deformable mobile chassis features four sets of self-steering wheels to move the overhead equipment. It allows for free forward and reverse movement, as well as left and right lateral movement, without the need for turns or U-turns. This is especially useful when navigating unusual road surfaces or narrow passages, where the wheel positions can be adjusted to maintain balance. When lifting or carrying a person, the side wheel hub arms autonomously shift to create a force-balanced angle with the telescopic arms of the lifting and moving assist device, ensuring balanced force at all support points during personnel lifting and moving, preventing the wheelchair from tilting or tipping over.

[0015] The system features a two-way tracked stair-climbing device with anti-slip climbing function, ensuring convenient travel. When encountering terrain such as steps, stairs, or slopes, the system automatically analyzes and determines whether passage is possible, and autonomously prevents falls in the event of power failure.

[0016] By combining a guardrail-style lifting and transferring device, a movable seat cushion, and a robotic arm, this system enables elderly or sick individuals to be moved from bed to wheelchair, from wheelchair back to bed, or to a dedicated conversion chair for toileting or bathing. The procedure involves the guardrail-style lifting and transferring device's telescopic arm extending beyond the wheelchair. The robotic arm assists in positioning the patient's upper body on the telescopic arm, and the lifting and transferring device then elevates the patient's upper body. The movable seat cushion tilts and inserts under the patient's buttocks to support their lower body. These three devices work together to transfer the patient into the wheelchair, and can also be used to move the patient out of the wheelchair or to lift objects.

[0017] The movable seat cushion, with its height adjustment and tilting functions, helps semi-disabled patients achieve a standing posture and change body positions, promoting relaxation and improving health. It aims to achieve both physical and mental well-being and a more convenient life. Furthermore, it automatically adjusts the seat's balance when the wheelchair is going uphill, downhill, up stairs, or onto slopes.

[0018] The folding backrest of the wheelchair makes it easy for the robot to be folded up and put into the trunk of a car, making it convenient for accompanying patients to use when traveling long distances.

[0019] After being trained by AI, the robotic hand possesses dexterity and powerful functions, enabling it to assist in lifting and moving patients, moving specialized wheelchairs and furniture, helping patients use the toilet, bathe, and eat. It can also perform various nursing and household chores such as retrieving items from high places, washing and drying clothes, transporting garbage, and cleaning the environment, as well as chatting with patients.

[0020] The intelligent control system, through big data and AI algorithms, enables multiple control modes such as fully automated task completion, task completion via human instruction, and task completion via human-computer interaction, meeting the needs of different users.

[0021] The beneficial effects of this invention are: Achieve this through a wheelchair-style, multi-functional, embodied intelligent nursing robot: 1. Lift or carry disabled or semi-disabled elderly or patients off the bed and onto a wheelchair, or lift or carry the patient back to the bed.

[0022] Second, lift and move disabled or semi-disabled elderly people or patients to other indoor or outdoor sofas or chairs to enrich their leisure life.

[0023] Third, transfer semi-disabled elderly or semi-disabled patients to special chairs for toileting and bathing, where they are pushed into the bathroom by intelligent robotic arms to relieve themselves or take a shower.

[0024] Fourth, it helps semi-disabled elderly people or patients to stand up while in a wheelchair, changing their body posture. This relaxes their mind and improves their health.

[0025] Fifth, help elderly people or patients who are self-aware to go out for sightseeing and shopping.

[0026] 6. Use the telescopic function to help the elderly, patients, or their families access items in high places indoors.

[0027] 7. Through AI learning and training of the equipment control system, the robot can autonomously complete tasks such as moving furniture, transporting garbage, drying clothes, collecting items, and even helping disabled elderly people or patients change clothes and serve meals.

[0028] 8. Through AI learning and training, human-computer interaction functions can be achieved, helping elderly people or patients with self-awareness to improve their quality of life.

[0029] 9. Integrating wheelchair mobility functions with AI-powered robotic arms. This not only enhances the wheelchair's intelligence but also replaces the robot's lower body movement capabilities, significantly reducing the manufacturing cost of nursing robots. It also reduces space occupation, increasing room space utilization and effectively alleviating the financial burden on patients and their families.

[0030] 10. To provide a new and effective intelligent solution for my country's aging society and the modernization of the elderly care industry, especially for addressing the core problem of difficulties in elderly care. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] In the attached diagram: Figure 1 This is a schematic diagram of a freely steerable, deformable, and mobile chassis; Figure 2 This is a schematic diagram of a two-way tracked stair-climbing device; Figure 3 This is a schematic diagram of a movable seat cushion device; Figure 4 This is a schematic diagram of a guardrail-type lifting and moving assist device; Figure 5 This is a schematic diagram of a foldable wheelchair backrest device; Figure 6 This is a schematic diagram of a dual-arm integrated intelligent robotic hand device; Figure 7 This is a schematic diagram of an intelligent AI electronic control system; Figure 8 This is a schematic diagram of the final assembly.

[0033] Figure 8 : 100° free-steering deformable mobile chassis.

[0034] 200 bidirectional tracked stair climbing device.

[0035] 300 movable seat cushion device.

[0036] 400 guardrail-style lifting assist device.

[0037] 500 foldable wheelchair backrest device.

[0038] 600 dual-arm intelligent robotic hand device.

[0039] 700 Intelligent AI Electric Control System.

[0040] Figure 1 : 101 mobile chassis mounting frame.

[0041] 102 Electric Wheel Swing Arm.

[0042] 103 Electric wheel swing arm steering motor.

[0043] 104 Electric drive wheel hub motor.

[0044] 105 electric drive wheels.

[0046] Figure 2 : 201 Track hub mounting plate.

[0047] 202 Track wheel hub mounting plate fixing bracket.

[0048] 203 Head hub axle.

[0049] 204 front wheel hub.

[0050] 205 Bottom hub axle.

[0051] 206 bottom wheel hub.

[0052] 207 drive motor mounting plate.

[0053] 208 drive motor.

[0054] 209 Synchronous Belt.

[0055] 210 Synchronous Pulley.

[0056] 211 tracks.

[0057] 212 Power-off brake.

[0059] Figure 3 : 301 movable seat cushion mounting base plate.

[0060] 302X type lifting module.

[0061] 303X type lifting module electric push rod.

[0062] 304 stainless steel tiltable mounting plate with swivel.

[0063] 305 Electric push rod with tiltable mounting plate and rotating shaft.

[0064] 306 double-layer telescopic slide rail.

[0065] 307 Double-layer telescopic slide rail with multi-section electric push rod.

[0066] 308 retractable seat cushion module.

[0067] 309 auxiliary guardrail.

[0068] 310 handheld joystick.

[0069] Figure 4 : 401 Guardrail-type lifting and moving assist device reinforcement sleeve.

[0070] 402 Guardrail Lifting Module.

[0071] 403 Guardrail type lifting module electric push rod.

[0072] 404 multi-section telescopic sleeve module 360-degree rotating connector.

[0073] 405 multi-section telescopic sleeve telescopic arm module.

[0074] The 406 multi-section telescopic sleeve module has a built-in electric push rod.

[0075] 407 Multi-section Telescopic Pipe Module with Soft Outer Tube Cover.

[0077] Figure 5 : 501 Foldable wheelchair backrest mounting base.

[0078] 502 Foldable wheelchair backrest mounting base swivel.

[0079] 503 Wheelchair backrest frame.

[0080] 504 wheelchair backrest frame with built-in electrical box.

[0081] 505 Wheelchair backrest soft padding.

[0082] 506 wheelchair backrest electric push bar.

[0083] 507 wheelchair backrest electric push rod folding angle hinge.

[0085] Figure 6 : 601 Dual-Arm Intelligent Robotic Arm Installation Box.

[0086] 602 multi-section telescopic sleeve.

[0087] The 603 multi-section telescopic sleeve has a built-in electric push rod.

[0088] 604 Dual-arm mounting module.

[0089] 605 lumbar joint module.

[0090] 606 shoulder joint module.

[0091] 607 forearm module.

[0092] 608 elbow joint module.

[0093] 609 upper arm module.

[0094] 610 wrist joint module.

[0095] 611 wrist module.

[0096] 612 Hand joint module.

[0097] 613 Hand Gripper Module.

[0098] 614 Head assembly.

[0099] 615 Face Video Device.

[0101] Figure 7 : 701 wheelchair control system.

[0102] 701-1 Wheelchair Control System AI Component (Autonomous Driving).

[0103] 701-2 Manual component of wheelchair control system (handheld controller, display screen, voice control).

[0104] 702 Human Lifting Assist Device Control System.

[0105] 702-1 Human Lifting Assistance Device Control System AI Component (Unmanned Driving).

[0106] 702-2 Human Lifting Assistance Device Control System Manual Components (Display Screen, Voice Control)

[0107] 703 Dual-Arm Intelligent Robotic Hand Control System.

[0108] 703-1 Dual-Arm Intelligent Robotic Hand Control System AI Component (Unmanned Operation) 703-2 Dual-Arm Intelligent Robotic Hand Control System Human Part (Display, Voice).

[0109] 704 power supply system.

[0110] 704-1 storage battery.

[0111] 704-2 Self-Patrol Charging System.

[0112] 705 Vision and LiDAR Inspection System.

[0113] 705-1 Visual Inspection and Recognition System.

[0114] 705-2 Laser Ranging and Obstacle Avoidance System. Detailed Implementation

[0115] Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are also part of the present invention. The accompanying drawings of the embodiments of the present invention clearly and completely illustrate the technical solutions of the embodiments of the present invention.

[0116] The working principle of this invention is as follows: 1. (100) Assembly of a freely steerable deformable mobile chassis (as shown in the attached document) Figure 1 As shown, (101) four (102) electric wheel swing arms are mounted at the four corners of the mobile chassis mounting frame. (103) The electric wheel swing arm steering motor is electrically mounted above the (102) electric wheel swing arm. The steering motor base is fixed to the mounting frame with screws and connected to the swing arm through the motor shaft connector. (104) The electric drive wheel hub motor is mounted on the (105) electric drive wheel. The motor drive wheel is fixed to the swing arm wheel frame by fastener connection.

[0117] 2. (200) Assembly of the two-way tracked stair-climbing device (as shown in the attached document) Figure 2 As shown, (201) track hub mounting plates are fastened with fasteners and installed on both sides of the (202) track hub mounting plate fixing bracket. (203) Head hub shafts are installed at both ends of the (201) track hub mounting plate. Four (204) head hubs are installed on the (203) head hub shafts. They are connected by shaft connection. (205) Bottom hub shafts are installed on the inner sides of the lower part of the (201) track hub mounting plate. Four (206) bottom hubs are installed on the (205) bottom hub shafts. They are connected by shaft connection. (207) Drive motor mounting plate is fixed on the (201) track hub mounting plate. (208) Drive motor is fixed on the (207) drive motor mounting plate. The four hub shafts and motor shafts are connected by six sets of (209) synchronous belts and (210) synchronous pulleys. This is used for track movement synchronization. (211) The tracks are mounted on the wheel hubs on both sides. A (212) power failure brake is installed on the motor spindle to prevent slippage and fall when climbing stairs due to power failure.

[0118] 3. (300) Assembly of the movable seat cushion device (as shown in the attached document) Figure 3(As shown): (301) The movable seat cushion mounting base is mounted above the (100) free-steering deformable movable chassis. (302) The X-type lifting module is mounted on the (301) movable seat cushion mounting plate. (303) The X-type lifting module electric push rod is mounted on the (302) X-type lifting module bottom and top X-frame connecting rod. (304) The tiltable mounting plate module with rotating shaft is mounted on the (302) X-type lifting module. (305) The tiltable mounting plate electric push rod with rotating shaft is between the (304) tiltable mounting plate module with rotating shaft and the mounting base plate. (306) The double-layer telescopic slide rail is mounted above the (304) tiltable mounting plate module with rotating shaft. (307) The double-layer telescopic slide rail multi-section electric push rod is mounted between the two sets of (306) double-layer telescopic slide rails. (308) The telescopic seat cushion module is mounted on the two sets of motion devices (306) and (307). (309) The auxiliary guardrail (301) is mounted on the movable seat pad base plate. (310) The hand-held control lever is mounted on the (309) auxiliary guardrail. All components are locked together with fasteners such as screws and nuts.

[0119] 4. (400) Assembly of guardrail-type lifting assist device (as shown in the attached document) Figure 4 As shown, (401) the guardrail-type lifting assist device reinforcement sleeve is installed on the (100) free-steering deformable mobile chassis. (402) The guardrail-type lifting module is installed inside the (401) guardrail-type lifting assist device reinforcement sleeve. (403) The guardrail-type lifting module electric push rod is installed in the (402) guardrail-type lifting module. (404) The multi-section telescopic sleeve module 360-degree rotating connector is installed on the head of the (402) guardrail-type lifting module crossbeam. (405) The multi-section telescopic sleeve module and the (404) multi-section telescopic sleeve module 360-degree rotating connector are connected by welding. (406) The multi-section telescopic sleeve module built-in electric push rod is installed inside the (405) multi-section telescopic sleeve module. (407) The multi-section telescopic tube module outer tube soft sleeve is fitted on the outer tube of the (405) multi-section telescopic sleeve module. All other structural connections are completed by fastener locking.

[0120] 5. (500) Assembly of foldable wheelchair backrest device (as per attached) Figure 5As shown, (501) the foldable wheelchair backrest mounting base is installed on (100) the freely steerable deformable mobile chassis. (502) The foldable wheelchair backrest mounting base pivot is installed between (501) the foldable wheelchair backrest mounting base and (503) the wheelchair backrest frame. (504) The built-in electrical box of the wheelchair backrest frame is installed in (503) the wheelchair backrest frame. (505) The wheelchair backrest soft padding is fixed to (503) the wheelchair backrest frame. (506) The wheelchair backrest electric push rod is installed between (502) the foldable wheelchair backrest mounting base and (503) the wheelchair backrest frame. (507) The wheelchair backrest electric push rod folding angle hinge is installed between (506) the wheelchair backrest electric push rod and (503) the wheelchair backrest frame. The structure is fixedly connected with fasteners such as screws and nuts.

[0121] 6. (600) Assembly of a dual-arm integrated intelligent robotic hand device (as attached) Figure 6 As shown, (601) the dual-arm integrated intelligent robotic arm mounting box is mounted on (503) the wheelchair backrest frame. (602) The multi-section telescopic sleeve is mounted in (601) the dual-arm integrated intelligent robotic arm mounting box. (603) The multi-section telescopic sleeve has a built-in electric push rod (602) mounted inside the multi-section telescopic sleeve. (604) The dual-arm mounting module is mounted above (602) the multi-section telescopic sleeve. Two sets of (605) lumbar joint modules are mounted on the upper sides of (604) the dual-arm mounting module. Two sets of (606) shoulder joint modules are mounted on the two sets of (605) lumbar joint modules. Two sets of (607) forearm modules are mounted on the two sets of (606) shoulder joint modules. Two sets of (608) elbow joint modules are mounted on the two sets of (607) forearm modules. Two sets of (609) upper arm modules are mounted on the two sets of (608) elbow joint modules. Two sets (610) of wrist joint modules are respectively installed on two sets (609) of upper arm modules. Two sets (611) of wrist modules are respectively installed on two sets (610) of wrist joint modules. Two sets (612) of hand joint modules are respectively installed on two sets (611) of wrist modules. Two sets (613) of hand joint modules are respectively installed on two sets (612) of hand joint modules. (614) The head device is installed in the middle of the (604) dual arm installation module. (615) The facial recognition screen device is installed in the (614) head device. The modules of the embodied intelligent robot are fixedly connected to each other by their respective output flanges, support bearing output shafts, special interfaces, linkage mechanisms, sensors and pipeline interfaces, etc., through their respective keyways, pins, retaining rings, special connectors and screws and nuts.

[0122] 7. (700) Components of the intelligent AI electronic control system (as shown in the appendix) Figure 7 (As shown) (701) Wheelchair control system.

[0123] (701-1) AI component of wheelchair control system (autonomous driving).

[0124] (701-2) Manual component of wheelchair control system (handheld controller, display screen, voice control).

[0125] (702) Human body lifting and carrying assist device control system.

[0126] (702-1) AI part of the human body lifting and carrying assistance device control system (unmanned operation).

[0127] (702-2) Human lifting and carrying assist device control system manual part (display screen, voice).

[0128] (703) Dual-arm integrated intelligent robotic hand control system.

[0129] (703-1) AI component of the dual-arm integrated intelligent robotic hand control system (unmanned operation).

[0130] (703-2) The human component of the dual-arm integrated intelligent robotic hand control system (display screen, voice).

[0131] (704) Power supply system.

[0132] (704-1) Storage battery.

[0133] (704-2) Self-circulating charging system.

[0134] (705) Visual and lidar detection system.

[0135] (705-1) Visual inspection and recognition system.

[0136] (705-2) Laser ranging obstacle avoidance system.

[0137] Connection method: (700) acts as the main control module and interfaces with all branch modules of the present invention; (704) interfaces with all devices and modules of the present invention to provide power. Each control system and sensing system interfaces with its respective equipment and devices, and is connected by wires, cables, and hoses. The entire set of equipment can be uniformly controlled and managed, or each functional device can be independently controlled and managed. It can be AI-controlled and managed, or manually controlled and managed.

[0138] General assembly Figure 8 As shown.

[0139] As described above, by means of the above-described technical solution of the present invention, the present invention has the following advantages; Achieve this through a wheelchair-style, multi-functional, embodied intelligent nursing robot: 1. Lift or carry disabled or sick elderly people off the bed and onto a wheelchair, or lift or carry the patient back to the bed.

[0140] Second, lift and move disabled or semi-disabled elderly people or patients to other indoor or outdoor sofas or chairs to enrich their leisure time.

[0141] Third, transfer semi-disabled elderly or semi-disabled patients to a special chair for toileting or bathing, and have the wheelchair-equipped intelligent robotic arm push them into the bathroom to relieve themselves or take a bath.

[0142] Fourth, it helps semi-disabled elderly people or patients to stand up while in a wheelchair, changing their body posture. This relaxes their mind and improves their health.

[0143] Fifth, help elderly people or patients who are self-aware to go out for sightseeing and shopping.

[0144] 6. Use the telescopic function to help the elderly, patients, or their families access items in high places indoors.

[0145] 7. Through AI learning and training of the equipment control system, the robot can autonomously complete tasks such as moving furniture, transporting garbage, drying clothes, collecting items, and even helping disabled elderly people or patients change clothes and serve meals.

[0146] 8. Through AI learning and training, human-computer interaction functions can be achieved, helping elderly people or patients with self-awareness to improve their quality of life.

[0147] 9. Integrating wheelchair mobility functions with AI-powered robotic arms. This not only enhances the wheelchair's intelligence but also replaces the robot's lower body movement functions, significantly reducing the manufacturing cost of nursing robots. It also reduces space occupation, increasing room space utilization and effectively alleviating the financial burden on patients and their families.

[0148] 10. To provide a new and effective intelligent solution for my country's aging society and the modernization of the elderly care industry, especially for addressing the core problem of difficulties in elderly care.

Claims

1. A wheelchair-type multifunctional intelligent nursing robot. (As shown in Figure 8) Its features include: (100) a free-steering deformable mobile chassis; (200) a two-way track climbing device; and (300) a movable seat device. (400) Guardrail-style lifting and moving assistance device. (500) Foldable wheelchair backrest device. (600) Dual-arm integrated intelligent robotic hand device. (700) Intelligent AI electronic control system. The rational combination of these mechanisms and systems, through AI learning training and intelligent control, can effectively help disabled or semi-disabled elderly people or patients move out of bed or back to bed, go to the toilet, bathe, change clothes, and eat. Elderly people and patients with self-awareness can also use the robot to travel, go out for sightseeing and shopping. The integrated intelligent robot can autonomously replace human hands in handling some daily housework, communicate with the elderly, and care for patients. Realize a new model of modern artificial intelligence nursing with multiple functions in one machine.

2. The wheelchair-type multifunctional intelligent nursing robot according to claim 1 is characterized by the following components of the (100) freely steerable deformable mobile chassis (as shown in Figure 1): (101) mobile chassis mounting frame; (102) electric wheel swing arm; (103) electric wheel swing arm steering motor; (104) electric drive wheel hub motor; (105) electric drive wheel. Connection method: Four (102) electric wheel swing arms are mounted at the four corners of the (101) mobile chassis mounting frame. The (103) electric wheel swing arm steering motor is electrically mounted above the (102) electric wheel swing arms. The steering motor base is fixed to the mounting frame with screws and connected to the swing arm through a motor shaft connector. The (104) electric drive wheel hub motor is mounted on the (105) electric drive wheel. The motor drive wheel is fixed to the swing arm wheel frame by fastener connection.

3. The wheelchair-type multifunctional intelligent nursing robot according to claim 1 is characterized by the following components in the mechanism: (200) bidirectional tracked stair-climbing device (as shown in Figure 2): (201) track hub mounting plate; (202) track hub mounting plate fixing bracket; (203) head hub shaft; (204) head hub; (205) bottom hub shaft; (206) bottom hub; (207) drive motor mounting plate; (208) drive motor; (209) synchronous belt; (210) synchronous pulley; (211) track; (212) power-off brake. Connection method: (201) track hub mounting plates are respectively locked with fasteners and installed on both sides of the (202) track hub mounting plate fixing bracket. (203) head hub shafts are respectively installed at the heads of both ends of (201) track hub mounting plates. Four (204) head hubs are respectively installed on (203) head hub shafts. The connection is made via shaft connection. (205) Bottom hub shafts are respectively installed on the inner sides of the lower part of the (201) track hub mounting plate. The four (206) bottom hubs are respectively installed on the (205) bottom hub shafts. The connection is made via shaft connection. (207) Drive motor mounting plate is fixed on the (201) track hub mounting plate. (208) Drive motor is fixed on the (207) drive motor mounting plate. The four hub shafts and motor shafts are connected by six sets of (209) synchronous belts and (210) synchronous pulleys to achieve synchronous track movement. (211) Tracks are installed on the hubs on both sides. A (212) power failure brake is added to the motor main shaft to prevent slippage when climbing stairs due to power failure.

4. The wheelchair-type multifunctional intelligent nursing robot according to claim 1 is characterized by the following components in the (300) movable seat cushion device (as shown in Figure 3): (301) movable seat cushion mounting base plate; (302) X-type lifting module; (303) X-type lifting module electric push rod; (304) tiltable mounting plate module with rotating shaft; (305) tiltable mounting plate electric push rod with rotating shaft; (306) double-layer telescopic slide rail; (307) double-layer telescopic slide rail multi-section electric push rod; (308) telescopic seat cushion module; (309) auxiliary guardrail; (310) handheld control lever. Connection method: (301) the movable seat cushion mounting base plate is installed above the (100) freely steerable deformable movable chassis; (302) the X-type lifting module is installed on the (301) movable seat cushion mounting plate. (303) The electric push rod of the X-type lifting module is installed on the connecting rod between the bottom and top X-frame of the (302) X-type lifting module. (304) The tiltable mounting plate module with a rotating shaft is installed on the (302) X-type lifting module. (305) The electric push rod of the tiltable mounting plate with a rotating shaft is between the (304) tiltable mounting plate module with a rotating shaft and the mounting base plate. (306) The double-layer telescopic slide rail is installed above the (304) tiltable mounting plate module with a rotating shaft. (307) The multi-section electric push rod of the double-layer telescopic slide rail is installed between the two sets of (306) double-layer telescopic slide rails. (308) The telescopic seat cushion module is installed on the two sets of motion devices (306) and (307). (309) The auxiliary guardrail (301) movable seat cushion is installed on the base plate. (310) The hand-held control lever is installed on the (309) auxiliary guardrail. All components are secured with fasteners such as screws and nuts.

5. The wheelchair-type multifunctional intelligent nursing robot according to claim 1 is characterized by the following components in the mechanism: (400) guardrail-type lifting and assisting device (as shown in Figure 4): (401) guardrail-type lifting and assisting device reinforcing sleeve; (402) guardrail-type lifting module; (403) guardrail-type lifting module electric push rod; (404) multi-section telescopic sleeve telescopic arm module 360-degree rotating connector; (405) multi-section telescopic sleeve module; (406) multi-section telescopic sleeve module built-in electric push rod; (407) multi-section telescopic tube module outer tube soft package. Connection method: (401) guardrail-type lifting and assisting device reinforcing sleeve is installed on (100) free-steering deformable mobile chassis; (402) guardrail-type lifting module is installed inside the (401) guardrail-type lifting and assisting device reinforcing sleeve; (403) guardrail-type lifting module electric push rod is installed in (402) guardrail-type lifting module. (404) The 360-degree rotating connector of the multi-section telescopic sleeve telescopic arm module is installed on the head of the (402) guardrail-type lifting module crossbeam. (405) The multi-section telescopic sleeve module and the (404) multi-section telescopic sleeve telescopic arm module 360-degree rotating connector are connected by welding. (406) The built-in electric push rod of the multi-section telescopic sleeve module is installed inside the (405) multi-section telescopic sleeve module. (407) The outer tube of the multi-section telescopic tube module is softly wrapped around the outer tube of the (405) multi-section telescopic sleeve module. All other structural connections are completed by fastener locking.

6. The wheelchair-type multifunctional intelligent nursing robot according to claim 1 is characterized by the following components in the mechanism: (500) foldable wheelchair backrest device (as shown in Figure 6): (501) foldable wheelchair backrest mounting base; (502) foldable wheelchair backrest mounting base pivot; (503) wheelchair backrest frame; (504) wheelchair backrest frame built-in electrical box; (505) wheelchair backrest soft padding; (506) wheelchair backrest electric push rod; (507) wheelchair backrest electric push rod folding angle hinge. Connection method: (501) foldable wheelchair backrest mounting base is mounted on (100) free-steering deformable movable chassis; (502) foldable wheelchair backrest mounting base pivot is mounted between (501) foldable wheelchair backrest mounting base and (503) wheelchair backrest frame; (504) wheelchair backrest frame built-in electrical box is mounted in (503) wheelchair backrest frame; (505) wheelchair backrest soft padding is fixed on (503) wheelchair backrest frame. (506) The electric push rod for the wheelchair backrest is installed between the (502) foldable wheelchair backrest mounting base and the (503) wheelchair backrest frame. (507) The folding angle hinge for the electric push rod for the wheelchair backrest is installed between the (506) electric push rod for the wheelchair backrest and the (503) wheelchair backrest frame. The structure is fixedly connected using fasteners such as screws and nuts.

7. The wheelchair-type multifunctional embodied intelligent nursing robot according to claim 1 is characterized by the following components in the mechanism: (600) dual-arm embodied intelligent robotic arm device (as shown in Figure 6): (601) Dual-arm embodied intelligent robotic arm mounting box; (602) Multi-section telescopic sleeve; (603) Multi-section telescopic sleeve with built-in electric push rod; (604) Dual-arm mounting module; (605) Waist joint module; (606) Shoulder joint module; (607) Forearm module; (608) Elbow joint module; (609) Upper arm module; (610) Wrist joint module; (611) Wrist module; (612) Hand claw joint module; (613) Hand claw module; (614) Head device; (615) Facial display device. Connection method: (601) The dual-arm embodied intelligent robotic arm mounting box is mounted on (503) the wheelchair backrest frame. (602) A multi-section telescopic sleeve is installed in the mounting box of the (601) dual-arm integrated intelligent robotic arm. (603) An electric push rod (602) built into the multi-section telescopic sleeve is installed inside the multi-section telescopic sleeve. (604) The dual-arm mounting module is installed above the (602) multi-section telescopic sleeve. Two sets of (605) waist joint modules are installed on the upper sides of the (604) dual-arm mounting module respectively. Two sets of (606) shoulder joint modules are installed on the two sets of (605) waist joint modules respectively. Two sets of (607) forearm modules are installed on the two sets of (606) shoulder joint modules respectively. Two sets of (608) elbow joint modules are installed on the two sets of (607) forearm modules respectively. Two sets of (609) upper arm modules are installed on the two sets of (608) elbow joint modules respectively. Two sets of (610) wrist joint modules are installed on the two sets of (609) upper arm modules respectively. Two sets (611) of wrist modules are respectively installed on two sets (610) of wrist joint modules. Two sets (612) of hand joint modules are respectively installed on two sets (611) of wrist modules. Two sets (613) of hand joint modules are respectively installed on two sets (612) of hand joint modules. (614) The head device is installed in the middle of the (604) dual-arm installation module. (615) The facial recognition screen device is installed in the (614) head device. The various modules of the embodied intelligent robot are fixedly connected by their respective output flanges, support bearing output shafts, special interfaces, linkage mechanisms, sensors and pipeline interfaces, etc., through their respective keyways, pins, retaining rings, special connectors and screws and nuts.

8. The wheelchair-type multifunctional embodied intelligent nursing robot according to claim 1 is characterized by the following components in the mechanism: (700) Intelligent AI electronic control system (as shown in Figure 7): (701) Wheelchair control system. (701-1) AI part of wheelchair control system (unmanned operation). (701-2) Manual part of wheelchair control system (handheld controller, display screen, voice). (702) Human body lifting and assisting device control system. (702-1) AI part of human body lifting and assisting device control system (unmanned operation). (702-2) Manual part of human body lifting and assisting device control system (display screen, voice). (703) Dual-arm embodied intelligent robotic hand control system. (703-1) AI part of dual-arm embodied intelligent robotic hand control system (unmanned operation). (703-2) Manual part of dual-arm embodied intelligent robotic hand control system (display screen, voice). (704) Power supply system. (704-1) Battery. (704-2) Self-charging system. (705) Vision and lidar detection system. (705-1) Vision detection and recognition system. (705-2) Laser ranging and obstacle avoidance system. Connection method: (700) as the main control module to interface with all branch modules of the present invention, (704) to interface with all devices and modules of the present invention to provide power. Each control system and sensing system interfaces with its respective equipment and device, and is connected by wires, cables, hoses and special fasteners. The entire set of equipment can be uniformly controlled and managed, or each functional device can be independently controlled and managed. It can be A1 intelligent control management or manual control management.

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